CN114940208B - Steering assist method, apparatus, device, and computer-readable storage medium - Google Patents
Steering assist method, apparatus, device, and computer-readable storage medium Download PDFInfo
- Publication number
- CN114940208B CN114940208B CN202210685110.0A CN202210685110A CN114940208B CN 114940208 B CN114940208 B CN 114940208B CN 202210685110 A CN202210685110 A CN 202210685110A CN 114940208 B CN114940208 B CN 114940208B
- Authority
- CN
- China
- Prior art keywords
- fault type
- steering
- power
- fault
- assisted
- 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
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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
-
- 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
- B62D5/0487—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 detecting motor faults
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a steering assistance method, a device, equipment and a computer readable storage medium, wherein the steering assistance method comprises the following steps: monitoring operation parameters of a steering power assisting system of a vehicle, and judging whether the steering power assisting system fails according to the operation parameters; when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode. That is, when the steering of the vehicle fails, the operation mode of the steering assist system is changed based on a different failure type. The problem that the steering power assisting system is directly stopped once the vehicle fails is avoided, and inconvenience is caused to a user in moving the vehicle or continuously using the vehicle.
Description
Technical Field
The present invention relates to the field of electric power steering technology, and in particular, to a steering power assisting method, apparatus, device, and computer readable storage medium.
Background
With the continuous development of automobile technology, the power steering system of the vehicle also has a great change from the initial traditional hydraulic power steering to the electric control hydraulic power steering and then to the current electric power steering system (EPS, earnings Per Share). The principle of the conventional electric power steering system is that a target power-assisted torque is calculated by detecting a steering wheel torque and a vehicle speed, and a target voltage of a control motor is calculated based on the target power-assisted torque, so that a power-assisted steering effect is generated. The conventional electric power steering system has the following problems: the principle of the system is that a torque sensor and a vehicle speed sensor are used for respectively acquiring the torque of a steering wheel and the vehicle speed, and then a target power-assisted torque is obtained through calculation. However, if the sensor fails during operation, erroneous steering wheel torque and vehicle speed data are obtained, and incorrect steering assist torque is generated, so that the steering assist operation of the steering wheel is stopped when the sensor fails by the failure detection module in the power steering system. However, when the assist operation of the steering wheel is stopped, the driver needs to take a great deal of force to turn the steering wheel, which is inconvenient for the driver.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The main object of the present invention is to provide a steering assist method, apparatus, device and computer readable storage medium. The technical problem that inconvenience is brought to a driver after the existing electric power steering system fails is solved.
In order to achieve the above object, the present invention provides a steering assist method, the steering assist comprising the steps of:
monitoring operation parameters of a steering power assisting system of a vehicle, and judging whether the steering power assisting system fails according to the operation parameters;
when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode.
Further, the operation parameters include a current sensor output parameter, a torque sensor output parameter, a motor driving parameter and a motor line parameter, and the step of judging whether the steering assist system fails according to the operation parameters includes:
judging whether the output parameters of the current sensor are abnormal, judging whether the output parameters of the torque sensor are abnormal, judging whether the motor driving parameters are abnormal, and judging whether the motor line parameters are abnormal;
if any one of the output abnormality of the current sensor, the output parameter abnormality of the torque sensor, the drive parameter abnormality of the motor or the line parameter abnormality of the motor occurs, the power assisted steering system is judged to be faulty, and the fault factor of the power assisted steering system is generated, wherein the fault factor comprises the abnormality of the torque sensor, the abnormality of the current sensor, the abnormality of the drive of the motor and the line abnormality of the motor.
Further, the fault types include a first fault type, a second fault type, and a third fault type, and before the step of changing the operation mode of the steering assist system according to the fault type of the steering assist system, the method includes:
if the fault factor is abnormal in the motor line parameter, judging that the fault type comprises the first fault type;
if the fault factor is abnormal, judging that the fault type comprises the second fault type;
and if the fault factor is abnormal in the motor driving parameter and/or abnormal in the current sensor, judging that the fault type comprises the third fault type.
Further, the step of changing the operation mode of the steering assist system according to the fault type of the steering assist system includes:
acquiring a current highest fault type of the power steering system, wherein the current highest fault type is a fault type with highest priority among fault types of faults of the power steering system, the priority of the third fault type is greater than that of the second fault type, and the priority of the second fault type is greater than that of the third fault type;
and changing the working mode of the power steering system into the working mode corresponding to the current highest fault type.
