CN115158445B - Vehicle steering redundancy control method, system, electronic equipment and storage medium - Google Patents
Vehicle steering redundancy control method, system, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a vehicle steering redundancy control method, a system, electronic equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps that fault information of a single-path steering control link is sent to an automatic driving domain controller through an electronic power steering system of a target vehicle; the automatic driving domain controller adjusts the original track according to the fault information and the current driving scene of the target vehicle, obtains an adjusted track after adjustment, and sends the adjusted track to the electronic power steering system; and the electronic power steering system calculates a control command according to the adjustment track and controls the target vehicle to finish steering according to the control command. According to the method, when the target vehicle fails in a single-path steering link, the original track is regulated by the automatic driving domain controller to obtain the regulated track, and the electronic power-assisted steering system recalculates the steering control instruction according to the regulated track, so that the problem that the running safety of the automatic driving vehicle is reduced when the steering function of the automatic driving vehicle fails is solved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle steering redundancy control method, a system, electronic equipment and a storage medium.
Background
The automatic driving system adopts advanced communication, computer, network and control technology to realize real-time and continuous control on the target vehicle. Key technologies include environmental awareness, logical reasoning and decision making, motion control, processor performance, etc. With advances in machine vision (e.g., 3D camera technology), pattern recognition software (e.g., optical character recognition programs), and radar systems, on-board computers can control the travel of automobiles by combining machine vision, sensor data, and spatial data.
With the increasing assembly rate and intelligent level of automatic driving functions, drivers can gradually release hands to enable the vehicle to automatically run according to a planned track. At the same time, this also means that the driver's engagement during the driving of the vehicle gradually decreases, and that his driving detection and execution responsibility is gradually transferred from the driver to the automatic driving system. However, when some steering hardware on the vehicle fails, the automatic driving system may cause traffic accidents due to dangerous situations, so how to improve the driving safety of the automatic driving vehicle when the steering function of the automatic driving vehicle fails is a problem to be solved.
Disclosure of Invention
The invention provides a vehicle steering redundancy control method, a system, electronic equipment and a storage medium, which aim at the technical problems in the prior art and are used for solving the problem that the running safety of an automatic driving vehicle is reduced when the steering function of the automatic driving vehicle fails.
According to a first aspect of the present invention, there is provided a vehicle steering redundancy control method including:
the electronic power-assisted steering system of the target vehicle sends fault information of the single-path steering control link to the automatic driving domain controller;
the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle, obtains an adjusted track, and sends the adjusted track to the electronic power steering system;
and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, if the current driving scene is a curve scene, the automatic driving domain controller adjusts the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the adjusted track includes:
and the automatic driving domain controller acquires an original track corresponding to the curve scene, and offsets the original track to the inner side of the curve scene according to the fault information to obtain an offset adjustment track.
Optionally, the step of calculating the control command by the electronic power steering system according to the adjustment track includes:
the electronic power-assisted steering system acquires the road curvature in the curve scene, and calculates the steering wheel angle of the target vehicle according to the road curvature and the adjustment track;
acquiring a turning speed according to the turning angle of the steering wheel, and calculating steering torque according to the turning speed;
and generating a control instruction according to the steering torque.
Optionally, after the step of obtaining the steering angle speed according to the steering wheel angle and calculating the steering torque according to the steering angle speed, the method includes:
the electronic power-assisted steering system acquires the maximum steering torque of a single-path motor in a single-path steering control link of the target vehicle;
and when the steering torque is larger than a preset threshold value of the maximum steering torque, assisting steering according to a preset steering compensation strategy.
Optionally, the step of assisting steering by the electronic power steering system according to a preset steering compensation strategy includes:
the electronic power-assisted steering system calculates driving force or braking force corresponding to each wheel of the target vehicle according to the current speed, lateral acceleration and rolling force of the target vehicle;
and controlling each wheel of the target vehicle to perform differential driving auxiliary steering according to the driving force or the braking force.
Optionally, the preset threshold is 90% of the maximum steering torque.
