CN115303359A - Vehicle steering fault analysis system, method and medium - Google Patents
Vehicle steering fault analysis system, method and medium Download PDFInfo
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- CN115303359A CN115303359A CN202210948266.3A CN202210948266A CN115303359A CN 115303359 A CN115303359 A CN 115303359A CN 202210948266 A CN202210948266 A CN 202210948266A CN 115303359 A CN115303359 A CN 115303359A
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- 238000004458 analytical method Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 description 15
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000033772 system development Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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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
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- 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
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- 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
- B62D15/021—Determination of steering angle
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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
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- 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 application relates to a vehicle steering fault analysis system, a method and a medium, wherein the system comprises a sensor module and an analysis module, wherein the sensor module is used for acquiring steering information of a vehicle; the analysis module is connected with the sensor module and used for analyzing the steering information so as to judge the steering fault risk level. In the vehicle steering fault analysis system of the embodiment, the sensor module is arranged to detect the steering information of the vehicle, for example, the torque or corner information of a steering wheel of the vehicle is detected through the torque sensor or the corner sensor, the analysis module analyzes the steering information of the vehicle to judge whether the steering fault and the fault category occur, and the corresponding risk level is defined for the steering fault.
Description
Technical Field
The application relates to the technical field of automatic driving of automobiles, in particular to a system, a method and a medium for analyzing a vehicle steering fault.
Background
With the increasing requirements of drivers and passengers on the performance of automobiles, the market competition is more intense, and the automobiles develop towards intellectualization, high integration, high computing power and high complexity.
An Electronic Power Steering (EPS) system is an important component of a vehicle-mounted electronic and electrical system and is an execution system for active steering of an intelligent automobile, and the performance of the EPS system directly influences the operation stability, safety and comfort of the automobile. How to perform system analysis on the failure of the EPS and provide design basis for the design work of the EPS system to improve the development efficiency becomes a problem to be solved urgently.
Disclosure of Invention
Accordingly, it is necessary to provide a system, a method and a medium for analyzing a steering failure of a vehicle to solve the problem of low development efficiency caused by lack of design basis in the current EPS system development.
One aspect of the application provides a vehicle steering fault analysis system, which includes a sensor module and an analysis module, wherein the sensor module is used for acquiring steering information of a vehicle; the analysis module is connected with the sensor module and used for analyzing the steering information so as to judge the steering fault risk level of the vehicle.
In the vehicle steering fault analysis system according to the embodiment, the sensor module is arranged to detect the steering information of the vehicle, for example, the torque or corner information of the steering wheel of the vehicle is detected through the torque sensor or the corner sensor, the steering information of the vehicle is analyzed through the analysis module, whether the steering fault and the fault category occur or not is judged, and the corresponding risk level is defined for the steering fault.
In one embodiment, the sensor module comprises a torque sensor or a rotational angle sensor.
In one embodiment, the steering information includes at least one of a steering wheel torque signal, a steering wheel angle signal, and a power steering motor return signal.
In one embodiment, the steering fault includes at least one of an autonomous steering fault, a steering deadlock fault, a sudden steering fault, and a motor no-power fault.
The second aspect of the present application provides a vehicle steering fault analysis method, including:
acquiring steering information of a vehicle; the steering information comprises at least one of a steering wheel torque signal, a steering wheel corner signal and a steering power-assisted motor return signal;
and judging the steering fault risk level according to the steering information.
In the method for analyzing a steering fault of a vehicle according to the above embodiment, first, the real-time steering state of the vehicle is grasped by obtaining steering information of the vehicle, such as at least one of a steering wheel torque signal, a steering wheel angle signal, or a steering motor return signal, and the real-time steering state is compared with preset parameters for analysis, so as to determine whether a steering fault exists, and to specify a corresponding fault risk level, thereby providing a design basis for subsequent design work.