Further, the operation mode includes a disabled mode and a warning mode, and the step of changing the operation mode of the steering assist system to the operation mode corresponding to the current highest fault type includes:
when the fault type with the highest priority is the third fault type, cutting off the power supply of the power-assisted steering system, and outputting prompt information that the fault type of the power-assisted steering system is the third fault type so as to change the working mode of the power-assisted steering system into the forbidden mode;
and when the fault type with the highest priority is the first fault type, outputting prompt information of the fault type of the power-assisted steering system as the first fault type so as to change the working mode of the power-assisted steering system into the warning mode.
Further, the working mode further includes a half disabled mode, and the step of changing the working mode of the steering assist system to the working mode corresponding to the current highest fault type further includes: when the fault type with the highest priority is the second fault type, judging the current speed of the vehicle, when the current speed is smaller than a preset speed threshold, increasing a preset trigger torque threshold for triggering the power steering assistance system to assist, and outputting prompt information that the fault type of the power steering assistance system is the second fault type so as to change the working mode of the power steering assistance system into the half-forbidden mode.
Further, after the step of determining the current vehicle speed of the vehicle, the method includes:
and if the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, stopping the power-assisted torque output of the power-assisted steering system.
In addition, in order to achieve the above object, the present invention also provides a steering assist device including:
the judging module is used for monitoring the operation parameters of the steering power assisting system of the vehicle and judging whether the steering power assisting system fails or not according to the operation parameters;
and the changing module is used for changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system when the steering power assisting system fails, and carrying out steering power assisting on the vehicle based on the steering power assisting system after changing the working mode.
In addition, to achieve the above object, the present invention also provides a steering assist apparatus including: the steering assist system comprises a memory, a processor and a steering assist program stored in the memory and capable of running on the processor, wherein the steering assist program realizes the steps of the steering assist method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a steering assist program which, when executed by a processor, implements the steps of the steering assist method as described above.
According to the steering power assisting method provided by the embodiment of the invention, the operation parameters of the steering power assisting system of the vehicle are monitored, and whether the steering power assisting system fails or not is judged according to the operation parameters; when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode. That is, when the steering of the vehicle fails, the operation mode of the steering assist system is changed based on a different failure type. The problem that the steering power assisting system is directly stopped once the vehicle fails is avoided, and inconvenience is caused to a user in moving the vehicle or continuously using the vehicle.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the steering assist method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic device structure of a hardware running environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be an electric power steering control device, and also can be an electronic terminal device with a data processing function, such as a car machine, a smart phone, a pc, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, wiFi modules, and the like. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile terminal is stationary, and the mobile terminal can be used for recognizing the gesture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the device structure shown in fig. 1 is not limiting of the device and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a steering assist program may be included in a memory 1005, which is a type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a steering assist program stored in the memory 1005 and perform the following operations:
monitoring operation parameters of a steering power assisting system of a vehicle, and judging whether the steering power assisting system fails according to the operation parameters;
when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
the operation parameters comprise current sensor output parameters, torque sensor output parameters, motor driving parameters and motor line parameters, and the step of judging whether the power steering system fails according to the operation parameters comprises the following steps:
judging whether the output parameters of the current sensor are abnormal, judging whether the output parameters of the torque sensor are abnormal, judging whether the motor driving parameters are abnormal, and judging whether the motor line parameters are abnormal;
if any one of the output abnormality of the current sensor, the output parameter abnormality of the torque sensor, the drive parameter abnormality of the motor or the line parameter abnormality of the motor occurs, the power assisted steering system is judged to be faulty, and the fault factor of the power assisted steering system is generated, wherein the fault factor comprises the abnormality of the torque sensor, the abnormality of the current sensor, the abnormality of the drive of the motor and the line abnormality of the motor.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
the fault types include a first fault type, a second fault type, and a third fault type, and before the step of changing the operation mode of the steering assist system according to the fault type of the steering assist system, the method includes:
if the fault factor is abnormal in the motor line parameter, judging that the fault type comprises the first fault type;