Optionally, when the curve scene includes a lane changing scene, the autopilot domain controller corrects the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the corrected track includes:
the automatic driving domain controller acquires an original lane change track corresponding to the lane change scene;
advancing the steering starting point of the original lane change track according to the fault information to obtain a lane change track after adjustment;
the electronic power-assisted steering system calculates lane changing torques corresponding to the preset points on the lane changing tracks according to the adjusted lane changing tracks;
and when any lane change torque is larger than the maximum steering torque of the single-path steering motor of the target vehicle, sending an execution capacity deviation to an autopilot controller of the target vehicle so as to enable the autopilot controller to re-plan a lane change track.
According to a second aspect of the present invention, there is provided a vehicle steering redundancy control system comprising:
the electronic power steering system is used for sending fault information of a one-way steering control link of the target vehicle to an automatic driving domain controller of the target vehicle; calculating a control instruction according to the adjustment track, and controlling the target vehicle to finish steering according to the control instruction;
and the automatic driving domain controller is used for adjusting the original track according to the fault information and the current running scene of the target vehicle and sending the adjusted track to the electronic power steering system.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of any one of the vehicle steering redundancy control methods of the first aspect described above when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer management class program which, when executed by a processor, implements the steps of any one of the vehicle steering redundancy control methods of the first aspect described above.
The invention provides a vehicle steering redundancy control method, a system, electronic equipment and a storage medium, wherein fault information of a single-path steering control link is sent to an automatic driving domain controller through an electronic power steering system of a target vehicle; the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle to obtain an adjusted track, and sends the adjusted track to the electronic power steering system; and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction. According to the invention, when the single steering control link of the target vehicle fails, the original track is calibrated according to the current running scene and failure information of the target vehicle to obtain the calibrated track, the control instruction is recalculated according to the calibrated track, and the target vehicle is subjected to steering control according to the control instruction, so that the problem that the safety of the target vehicle is reduced due to the fact that the control effect is reduced when the other steering control link continues to run according to the original track when the single steering control link of the target vehicle fails is solved, the safety and reliability of the target vehicle in automatic driving are improved, and the riding experience of a user is greatly improved.
Drawings
FIG. 1 is a flow chart of a vehicle steering redundancy control method provided by the invention;
FIG. 2 is a schematic diagram of a steering redundancy control hardware structure provided by the present invention;
FIG. 3 is a graph of curve radius versus corner rate interpolation provided by the present invention;
FIG. 4 is a flow chart of a steering redundancy control decision provided by the present invention;
FIG. 5 is a schematic diagram of a vehicle steering redundancy control system according to the present invention;
fig. 6 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 7 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a flow chart of a vehicle steering redundancy control method provided by the invention, as shown in fig. 1, the method includes:
step S100: the electronic power-assisted steering system of the target vehicle sends fault information of the single-path steering control link to the automatic driving domain controller;
it should be noted that, the execution body of the method of this embodiment may be an electronic power steering system and an autopilot domain controller, or may be a computer terminal device having functions of data processing, network communication, and program running, for example: computers, vehicle-mounted computers, etc.; when the execution body is an autopilot controller or a computer terminal device, the content of the data calculation part in the method of the embodiment is put on the execution body to be executed, so that the network communication delay rate of the execution body and other modules is higher. For ease of understanding, the present embodiment and the following embodiments will be described by taking an electronic power steering system and an autopilot controller as examples.
It will be appreciated that the above-mentioned electronic power steering system (Electric Power Steering, EPS) is a new steering technology, which is different from the conventional hydraulic power steering system in that it omits a power steering oil pump, a hose, hydraulic oil, a transmission belt and a pulley mounted on an engine, and directly provides steering assistance by an electric power booster, and has the characteristics of simple adjustment, flexible assembly and capability of providing steering assistance under various conditions.