In one embodiment, the step of determining the steering failure risk level of the vehicle comprises:
if the driving computer does not send a steering control signal to the power-assisted steering motor, the steering wheel rotating angle is detected to be larger than the preset rotating angle, the autonomous steering fault is judged to occur, and the corresponding steering fault risk level is the first preset risk level.
In one embodiment, the step of determining the steering failure risk level of the vehicle further comprises:
and if the driving computer sends a steering control signal to the power-assisted steering motor, the steering wheel torque is detected to be smaller than a first preset torque, the occurrence of a steering deadlock fault is judged, and the corresponding steering fault risk level is a second preset risk level.
In one embodiment, the step of determining the steering failure risk level of the vehicle further comprises:
and if the driving computer exits the safe operation state and does not send a steering control signal to the steering power-assisted motor, detecting that the torque of the steering wheel is greater than a second preset torque, judging that the sudden steering fault occurs, and setting the corresponding steering fault risk level as a third preset risk level.
In one embodiment, the step of determining the risk level of the steering failure of the vehicle further comprises:
if the traveling computer does not receive a return signal of the power-assisted steering motor when sending a steering control signal to the power-assisted steering motor, judging that a power-assisted failure of the motor occurs, and setting the corresponding risk level of the steering failure as a fourth preset risk level.
A third aspect of the application provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any of the preceding embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vehicle steering fault analysis system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a vehicle steering fault analysis method according to an embodiment of the present disclosure.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," or "having," and the like, specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
With the higher and higher requirements of drivers and passengers on the performance of automobiles, the market competition is more and more intense, and the automobiles develop towards the direction of intellectualization, high integration, high computing power and high complexity.
An Electronic Power Steering (EPS) system is the development direction of an automobile steering system, and the system directly provides steering power by an electric power-assisted machine, so that a power steering oil pump, a hose, hydraulic oil, a conveyor belt and a belt pulley arranged on an engine, which are required by a hydraulic power steering system, are omitted, energy is saved, and the environment is protected. The EPS is an important component of a vehicle-mounted electronic electrical system, and is an execution system for active steering of an intelligent automobile, and the performance of the EPS system directly influences the operation stability, safety and comfort of the automobile. How to perform system analysis on the failure of the EPS and provide design basis for the design work of the EPS system to improve the development efficiency becomes a problem to be solved urgently.
Accordingly, it is necessary to provide a system, a method and a medium for analyzing a steering failure of a vehicle to solve the problem of low development efficiency caused by lack of design basis in the current EPS system development.
In one embodiment of the present application, as shown in fig. 1, a vehicle steering failure analysis system is provided, which includes a sensor module 100 and an analysis module 200, wherein the sensor module 100 is configured to obtain steering information of a vehicle; the analysis module 200 is connected to the sensor module 100 and is configured to analyze the steering information to determine a steering fault risk level.
In the vehicle steering fault analysis system according to the embodiment, the sensor module 100 is arranged to detect the steering information of the vehicle, for example, the torque or steering angle information of the steering wheel of the vehicle is detected through the torque sensor or the steering angle sensor, the steering information of the vehicle is analyzed through the analysis module 200 to determine whether the steering fault and the fault category occur, and a corresponding risk level is defined for the steering fault.
By way of example, the sensor module 100 includes a torque sensor or a rotation angle sensor, for example, the torque sensor may be one or more of a strain gauge torque sensor, a magneto-electric torque sensor, a fiber optic torque sensor or an electro-optical torque sensor, and the rotation angle sensor may be a mechanical gear sensor or an electro-optical sensor. When the steering wheel is turned, the torque/rotation angle sensor starts to work, the relative rotation angle generated by the torque input by the steering wheel is converted into an electric signal and transmitted to an Electronic Control Unit (ECU), and the ECU determines the rotation direction of the steering power-assisted motor and the magnitude of the power-assisted current according to the signals of the torque sensor and the vehicle speed sensor and controls the steering power-assisted motor to perform steering power assistance.