if the fault factor is abnormal, judging that the fault type comprises the second fault type;
and if the fault factor is abnormal in the motor driving parameter and/or abnormal in the current sensor, judging that the fault type comprises the third fault type.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
the step of changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system comprises the following steps:
acquiring a current highest fault type of the power steering system, wherein the current highest fault type is a fault type with highest priority among fault types of faults of the power steering system, the priority of the third fault type is greater than that of the second fault type, and the priority of the second fault type is greater than that of the third fault type;
and changing the working mode of the power steering system into the working mode corresponding to the current highest fault type.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
the operation mode includes a disabled mode and a warning mode, and the step of changing the operation mode of the steering assist system to an operation mode corresponding to the current highest failure type includes:
when the fault type with the highest priority is the third fault type, cutting off the power supply of the power-assisted steering system, and outputting prompt information that the fault type of the power-assisted steering system is the third fault type so as to change the working mode of the power-assisted steering system into the forbidden mode;
and when the fault type with the highest priority is the first fault type, outputting prompt information of the fault type of the power-assisted steering system as the first fault type so as to change the working mode of the power-assisted steering system into the warning mode.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
the working mode further includes a half-disabled mode, and the step of changing the working mode of the steering assist system to the working mode corresponding to the current highest fault type further includes:
when the fault type with the highest priority is the second fault type, judging the current speed of the vehicle, when the current speed is smaller than a preset speed threshold, increasing a preset trigger torque threshold for triggering the power steering assistance system to assist, and outputting prompt information that the fault type of the power steering assistance system is the second fault type so as to change the working mode of the power steering assistance system into the half-forbidden mode.
Further, the processor 1001 may call a steering assist program stored in the memory 1005, and further perform the following operations:
after the step of determining the current vehicle speed of the vehicle, comprising:
and if the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, stopping the power-assisted torque output of the power-assisted steering system.
Referring to fig. 2, a first embodiment of the steering assist method of the present invention includes:
step S10, monitoring operation parameters of a steering power assisting system of a vehicle, and judging whether the steering power assisting system fails or not according to the operation parameters;
in this embodiment, the implementation main body of the steering assist method is a controller of a vehicle, or a controller of a steering assist system of the vehicle, and the controller acquires operation parameters related to the steering assist system, determines whether the steering assist system is faulty according to the operation parameters, for example, sets a normal numerical range of each operation parameter, and determines that the steering assist system is faulty when the operation parameters are out of the normal numerical range.
Further, the operation parameters include a current sensor output parameter, a torque sensor output parameter, a motor driving parameter and a motor line parameter, and the step of judging whether the steering assist system fails according to the operation parameters includes: judging whether the output parameters of the current sensor are abnormal, judging whether the output parameters of the torque sensor are abnormal, judging whether the motor driving parameters are abnormal, and judging whether the motor line parameters are abnormal; if any one of the output abnormality of the current sensor, the output parameter abnormality of the torque sensor, the drive parameter abnormality of the motor or the line parameter abnormality of the motor occurs, the power assisted steering system is judged to be faulty, and the fault factor of the power assisted steering system is generated, wherein the fault factor comprises the abnormality of the torque sensor, the abnormality of the current sensor, the abnormality of the drive of the motor and the line abnormality of the motor.
Specifically, the current sensor is used for collecting phase current of the booster motor. The torque sensor is used to collect the torque of a transmission rod connected to a steering wheel of the vehicle, that is, the torque applied to the steering wheel by a driver, and the torque applied by the driver is generally used by an electric power steering system as an important basis for generating a power assisting torque. The motor driving parameter is used for driving the power-assisting motor to output power-assisting torque. The motor line parameters are power supply parameters of the booster motor. The output parameters of the torque sensor can obtain the torque applied by the driver and the angle of the steering wheel rotated by the driver. And comparing the transmission angle actually output by the torque sensor with a preset angle rotation range, and judging that the torque sensor fails if the transmission angle is not in the preset angle rotation range. In practice, abnormal judgment of the output parameters of the current sensor, the output parameters of the torque sensor, the motor driving parameters and the motor line parameters exists in a mature judgment scheme at present, and the description is omitted here. When any of the above-described failures occurs, it is determined that the power steering system has failed. And generating corresponding fault factors of the power steering system according to the abnormal parameters, wherein the fault factors comprise abnormal torque sensor, abnormal current sensor, abnormal motor drive and abnormal motor circuit.