It should be appreciated that the autopilot controller (Automated Driving Control Unit, ADCU) is an intelligent computing platform that can integrate computationally intensive sensor data processing and sensor fusion work and control strategy development into one control unit and facilitate the creation of a structured and organized vehicle controller network, typically for use in unmanned, unmanned logistics, unmanned delivery/express, unmanned sanitation vehicles, unmanned mining vehicles, and the like.
It is also understood that the target vehicle may be a dual-link steering control vehicle in which a dual motor is used for hardware redundancy backup, and in which a single steering control link fails, the other motor may still complete a portion of the steering control of the vehicle.
It should also be appreciated that the single-pass steering control links described above include, but are not limited to: a sensor, an electronic control unit (Electronic Control Unit, ECU), a motor and a power source.
In order to further explain possible system structures in the steering redundancy control method, referring to fig. 2, fig. 2 is a schematic diagram of a steering redundancy control hardware structure provided by the present invention; the figure 2 contains three major parts of a perception layer, a decision layer and an execution layer.
The sensing layer adopts a fusion sensing scheme of a forward-looking camera and a millimeter wave radar, and detects the state of a road ahead in real time according to the camera and the millimeter wave radar sensor installed in front of a vehicle, including but not limited to: lane line state, road curvature state, lane front target running state of the target vehicle, and the like.
The decision layer is composed of an ADCU (automatic driving zone controller) and is used for planning track prediction of a target vehicle for a period of time in the future, track decision planning and calculating transverse control instructions of different track points in the track according to the road state output by the perception layer, and sending the control instructions to the execution layer.
The execution layer is composed of a plurality of control links and an EPS electronic power steering system, and in fig. 2, a parallel redundancy scheme of double sensors, double ECU units, double power supplies and double-winding motors is adopted, wherein each control link comprises an independent sensor, an independent ECU unit, an independent motor and an independent power supply, and steering control capability is provided for a target vehicle in an equal division manner when no fault occurs (50% steering control capability is provided for the two control links in fig. 2). And the EPS execution module controls the vehicle to run according to the planned track after receiving the transverse control instruction of the ADCU, and feeds back the deviation between the current EPS execution result and the expected result.
In a specific implementation, when one of the dual-link steering control links of the target vehicle fails, the electronic power steering system sends failure information to the autopilot controller.
Step S200: the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle, obtains an adjusted track, and sends the adjusted track to the electronic power steering system;
it should be noted that, the current driving scenario refers to a scenario where the current time of the target vehicle is located, and the scenario may include: the present embodiment is not limited to a curve scene, a straight road scene, or a lane change scene.
It may be appreciated that the original trajectory may be a driving trajectory generated by the autopilot controller according to factors in the driving scene at an initial stage of entering the driving scene, for example: in a curve scene, the original trajectory is the trajectory that resides in the curve centerline for travel.
It should be understood that the process of tuning may be a process of reasonably optimizing the original track according to fault information and scene factors of the current scene.
In specific implementation, after receiving the fault information, the autopilot domain controller acquires an original track corresponding to the current driving scene, optimizes the original track according to the fault information and factors of the current driving scene, acquires an optimized adjustment track, and sends the adjustment track to the electronic power steering system.
Step S300: and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction.
It should be noted that, the control instruction may be a steering torque control instruction recalculated by the electronic power steering system according to the adjustment track, and since the control instruction is directly calculated by the electronic power steering system, compared with a control instruction calculated by the autopilot controller under normal conditions, the control instruction is more accurate, and can help the target vehicle to complete the driving process of the scene more stably under the condition of a single-path control link failure.
It can be appreciated that based on the defects in the background art, the embodiment of the invention provides a vehicle steering redundancy control method. The method comprises the steps that fault information of a single-path steering control link is sent to an automatic driving domain controller through an electronic power steering system of a target vehicle; the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle to obtain an adjusted track, and sends the adjusted track to the electronic power steering system; and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction. According to the invention, when the single steering control link of the target vehicle fails, the original track is calibrated according to the current running scene and failure information of the target vehicle to obtain the calibrated track, the control instruction is recalculated according to the calibrated track, and the target vehicle is subjected to steering control according to the control instruction, so that the problem that the safety of the target vehicle is reduced due to the fact that the control effect is reduced when the other steering control link continues to run according to the original track when the single steering control link of the target vehicle fails is solved, the safety and reliability of the target vehicle in automatic driving are improved, and the riding experience of a user is greatly improved.