Illustratively, the steering information includes at least one of a steering wheel torque signal, a steering wheel angle signal, and a power steering motor return signal. The steering wheel torque is a power source for controlling the steering wheel to rotate, the steering power obtained by the steering wheel is monitored by monitoring the steering wheel torque, the steering power-assisted motor generates steering torque according to a steering control signal to control the steering wheel to rotate, and the working state of the steering power-assisted motor is fed back to a vehicle computer by a return signal so as to monitor the working state of the steering power-assisted motor in real time.
By way of example, the steering fault includes at least one of an autonomous steering fault, a steering deadlock fault, a sudden steering fault, and a motor no-power fault.
Specifically, in an automatic driving mode, when a driving computer does not send a steering control signal to a steering power-assisted motor, a steering angle sensor detects that a steering wheel generates a certain steering angle, and the autonomous steering fault is judged to occur; when a driving computer sends a steering control signal to a steering power-assisted motor, the steering wheel torque is detected to be smaller than a preset torque, and a steering deadlock fault is judged to occur; when the traveling computer exits the safe operation state and does not send a steering control signal to the steering power-assisted motor, the steering wheel torque is detected to be larger than the preset torque, and the sudden steering fault is judged; when the traveling computer sends a steering control signal to the power-assisted steering motor, the traveling computer does not receive a return signal of the power-assisted steering motor, and judges that the power-assisted failure of the motor occurs.
In an embodiment of the present application, as shown in fig. 2, there is also provided a vehicle steering fault analysis method, including:
the steering information comprises at least one of a steering wheel torque signal, a steering wheel corner signal and a steering power-assisted motor return signal.
And 24, judging the steering fault risk level according to the steering information.
In the method for analyzing a steering failure of a vehicle according to the above embodiment, first, the steering information of the vehicle, such as at least one of a steering wheel torque signal, a steering wheel angle signal, or a steering assist motor return signal, is obtained to grasp a real-time steering state of the vehicle, and through comparison and analysis with preset parameters, it is determined whether a steering failure exists, and a corresponding failure risk level is defined, so as to provide a design basis for subsequent design work.
As an example, the determining the steering fault risk level in step 24 includes:
and 242, if the driving computer does not send a steering control signal to the power steering motor, detecting that the steering wheel rotating angle is larger than a preset rotating angle, and judging that an autonomous steering fault occurs, wherein the corresponding steering fault risk level is a first preset risk level.
Specifically, when the smart car enters the automatic driving mode, if the driving computer does not send a steering instruction, and the steering wheel is automatically steered and generates a certain steering angle, for example, the steering angle is greater than 1 degree, it is determined that an autonomous steering fault occurs, which will cause the vehicle to steer away from the intention of the driver, and during normal driving, especially under high-speed road conditions, the accidental steering caused by the torque will bring a significant safety risk to the driver and passengers, and is a fault type that must be avoided in the design stage, and may be caused by a fault of a sensor or an Electronic Control Unit (ECU). The risk resulting from this failure is classified as a first preset risk level, for example, according to the Automotive Safety Integrity Level (ASIL), and this type of risk may be classified as level ASIL-D.
As an example, the determining the steering fault risk level of the vehicle in step 24 further comprises:
and 244, if the driving computer sends a steering control signal to the power steering motor, and the steering wheel torque is detected to be smaller than the first preset torque, judging that a steering deadlock fault occurs, and setting the corresponding steering fault risk level as a second preset risk level.
Specifically, when the intelligent vehicle enters the automatic driving mode, if the driving computer sends a steering control signal to the power steering motor, it is detected that the steering wheel torque is smaller than a first preset torque, for example, when the steering wheel torque is smaller than 5Nm, it is determined that a steering deadlock fault occurs. This type of failure may result from a failure of the ECU or mechanical failure of the motor and steering system, and steering deadlock failures can present a significant risk to the personal safety of the driver and crew during normal driving, especially at high speeds. The risk caused by the fault is classified as a second preset risk level, and it should be noted that the second preset risk level may be the same as or different from the first preset risk level, for example, the second preset risk level may be classified according to an Automobile Safety Integrity Level (ASIL), or the second preset risk level may be classified as an ASIL-D level.