Further, the fault types include a first fault type, a second fault type, and a third fault type, and before the step of changing the operation mode of the steering assist system according to the fault type of the steering assist system, the method includes: if the fault factor is abnormal in the motor line parameter, judging that the fault type comprises the first fault type; if the fault factor is abnormal, judging that the fault type comprises the second fault type; and if the fault factor is abnormal in the motor driving parameter and/or abnormal in the current sensor, judging that the fault type comprises the third fault type.
Specifically, the fault types include a first fault type, a second fault type, and a third fault type. The step of judging the fault type according to the fault factor comprises the following steps:
when the fault factor is abnormal of the torque sensor, the fault type of the steering power assisting system is judged to comprise a first fault type, when the fault factor is abnormal of the torque sensor, the fault type of the steering power assisting system is judged to comprise a second fault type, and when the fault factor is abnormal of the motor driving parameter and/or the current sensor is abnormal, the fault type of the steering power assisting system is judged to comprise a third fault type. Therefore, when it is determined that a failure has occurred, it is determined that at least one of the first failure type, the second failure type, and the third failure type is included in the failure types of the steering assist system.
And step S20, when the steering power assisting system fails, changing the working mode of the steering power assisting system according to the failure type of the steering power assisting system, and carrying out steering power assisting on the vehicle based on the steering power assisting system after changing the working mode.
Specifically, when it is determined that the steering assist system fails, the steering assist system is changed to different working modes according to different failure types of the steering assist system, and the vehicle is assisted based on the steering assist system after the working modes are changed.
Further, the current highest fault type of the power steering system is obtained, wherein the current highest fault type is the fault type with the highest priority in fault types of faults generated by the power steering system, the priority of the third fault type is greater than that of the second fault type, and the priority of the second fault type is greater than that of the third fault type; and changing the working mode of the power steering system into the working mode corresponding to the current highest fault type.
Specifically, the current highest fault type is obtained from the fault types of the steering power-assisted system, and the current highest fault type is the fault type with the highest priority in the fault types. The priorities of the fault types are respectively the first priority (highest), the second priority (next highest), and the first priority (lowest). And changing the working mode of the power steering system into the working mode corresponding to the current highest fault type.
Further, the operation mode includes a disabled mode and a warning mode, and the step of changing the operation mode of the steering assist system to the operation mode corresponding to the current highest fault type includes: when the fault type with the highest priority is the third fault type, cutting off the power supply of the power-assisted steering system, and outputting prompt information that the fault type of the power-assisted steering system is the third fault type so as to change the working mode of the power-assisted steering system into the forbidden mode; and when the fault type with the highest priority is the first fault type, outputting prompt information of the fault type of the power-assisted steering system as the first fault type so as to change the working mode of the power-assisted steering system into the warning mode.
Specifically, the operating modes of the steering assist system include a disabled mode and a warning mode. When the highest priority fault type is the third fault type, for example, the steering assist system fault includes the first fault type and/or the second fault type and the third fault type, then the third fault type is the current highest priority fault type. The operation mode corresponding to the third failure type is a disabled mode. It can be understood that the fault factors corresponding to the third fault type include abnormal current sensor and abnormal motor driving, the current sensor is used for directly feeding back the operation condition of the power-assisted motor, and the motor driving is used for directly controlling the power-assisted motor to operate, so that after the power-assisted system fails after the third fault type, the power-assisted torque output by the power-assisted motor is possibly opposite to the direction of the actually intended rotating steering wheel of the driver, or the output power-assisted torque is overlarge, so that the rotating amplitude of the steering wheel is overlarge, and the safety risk of the vehicle is higher. If the fault occurring in the power steering system only comprises the first fault type, the fault type with the highest priority is the first fault type. It can be understood that the fault factor of the first fault type is abnormal motor circuit, and the motor circuit is used for supplying power to the power-assisted motor, so that when the fault of the first fault type occurs, the power-assisted effect of the power-assisted motor is generally influenced, the safety risk is lower, the working mode of the power-assisted steering system is changed into a disabled mode, and a corresponding prompt for the occurrence of the fault of the first fault type is output to a driver.
Further, the working mode further comprises a half-disabled mode, when the fault type with the highest priority is the second fault type, the current speed of the vehicle is judged, when the current speed is smaller than a preset speed threshold, a preset trigger torque threshold for triggering the power-assisted steering system to assist is increased, and prompt information that the fault type of the power-assisted steering system is the second fault type is output, so that the working mode of the power-assisted steering system is changed into the half-disabled mode.