In a possible embodiment, if the current driving scenario is a curve scenario, the autopilot domain controller corrects the original track according to the fault information and the current driving scenario of the target vehicle, and the step of obtaining the corrected track includes:
step S201: and the automatic driving domain controller acquires an original track corresponding to the curve scene, and offsets the original track to the inner side of the curve scene according to the fault information to obtain an offset adjustment track.
In a specific implementation, if the current driving scene is a curve scene, the autopilot domain controller acquires an original track corresponding to the curve scene, and shifts the calculated driving track to a lane line at the inner side of the curve, so as to obtain a shifted adjustment track, wherein the offset can be comprehensively calculated by the ADCU autopilot domain controller according to the surrounding environment of the target vehicle.
In this embodiment, the ADCU autopilot domain controller deflects the driving track to the inside through the surrounding environment of the curve scene, so that the driving track of the target vehicle more accords with the scene of the single-path steering control link fault, further improving the driving safety and stability of the target vehicle in the scene, and improving the riding experience of the user.
In a possible embodiment, the step of calculating the control command by the electronic power steering system according to the tuning track includes:
step S301: the electronic power-assisted steering system acquires the road curvature in the curve scene, and calculates the steering wheel angle of the target vehicle according to the road curvature and the adjustment track;
it should be noted that, the road curvature is obtained by identifying the road condition in front through the sensing layer, and the obtaining manner is the conventional manner, which is not described in detail here.
Step S302: acquiring a turning speed according to the turning angle of the steering wheel, and calculating steering torque according to the turning speed;
it should be noted that, the control of the angular velocity is only related to the curvature of the road, so that the angular velocity can be properly reduced during the curve to ensure the safety of the driving of the target vehicle in the curve. Referring to fig. 3, fig. 3 is a graph of curve radius versus corner rate interpolation provided by the present invention; in fig. 3, the abscissa indicates the radius of the curve, and the ordinate indicates the rotation angle rate. The curve radius is also called as curve curvature radius, and refers to a line segment connecting the center of the curve and any point on the curve. When a vehicle runs in a curve, the risk of sideslip and even rollover caused by the fact that the vehicle runs unstably due to the effect of outward impact can occur; the smaller the radius of the curve is, the larger the timing impact of the vehicle speed is, the less stable the vehicle runs, the impact effect can be effectively reduced by reducing the vehicle speed, and the vehicle is ensured to run stably in the curve.
Step S303: and generating a control instruction according to the steering torque.
In this embodiment, the electronic power steering system recalculates the steering torque generation instruction through the road curvature and the adjustment track, so that the steering torque is more accurate when the single-path control link fails, thereby realizing accurate control of the target vehicle and improving the safety and stability of the target vehicle over-bending.
In a possible embodiment, after the step of obtaining a steering angle speed according to the steering angle of the steering wheel and calculating a steering torque according to the steering angle speed, the method includes:
step S304: the electronic power-assisted steering system acquires the maximum steering torque of a single-path motor in a single-path steering control link of the target vehicle;
step S305: and when the steering torque is larger than a preset threshold value of the maximum steering torque, assisting steering according to a preset steering compensation strategy.
In this embodiment, the electronic power steering system compares the maximum steering torque provided by the single-path motor in the remaining single-path steering control link, and when the steering torque required for driving in a curve exceeds the maximum steering torque, the steering is assisted by the preset steering compensation strategy, so that the target vehicle can still pass through the current curve when the single-path steering torque is insufficient, and the driving safety and stability of the vehicle are improved.