As an example, the determining the steering fault risk level of the vehicle in step 24 further comprises:
step 246, if the traveling computer exits the safe operation state and does not send a steering control signal to the power steering motor, it is detected that the steering wheel torque is greater than the second preset torque, and it is determined that an abrupt steering fault occurs, and the corresponding steering fault risk level is a third preset risk level.
Specifically, in the running process of the intelligent automobile, due to an electrical fault, the EPS system is mistakenly exited from the safe running state, in the absence of any alarm, the steering assist motor may generate a situation of applying an unexpected torque to the steering system again, and when the torque sensor detects that the steering wheel torque is greater than a second preset torque, for example, when the torque of the steering wheel is greater than 5Nm, it is determined that an abrupt steering fault occurs.
As an example, the determining the steering fault risk level of the vehicle in step 24 further comprises:
step 248, if the traveling computer does not receive the return signal of the power steering motor when sending the power steering control signal to the power steering motor, judging that the motor no-power-steering fault occurs, and setting the corresponding risk level of the power steering fault as a fourth preset risk level.
Specifically, in the normal running process of the vehicle, when the driving computer sends a steering control signal to the steering power-assisted motor, a return signal of the steering power-assisted motor cannot be detected, so that the driving computer loses control over the steering power-assisted motor. The risk level caused in the event of such a fault is low or even no risk, and may be set to a fourth preset risk level, for example, according to the classification of the safety integrity level (ASIL) of the vehicle, the risk of the type may be classified as the level QM, and the risk of the type of fault may be classified as safe.
In summary, after fault analysis and risk assessment, among the four steering faults, the autonomous steering fault and the steering deadlock fault are the faults with relatively higher risk levels, so that a designer can conveniently guide design work through the corresponding risk levels and perform key improvement on the two types of faults to avoid serious potential safety hazards, and sudden steering faults and motor no-power faults can adopt appropriately improved design measures due to the lower fault risk levels, thereby ensuring that the design work is directed and improving the design work efficiency. In some embodiments, the corresponding functional safety requirements of the EPS system may be set forth, for example, firstly, to ensure that the correct steering wheel angle is obtained, secondly, the power motor CAN work normally, thirdly, the EPS controller CAN process data correctly, fourthly, the CAN communication CAN transmit data normally, and so on. The designer can correspondingly eliminate the risk factors in the four steering faults according to the safety requirement standards.
A third aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method according to any of the preceding embodiments, for example, the steps of the vehicle steering failure analysis method are as follows:
step 242, if the driving computer does not send a steering control signal to the power steering motor, detecting that the steering wheel angle is greater than a preset angle, determining that an autonomous steering fault occurs, and setting the corresponding steering fault risk level as a first preset risk level;
step 244, if the driving computer sends a steering control signal to the power steering motor, and the steering wheel torque is detected to be smaller than a first preset torque, judging that a steering deadlock fault occurs, and setting the corresponding steering fault risk level as a second preset risk level;
step 246, if the traveling computer exits the safe operation state and does not send a steering control signal to the power steering motor, detecting that the torque of the steering wheel is greater than a second preset torque, and judging that an abrupt steering fault occurs, wherein the corresponding steering fault risk level is a third preset risk level;
step 248, if the traveling computer does not receive the return signal of the power steering motor when sending the power steering control signal to the power steering motor, judging that the motor no-power-steering fault occurs, and setting the corresponding risk level of the power steering fault as a fourth preset risk level.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
In the description herein, references to "some embodiments," "other embodiments," "desired embodiments," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle steering failure analysis system, comprising:
the sensor module is used for acquiring steering information of the vehicle;
and the analysis module is connected with the sensor module and used for analyzing the steering information so as to judge the steering fault risk level of the vehicle.