Specifically, the working mode of the steering power assisting system further comprises a half-disabled mode, and when the fault type with the highest priority is the second fault type, the working mode of the steering power assisting system is changed into the half-disabled mode. In the half-disabled mode, the current speed of the vehicle is firstly obtained, the current speed of the vehicle is compared with a preset speed threshold, and if the current speed is smaller than the speed threshold, a preset trigger torque threshold for triggering the power steering assistance system to assist is increased. The second fault type comprises abnormal torque sensor, the torque applied by the driver collected by the torque sensor is taken as an important basis for generating the power-assisted torque by the steering power-assisted system, for example, the power-assisted torque is increased along with the increase of the applied torque, the power-assisted torque direction is the same as the direction of the applied power-assisted torque, and if the collected torque signal has a problem, the steering power-assisted system can be caused to output incorrect power-assisted torque, so that the steering of the steering wheel by the driver is influenced, and the driving safety is influenced. While the torque sensor anomaly is typically a base point offset, if the torque sensor is normal, and driving does not apply torque to the steering wheel, the torque sensor captures zero torque. But the torque sensor is shifted in base point, the driver can pick up either positive or negative torque (positive and negative being used to indicate the direction of torque, i.e. counterclockwise or clockwise) without applying force. It may be that the driver may feel the force applied in the opposite direction to the steering wheel in the initial stage of turning the steering wheel, for example, the torque sensor may shift forward from the base point, that is, the torque sensor may collect the forward torque when the driver does not apply the force, and the power-assisted torque output by the power-assisted steering system is the forward torque and applied to the steering wheel, and if the driver tries to turn the steering wheel in the negative direction, the turning may be blocked. In this embodiment, the preset trigger torque threshold is a trigger threshold at which the power steering system starts outputting the assist torque, that is, when the torque signal collected by the torque sensor reaches the trigger torque threshold, the power steering system starts outputting the assist torque (while increasing the preset trigger torque threshold actually changes the power steering torque characteristic curve of the power steering system, where the power steering torque characteristic curve is used to represent the relationship between the torque signal collected by the sensor and the power steering torque of the power steering system, and the specific increase of the preset trigger torque threshold can be obtained by testing by those skilled in the art). It will be appreciated that when the preset trigger torque threshold is increased, the steering assist system's output assist torque that prevents the driver from turning the steering wheel without the driver applying assistance due to the torque sensor base point offset is reduced to some extent. Thereby reducing the risk of driving.
It can be appreciated that in this embodiment, the working mode of the steering assist system is changed according to the priority of the fault (or the severity of the fault), that is, the risk degree of the fault is determined, the function of the steering assist system is disabled, semi-disabled or opened according to the risk degree, and under the condition of ensuring driving safety, the steering assist system with the fault is continuously used, so that inconvenience is caused to the user to continue moving or using the vehicle after the fault is avoided.
Further, after the step of determining the current vehicle speed of the vehicle, the method includes: and if the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, stopping the power-assisted torque output of the power-assisted steering system.
Specifically, if the vehicle speed is greater than or equal to a preset vehicle speed threshold, the power-assisted torque output of the steering power-assisted system is stopped. It will be appreciated that small amounts of steering wheel rotation will cause the vehicle to deviate significantly from the lane when the vehicle speed is high, and that the vehicle will have a lower power assist torque demand, and therefore reduce the need to safely deactivate the steering assist system.
In the embodiment, the operation parameters of a steering power assisting system of a vehicle are monitored, and whether the steering power assisting system fails or not is judged according to the operation parameters; when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode. That is, when the steering of the vehicle fails, the operation mode of the steering assist system is changed based on a different failure type. The problem that the steering power assisting system is directly stopped once the vehicle fails is avoided, and inconvenience is caused to a user in moving the vehicle or continuously using the vehicle.
In addition, an embodiment of the present invention also proposes a steering assist device, including:
the judging module is used for monitoring the operation parameters of the steering power assisting system of the vehicle and judging whether the steering power assisting system fails or not according to the operation parameters;
and the changing module is used for changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system when the steering power assisting system fails, and carrying out steering power assisting on the vehicle based on the steering power assisting system after changing the working mode.