In a possible embodiment, the step of assisting the steering by the electronic power steering system according to a preset steering compensation strategy includes:
step S3051: the electronic power-assisted steering system calculates driving force or braking force corresponding to each wheel of the target vehicle according to the current speed, lateral acceleration and rolling force of the target vehicle;
step S3052: and controlling each wheel of the target vehicle to perform differential driving auxiliary steering according to the driving force or the braking force.
In the embodiment, the condition of insufficient steering torque is made up by utilizing the four-wheel differential steering mode of the target vehicle, so that the target vehicle can still pass through the current curve when the single-way steering torque is insufficient, and the safety and stability of vehicle running are improved.
In one possible embodiment, in order to further improve the safety and stability of the vehicle driving, the preset threshold value is 90% of the maximum steering torque.
In the embodiment, the maximum steering torque of the single-path steering motor is set to 90% of the maximum value, so that the damage of the single-path steering motor caused by overload is effectively reduced, the situation that the target vehicle cannot run due to the fact that two paths of steering control links of the vehicle are failed is further reduced, and the reliability of the target vehicle is further improved.
In a possible embodiment, when the curve scene includes a lane change scene, the autopilot controller corrects the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the corrected track includes:
step S202: the automatic driving domain controller acquires an original lane change track corresponding to the lane change scene;
step S203: advancing the steering starting point of the original lane change track according to the fault information to obtain a lane change track after adjustment;
step S204: the electronic power-assisted steering system calculates lane changing torques corresponding to the preset points on the lane changing tracks according to the adjusted lane changing tracks;
it should be noted that, the points on the preset lane-changing tracks may be set according to the calculation power of the electronic power steering system, and the lane-changing torques corresponding to different points on the calibrated lane-changing tracks may be calculated in real time under the condition that the calculation power of the electronic power steering system is sufficient, which is not limited in this embodiment.
Step S205: and when any lane change torque is larger than the maximum steering torque of the single-path steering motor of the target vehicle, sending an execution capacity deviation to an autopilot controller of the target vehicle so as to enable the autopilot controller to re-plan a lane change track.
In a specific implementation, when the curve scene includes a lane change scene, the autopilot domain controller advances a steering starting point of a lane change on the basis of an original lane change track, smoothes the whole predicted running track, calculates lane change torques at different positions in the lane change track by the EPS electronic power assisting system in the lane change process, and sends an execution capacity deviation to the autopilot domain controller when the lane change torque is greater than a maximum torque of a single-path motor of a target vehicle, so that the lane change is re-planned.
In the embodiment, when the steering torque required by lane change is larger than the maximum steering torque of the single-path motor in the lane change scene, the ADCU automatic driving domain controller reprograms the driving path, so that the lane change risk of the vehicle in lane change driving is reduced, and the driving safety of the target vehicle is improved.
In one possible application scenario, for further clarity and completeness of description of the implementation process of the method of the present invention, referring to fig. 4, fig. 4 is a flow chart of steering redundancy control decision provided by the present invention; in the application scenario, the target vehicle runs on the road and starts an automatic driving function, the steering control link works normally by default, then the EPS acquires whether the steering control link fails, and if not, normal running is continued; if the steering link fails, starting redundant control, acquiring a current running scene, starting a curve strategy when the current scene is a curve scene, re-planning a running track by an ADCU, re-calculating a steering torque control instruction by an ESP, if the current steering torque is normal, continuing to keep the curve strategy running, and if the EPS judges that the steering is insufficient, starting a steering compensation strategy, and re-calculating the braking force and the driving force required by each wheel of the target vehicle, thereby manufacturing four-wheel differential running to compensate the steering torque until the curve is ended; when the current scene is not a curve scene, starting the strategy until the target vehicle runs centrally, judging whether the front has a lane changing requirement, if the front needs to change the lane, starting the lane changing strategy, enabling the ADCU to advance the lane changing initial point, monitoring a steering torque control instruction on the lane changing curve of the target vehicle in real time by the ESP, if the required steering torque is larger than the maximum torque provided by the single-way steering control link, sending the execution capacity deviation to the ADCU by the EPS to enable the ADCU to re-plan the running path, and if the required steering torque is not larger than the maximum torque provided by the single-way steering control link, continuing to finish lane changing.