2. The vehicle steering fault analysis system of claim 1, wherein the sensor module comprises a torque sensor or a rotational angle sensor.
3. The vehicle steering fault analysis system of claim 2, wherein the steering information includes at least one of a steering wheel torque signal, a steering wheel angle signal, and a power steering motor return signal.
4. The vehicle steering fault analysis system of claim 3, wherein the steering fault comprises at least one of an autonomous steering fault, a steering deadlock fault, a sudden steering fault, and a motor no-power fault.
5. A vehicle steering fault analysis method, comprising:
acquiring steering information of a vehicle; the steering information comprises at least one of a steering wheel torque signal, a steering wheel corner signal and a steering power-assisted motor return signal;
and judging the steering fault risk level of the vehicle according to the steering information.
6. The vehicle steering failure analysis method according to claim 5, wherein the step of determining the steering failure risk level of the vehicle includes:
if the driving computer does not send a steering control signal to the power-assisted steering motor, the steering wheel rotating angle is detected to be larger than the preset rotating angle, the autonomous steering fault is judged to occur, and the corresponding steering fault risk level is the first preset risk level.
7. The vehicle steering failure analysis method according to claim 6, wherein the step of determining the steering failure risk level of the vehicle further comprises:
and if the driving computer sends a steering control signal to the power-assisted steering motor, the steering wheel torque is detected to be smaller than a first preset torque, the occurrence of a steering deadlock fault is judged, and the corresponding steering fault risk level is a second preset risk level.
8. The vehicle steering failure analysis method according to claim 7, wherein the step of determining the steering failure risk level of the vehicle further comprises:
and if the driving computer exits the safe operation state and does not send a steering control signal to the steering power-assisted motor, detecting that the torque of the steering wheel is greater than a second preset torque, judging that the sudden steering fault occurs, and setting the corresponding steering fault risk level as a third preset risk level.
9. The vehicle steering failure analysis method according to claim 8, wherein the step of determining the steering failure risk level of the vehicle further comprises:
if the traveling computer does not receive a return signal of the power-assisted steering motor when sending a steering control signal to the power-assisted steering motor, judging that a power-assisted failure of the motor occurs, and setting the corresponding risk level of the steering failure as a fourth preset risk level.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 5 to 9.
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| CN202210948266.3A CN115303359A (en) | 2022-08-09 | 2022-08-09 | Vehicle steering fault analysis system, method and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210948266.3A CN115303359A (en) | 2022-08-09 | 2022-08-09 | Vehicle steering fault analysis system, method and medium |
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Citations (4)
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| KR20060045216A (en) * | 2004-11-12 | 2006-05-17 | 주식회사 만도 | Fail safe control method in eps system |
| US20110093163A1 (en) * | 2009-10-15 | 2011-04-21 | Mando Corporation | Method and apparatus for detecting steering angle sensor initialization fault |
| CN211710935U (en) * | 2019-12-27 | 2020-10-20 | 郑州日产汽车有限公司 | Electric steering control system suitable for automatic driving automobile |
| CN114735073A (en) * | 2022-04-19 | 2022-07-12 | 东风悦享科技有限公司 | Device for avoiding fault of steering system of automatic driving vehicle and control method thereof |
-
2022
- 2022-08-09 CN CN202210948266.3A patent/CN115303359A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060045216A (en) * | 2004-11-12 | 2006-05-17 | 주식회사 만도 | Fail safe control method in eps system |
| US20110093163A1 (en) * | 2009-10-15 | 2011-04-21 | Mando Corporation | Method and apparatus for detecting steering angle sensor initialization fault |
| CN211710935U (en) * | 2019-12-27 | 2020-10-20 | 郑州日产汽车有限公司 | Electric steering control system suitable for automatic driving automobile |
| CN114735073A (en) * | 2022-04-19 | 2022-07-12 | 东风悦享科技有限公司 | Device for avoiding fault of steering system of automatic driving vehicle and control method thereof |
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