The steering power assisting device provided by the invention adopts the steering power assisting method in the embodiment, and solves the technical problem that the prior electric power assisted steering system brings inconvenience to a driver after faults occur. Compared with the prior art, the beneficial effects of the steering assistance method device provided by the embodiment of the invention are the same as those of the steering assistance method provided by the embodiment, and other technical features of the novel centering of the steering assistance method are the same as those disclosed by the method of the embodiment, so that the description is omitted herein.
In addition, an embodiment of the present invention also proposes a steering assist apparatus including: the steering assist system comprises a memory, a processor and a steering assist program stored in the memory and capable of running on the processor, wherein the steering assist program realizes the steps of the steering assist method when being executed by the processor.
The specific implementation of the steering power assisting method device is basically the same as the examples of the novel steering power assisting method, and is not repeated here.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein a steering assistance program is stored on the computer readable storage medium, and the steering assistance program realizes the steps of the steering assistance method when being executed by a processor.
The specific implementation manner of the medium of the invention is basically the same as that of each embodiment of the novel method of the steering assistance method, and is not repeated here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a vehicle, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (5)
1. A power steering method, characterized in that the power steering method comprises the steps of:
monitoring operation parameters of a steering power assisting system of a vehicle, and judging whether the steering power assisting system fails according to the operation parameters;
when the power-assisted steering system fails, changing the working mode of the power-assisted steering system according to the failure type of the power-assisted steering system, and performing power-assisted steering on the vehicle based on the power-assisted steering system after changing the working mode;
wherein the fault types comprise a first fault type, a second fault type and a third fault type, and the step of changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system comprises the following steps:
acquiring a current highest fault type of the power steering system, wherein the current highest fault type is a fault type with highest priority among fault types of faults of the power steering system, the priority of the third fault type is greater than that of the second fault type, and the priority of the second fault type is greater than that of the first fault type;
changing the working mode of the power steering system into a working mode corresponding to the current highest fault type;
the operation mode includes a disabled mode and a warning mode, and the step of changing the operation mode of the steering assist system to an operation mode corresponding to the current highest failure type includes:
when the fault type with the highest priority is the third fault type, cutting off the power supply of the power-assisted steering system, and outputting prompt information that the fault type of the power-assisted steering system is the third fault type so as to change the working mode of the power-assisted steering system into the forbidden mode;
when the fault type with the highest priority is the first fault type, outputting prompt information of the fault type of the power steering system as the first fault type so as to change the working mode of the power steering system into the warning mode;
the working mode further includes a half-disabled mode, and the step of changing the working mode of the steering assist system to the working mode corresponding to the current highest fault type further includes:
when the fault type with the highest priority is the second fault type, judging the current speed of the vehicle, and when the current speed is smaller than a preset speed threshold, increasing a preset trigger torque threshold for triggering the power steering assistance system to assist, and outputting prompt information that the fault type of the power steering assistance system is the second fault type so as to change the working mode of the power steering assistance system into the half-forbidden mode;
before the step of changing the operation mode of the steering assist system according to the type of failure of the steering assist system, the method includes:
if the fault factor is abnormal motor line parameters, judging that the fault type comprises the first fault type;
if the fault factor is abnormal, judging that the fault type comprises the second fault type;
if the fault factor is abnormal motor driving parameters and/or abnormal current sensors, judging that the fault type comprises the third fault type;
after the step of determining the current vehicle speed of the vehicle, comprising:
and if the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, stopping the power-assisted torque output of the power-assisted steering system.
2. The power steering method of claim 1, wherein the operating parameters include a current sensor output parameter, a torque sensor output parameter, a motor drive parameter, and a motor line parameter, and wherein determining whether the power steering system is malfunctioning based on the operating parameters includes:
judging whether the output parameters of the current sensor are abnormal, judging whether the output parameters of the torque sensor are abnormal, judging whether the motor driving parameters are abnormal, and judging whether the motor line parameters are abnormal;
if any one of the output abnormality of the current sensor, the output parameter abnormality of the torque sensor, the drive parameter abnormality of the motor or the line parameter abnormality of the motor occurs, the power assisted steering system is judged to be faulty, and the fault factor of the power assisted steering system is generated, wherein the fault factor comprises the abnormality of the torque sensor, the abnormality of the current sensor, the abnormality of the drive of the motor and the line abnormality of the motor.