In the above scenario, if the driving scenario is straight-road driving and there is no lane change requirement, the EPS and ADCU only need to keep the target vehicle driving centered in the lane.
It should be noted that, when the steering control link in the above scenario fails, only a single steering link fails, and if both steering control links fail, the method ends and sends the steering control failure information and the alarm.
In the application scenario, when the steering fails, the vehicle transverse control instruction can be adaptively adjusted by combining the running state of the vehicle and the running scenario (straight channel/lane changing/curve, etc.), so that the vehicle has better safety and reliability when the steering fails in the whole scenario.
Fig. 5 is a schematic diagram of a vehicle steering redundancy control system according to an embodiment of the present invention, and as shown in fig. 5, a vehicle steering redundancy control system includes an electronic power steering system 100 and an autopilot controller 200, wherein:
an electronic power steering system 100 for transmitting failure information of a one-way steering control link of the target vehicle to an autopilot domain controller of the target vehicle; calculating a control instruction according to the adjustment track, and controlling the target vehicle to finish steering according to the control instruction; and the autopilot domain controller 200 is used for adjusting the original track according to the fault information and the current running scene of the target vehicle and sending the adjusted track to the electronic power steering system.
It can be understood that the vehicle steering redundancy control system provided by the present invention corresponds to the vehicle steering redundancy control method provided by the foregoing embodiments, and relevant technical features of the vehicle steering redundancy control system may refer to relevant technical features of the vehicle steering redundancy control method, which are not described herein.
Referring to fig. 6, fig. 6 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 6, an embodiment of the present invention provides an electronic device including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320, the processor 1320 implementing the following steps when executing the computer program 1311:
the electronic power-assisted steering system of the target vehicle sends fault information of the single-path steering control link to the automatic driving domain controller; the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle to obtain an adjusted track, and sends the adjusted track to the electronic power steering system; and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 7, the present embodiment provides a computer-readable storage medium 1400 having stored thereon a computer program 1411, which computer program 1411, when executed by a processor, performs the steps of:
the electronic power-assisted steering system of the target vehicle sends fault information of the single-path steering control link to the automatic driving domain controller; the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle to obtain an adjusted track, and sends the adjusted track to the electronic power steering system; and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction.
The invention provides a vehicle steering redundancy control method, a system, electronic equipment and a storage medium, wherein fault information of a single-path steering control link is sent to an automatic driving domain controller through an electronic power steering system of a target vehicle; the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle to obtain an adjusted track, and sends the adjusted track to the electronic power steering system; and the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction. According to the invention, when the single steering control link of the target vehicle fails, the original track is calibrated according to the current running scene and failure information of the target vehicle to obtain the calibrated track, the control instruction is recalculated according to the calibrated track, and the target vehicle is subjected to steering control according to the control instruction, so that the problem that the safety of the target vehicle is reduced due to the fact that the control effect is reduced when the other steering control link continues to run according to the original track when the single steering control link of the target vehicle fails is solved, the safety and reliability of the target vehicle in automatic driving are improved, and the riding experience of a user is greatly improved.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A vehicle steering redundancy control method, characterized by comprising:
the electronic power-assisted steering system of the target vehicle sends fault information of the single-path steering control link to the automatic driving domain controller;
the automatic driving domain controller adjusts the original track according to the fault information and the current running scene of the target vehicle, obtains an adjusted track, and sends the adjusted track to the electronic power steering system;
the electronic power-assisted steering system calculates a control instruction according to the adjustment track and controls the target vehicle to finish steering according to the control instruction;
if the current driving scene is a curve scene, the autopilot domain controller adjusts the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the adjusted track comprises the following steps: the automatic driving domain controller acquires an original track corresponding to the curve scene, and offsets the original track to the inner side of the curve scene according to the fault information to obtain an offset adjustment track; when the curve scene comprises a lane changing scene, the automatic driving domain controller adjusts the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the adjusted track comprises the following steps: the automatic driving domain controller acquires an original lane change track corresponding to the lane change scene; advancing the steering starting point of the original lane change track according to the fault information to obtain a lane change track after adjustment; the electronic power-assisted steering system calculates lane changing torques corresponding to the preset points on the lane changing tracks according to the adjusted lane changing tracks; and when any lane change torque is larger than the maximum steering torque of the single-path steering motor of the target vehicle, sending an execution capacity deviation to an autopilot controller of the target vehicle so as to enable the autopilot controller to re-plan a lane change track.