3. A steering assist device characterized by comprising:
the judging module is used for monitoring the operation parameters of the steering power assisting system of the vehicle and judging whether the steering power assisting system fails or not according to the operation parameters;
the change module is used for changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system when the steering power assisting system fails, and carrying out steering power assisting on the vehicle based on the steering power assisting system after changing the working mode;
wherein the fault types comprise a first fault type, a second fault type and a third fault type, and the step of changing the working mode of the steering power assisting system according to the fault type of the steering power assisting system comprises the following steps:
acquiring a current highest fault type of the power steering system, wherein the current highest fault type is a fault type with highest priority among fault types of faults of the power steering system, the priority of the third fault type is greater than that of the second fault type, and the priority of the second fault type is greater than that of the first fault type;
changing the working mode of the power steering system into a working mode corresponding to the current highest fault type;
the operation mode includes a disabled mode and a warning mode, and the step of changing the operation mode of the steering assist system to an operation mode corresponding to the current highest failure type includes:
when the fault type with the highest priority is the third fault type, cutting off the power supply of the power-assisted steering system, and outputting prompt information that the fault type of the power-assisted steering system is the third fault type so as to change the working mode of the power-assisted steering system into the forbidden mode;
when the fault type with the highest priority is the first fault type, outputting prompt information of the fault type of the power steering system as the first fault type so as to change the working mode of the power steering system into the warning mode;
the working mode further includes a half-disabled mode, and the step of changing the working mode of the steering assist system to the working mode corresponding to the current highest fault type further includes:
when the fault type with the highest priority is the second fault type, judging the current speed of the vehicle, and when the current speed is smaller than a preset speed threshold, increasing a preset trigger torque threshold for triggering the power steering assistance system to assist, and outputting prompt information that the fault type of the power steering assistance system is the second fault type so as to change the working mode of the power steering assistance system into the half-forbidden mode;
before the step of changing the operation mode of the steering assist system according to the failure type of the steering assist system, it includes:
if the fault factor is abnormal motor line parameters, judging that the fault type comprises the first fault type;
if the fault factor is abnormal, judging that the fault type comprises the second fault type;
if the fault factor is abnormal motor driving parameters and/or abnormal current sensors, judging that the fault type comprises the third fault type;
after the step of determining the current vehicle speed of the vehicle, comprising:
and if the current vehicle speed is greater than or equal to the preset vehicle speed threshold value, stopping the power-assisted torque output of the power-assisted steering system.
4. A steering assist apparatus, characterized by comprising: memory, a processor and a steering assistance program stored on the memory and executable on the processor, which steering assistance program, when executed by the processor, implements the steps of the steering assistance method according to any one of claims 1 to 2.
5. A computer-readable storage medium, on which a steering assistance program is stored, which, when executed by a processor, implements the steps of the steering assistance method according to any one of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210685110.0A CN114940208B (en) | 2022-06-16 | 2022-06-16 | Steering assist method, apparatus, device, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210685110.0A CN114940208B (en) | 2022-06-16 | 2022-06-16 | Steering assist method, apparatus, device, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114940208A CN114940208A (en) | 2022-08-26 |
| CN114940208B true CN114940208B (en) | 2023-09-15 |
Family
ID=82910369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210685110.0A Active CN114940208B (en) | 2022-06-16 | 2022-06-16 | Steering assist method, apparatus, device, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114940208B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050122314A (en) * | 2004-06-24 | 2005-12-29 | 주식회사 만도 | Fail safe control method in eps system |
| JP2009202849A (en) * | 2008-02-29 | 2009-09-10 | Nsk Ltd | Electric power steering device |
| CN101734135A (en) * | 2009-12-29 | 2010-06-16 | 东莞市精航达电动转向系统有限公司 | Electric power-assisted steering control method and control device for vehicles |
| CN103112495A (en) * | 2013-02-02 | 2013-05-22 | 哈尔滨工业大学 | Novel automobile electric power steering fault-tolerant control device and method |
| JP2015104955A (en) * | 2013-11-28 | 2015-06-08 | 株式会社ジェイテクト | Electric power steering device |
| CN105501289A (en) * | 2014-10-13 | 2016-04-20 | 株式会社万都 | Method and apparatus for controlling electric power steering |
| CN106256653A (en) * | 2015-06-16 | 2016-12-28 | 现代自动车株式会社 | The failure detector of motor driving power system and method thereof |
| CN109664935A (en) * | 2017-10-17 | 2019-04-23 | 操纵技术Ip控股公司 | Driver's warning in electric boosting steering system |
| CN113525329A (en) * | 2021-07-07 | 2021-10-22 | 东风汽车集团股份有限公司 | Multi-mode emergency brake failure auxiliary control system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008068777A (en) * | 2006-09-15 | 2008-03-27 | Toyota Motor Corp | Electric power steering device |
| JP4728406B2 (en) * | 2009-01-07 | 2011-07-20 | 本田技研工業株式会社 | Electric power steering device |
-
2022
- 2022-06-16 CN CN202210685110.0A patent/CN114940208B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20050122314A (en) * | 2004-06-24 | 2005-12-29 | 주식회사 만도 | Fail safe control method in eps system |
| JP2009202849A (en) * | 2008-02-29 | 2009-09-10 | Nsk Ltd | Electric power steering device |
| CN101734135A (en) * | 2009-12-29 | 2010-06-16 | 东莞市精航达电动转向系统有限公司 | Electric power-assisted steering control method and control device for vehicles |
| CN103112495A (en) * | 2013-02-02 | 2013-05-22 | 哈尔滨工业大学 | Novel automobile electric power steering fault-tolerant control device and method |
| JP2015104955A (en) * | 2013-11-28 | 2015-06-08 | 株式会社ジェイテクト | Electric power steering device |
| CN105501289A (en) * | 2014-10-13 | 2016-04-20 | 株式会社万都 | Method and apparatus for controlling electric power steering |
| CN106256653A (en) * | 2015-06-16 | 2016-12-28 | 现代自动车株式会社 | The failure detector of motor driving power system and method thereof |
| CN109664935A (en) * | 2017-10-17 | 2019-04-23 | 操纵技术Ip控股公司 | Driver's warning in electric boosting steering system |
| CN113525329A (en) * | 2021-07-07 | 2021-10-22 | 东风汽车集团股份有限公司 | Multi-mode emergency brake failure auxiliary control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114940208A (en) | 2022-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108082276B (en) | Steering method and system based on double motors | |
| US10017205B2 (en) | Control apparatus and control method of on-vehicle electronic equipment | |
| US20110093163A1 (en) | Method and apparatus for detecting steering angle sensor initialization fault | |
| US20190084614A1 (en) | Steer by wire system diagnostic | |
| KR20210135738A (en) | Apparatus and method for controlling motor driven power steering system of vehicle | |
| CN113968237A (en) | Steering system of unmanned vehicle, operation method and storage device | |
| US20230100164A1 (en) | Steering control device and method | |
| JP6441505B2 (en) | Control device and control method of control device | |
| CN114940208B (en) | Steering assist method, apparatus, device, and computer-readable storage medium | |
| JP2004276697A (en) | Electric power steering device | |
| EP3095674B1 (en) | Vehicular control apparatus | |
| CN104960574A (en) | Middle-position calibrating method for electric power-assisted steering tube column | |
| EP1319574A2 (en) | Controller and control method for an electric power steering apparatus | |
| CN110194212A (en) | Steering controller | |
| CN114919411A (en) | Method and device for driving double batteries of vehicle steering system, vehicle and storage medium | |
| JP2004196127A (en) | Electric power steering device | |
| JPH06329042A (en) | Rear wheel steering system | |
| CN115009354B (en) | Fault diagnosis method and device for vehicle steering system, vehicle and storage medium | |
| JP2003291837A (en) | Computation monitoring method for electric power steering controller and electric power steering controller | |
| US20230159095A1 (en) | Vehicle steering device and vehicle steering method | |
| CN117565969B (en) | Method, device, equipment and vehicle for correcting and superposing steering torque signal by wire | |
| KR101725678B1 (en) | Method of preventing car accident and apparatus performing the same | |
| CN113442905B (en) | Chassis unbalance fault monitoring method, steering control system and automobile | |
| CN110155162B (en) | Overcurrent protection method, device, equipment and storage medium for electric power steering system | |
| KR102191855B1 (en) | Control method of apparatus for operating high voltage motor of vehicle |
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 |