2. The vehicle steering redundancy control method according to claim 1, characterized in that the step of the electronic power steering system calculating a control instruction from the tuning trajectory includes:
the electronic power-assisted steering system acquires the road curvature in the curve scene, and calculates the steering wheel angle of the target vehicle according to the road curvature and the adjustment track;
acquiring a turning speed according to the turning angle of the steering wheel, and calculating steering torque according to the turning speed;
and generating a control instruction according to the steering torque.
3. The vehicle steering redundancy control method according to claim 2, characterized in that after the step of obtaining a steering angle speed from the steering wheel angle and calculating a steering torque from the steering angle speed, it comprises:
the electronic power-assisted steering system acquires the maximum steering torque of a single-path motor in a single-path steering control link of the target vehicle;
and when the steering torque is larger than a preset threshold value of the maximum steering torque, assisting steering according to a preset steering compensation strategy.
4. The vehicle steering redundancy control method according to claim 3, characterized in that the step of assisting steering by the electronic power steering system according to a preset steering compensation strategy comprises:
the electronic power-assisted steering system calculates driving force or braking force corresponding to each wheel of the target vehicle according to the current speed, lateral acceleration and rolling force of the target vehicle;
and controlling each wheel of the target vehicle to perform differential driving auxiliary steering according to the driving force or the braking force.
5. The vehicle steering redundancy control method according to claim 3, characterized in that the preset threshold value is 90% of the maximum steering torque.
6. A vehicle steering redundancy control system, comprising
The electronic power steering system is used for sending fault information of a one-way steering control link of a target vehicle to an automatic driving domain controller of the target vehicle; calculating a control instruction according to the adjustment track, and controlling the target vehicle to finish steering according to the control instruction;
the automatic driving domain controller is configured to calibrate an original track according to the fault information and a current driving scene of the target vehicle, and send the calibrated track to the electronic power steering system, where if the current driving scene is a curve scene, the automatic driving domain controller calibrates the original track according to the fault information and the current driving scene of the target vehicle, and obtains a calibrated track, where the method includes: the automatic driving domain controller acquires an original track corresponding to the curve scene, and offsets the original track to the inner side of the curve scene according to the fault information to obtain an offset adjustment track; when the curve scene comprises a lane changing scene, the automatic driving domain controller adjusts the original track according to the fault information and the current driving scene of the target vehicle, and the step of obtaining the adjusted track comprises the following steps: the automatic driving domain controller acquires an original lane change track corresponding to the lane change scene; advancing the steering starting point of the original lane change track according to the fault information to obtain a lane change track after adjustment; the electronic power-assisted steering system calculates lane changing torques corresponding to the preset points on the lane changing tracks according to the adjusted lane changing tracks; and when any lane change torque is larger than the maximum steering torque of the single-path steering motor of the target vehicle, sending an execution capacity deviation to an autopilot controller of the target vehicle so as to enable the autopilot controller to re-plan a lane change track.
7. An electronic device comprising a memory, a processor for implementing the steps of the vehicle steering redundancy control method according to any one of claims 1 to 5 when executing a computer management-like program stored in the memory.
8. A computer-readable storage medium, having stored thereon a computer-management-class program which, when executed by a processor, implements the steps of the vehicle steering redundancy control method according to any one of claims 1 to 5.
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| CN116215250A (en) * | 2022-12-12 | 2023-06-06 | 中国人民解放军63936部队 | Steering control system and method for electric differential steering vehicle |
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