CN115755569A - Redundancy controller and control method for automobile electric power steering system - Google Patents
Redundancy controller and control method for automobile electric power steering system Download PDFInfo
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Abstract
The application discloses car electric power assisted steering system redundant controller and control method, redundant controller includes: the system comprises a plurality of microcontrollers with redundant backup, wherein the microcontrollers are composed of a power board connected with a double-winding motor, a main control board connected with the power board and an interface board connected with the main control board. Each microcontroller is provided with a plurality of independent operation cores for parallel operation or mutual verification; each microcontroller is connected with a whole vehicle network, so that redundant backup inside each microcontroller is independently communicated with the whole vehicle network, and a redundant steering control function is realized; an interaction channel is arranged between every two microcontrollers, so that active safety verification is conducted through a data transmission bus between every two microcontrollers, and the working state of every microcontroller is detected through heartbeat beats respectively so as to conduct passive safety verification. Therefore, the problems of safety redundancy capability, cost and volume control of the existing electric power steering system controller are solved.
Description
Technical Field
The application relates to the technical field of vehicle steering control, in particular to a redundant controller of an automobile electric power steering system and a control method.
Background
In high-level automatic driving technology, the operation time of a human driver is reduced, and functional safety is expected to require that an automobile steering system has failure operability, namely, the automobile steering system can still output continuously controllable steering force when a fault occurs. To meet this demand, a redundant arrangement of the steering assist unit is one approach. Conventional Electric Power Steering (EPS) systems cannot meet the requirements of expected functional safety. Existing dual-motor redundant steering schemes are costly and add weight and bulk to the system. The double-winding motor can meet the requirement of expected functional safety at lower cost, but the existing scheme has low integration level and large occupied space, and the communication calibration between redundant units is insufficient.
Disclosure of Invention
The application provides a redundant controller of an automobile electric power steering system and a control method, and the appearance structure of a microcontroller solves the problems of cost and volume control of the existing electric power steering controller; the redundant backup of a plurality of microcontrollers and a plurality of cores is combined with an active and passive safety check scheme to solve the problem that the redundant safety capability of the controller of the conventional electric power steering system is insufficient.
The embodiment of the first aspect of the present application provides a redundant controller of an electric power steering system of an automobile, including: the system comprises a plurality of microcontrollers with redundant backup, wherein the microcontrollers are composed of a power board connected with a double-winding motor, a main control board connected with the power board and an interface board connected with the main control board;
each microcontroller is provided with a plurality of independent operation cores for parallel operation or mutual verification; each microcontroller is connected with a whole vehicle network, so that redundant backup in each microcontroller is independently communicated with the whole vehicle network, and a redundant steering control function is realized; and an interaction channel is arranged between every two microcontrollers, so that active safety verification is carried out through a data transmission bus between every two microcontrollers, and the working state of every microcontroller is detected through heartbeat beats respectively so as to carry out passive safety verification.
Optionally, in an embodiment of the present application, each of the microcontrollers is connected to each other through a high-speed synchronous bus, and the running time is aligned according to a preset synchronous signal, so as to ensure real-time synchronization of the running of each microcontroller and synchronization of control between windings of the dual-winding motor.
Optionally, in an embodiment of the present application, the performing active security check through a data transmission bus between each microcontroller includes: and each microcontroller performs data transmission at a preset frequency and is used for refreshing signals at the preset frequency so as to realize active safety verification of each microcontroller.
Optionally, in an embodiment of the present application, when the heartbeat beat of each microcontroller is connected to the watchdog corresponding to its own controller, the heartbeat beat of each microcontroller is connected to another microcontroller, and the working state of each microcontroller is detected through the heartbeat beat so as to perform passive security verification, where the method includes: each microcontroller sends out timing beats and transmits the timing beats to the watchdog chip corresponding to the microcontroller and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller, and remove the operation result of the abnormal microcontroller from redundancy check, thereby realizing rapid passive safety check of the whole redundancy controller.
Optionally, in an embodiment of the present application, the power board, the main control board, and the interface board are disposed in parallel, and are all parallel to the dual-winding motor tail.
Optionally, in an embodiment of the present application, the power board, the main control board and the interface board are circular, and have a diameter not greater than a maximum diameter of the dual winding motor.
Optionally, in an embodiment of the present application, the power board is connected to the main control board through a double-row pin, and the main control board is connected to the interface board through a flexible wire harness.
Optionally, in an embodiment of the present application, the method further includes: a heat dissipating block;
the heat dissipation block is arranged between the double-winding motor and the power board, is tightly attached to the power board and is used for dissipating heat of the controller.
Optionally, in an embodiment of the present application, the method further includes: a support plate;
the supporting plate is arranged between the main control board and the interface board and is used for supporting the main control board and the interface board.
Optionally, in an embodiment of the present application, the method further includes: a redundant controller enclosure;
the redundant controller shell wraps the double-winding motor and the redundant controller, and sealing grooves are formed in the joints of the redundant controller shell, the power board, the main control board and the interface board.
An embodiment of a second aspect of the present application provides a method for controlling redundancy of an electric power steering system of an automobile, which is used for the redundancy controller of the electric power steering system of the automobile according to the above embodiment, and includes the following steps: the independent operation inner core in each microcontroller is used for carrying out parallel operation or mutual verification, and the redundant steering control function is realized through the independent communication between the redundant backup in each microcontroller and the whole vehicle network; controlling each microcontroller to perform data transmission at a preset frequency so as to refresh signals of the preset frequency and perform active safety verification of each microcontroller; and detecting the working state of each microcontroller through heartbeat beats, eliminating the operation result of the abnormal microcontroller and carrying out passive safety verification.
Optionally, in an embodiment of the present application, the method further includes: and aligning the running time of each microcontroller by using a preset synchronous signal so as to ensure the synchronism of control between the double-winding motor windings.
Optionally, in an embodiment of the present application, detecting a working state of each microcontroller through a heartbeat beat, removing an operation result of an abnormal microcontroller, and performing passive security verification includes: each microcontroller sends out timing beats and transmits the timing beats to the corresponding watchdog chip and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller and exclude operation results of the abnormal microcontroller from redundancy check, thereby realizing rapid passive safety check of the whole redundancy controller.
According to the redundant controller and the control method for the automobile electric power steering system, the three layers of compact redundant structures are arranged in parallel to reduce the size; the circuit boards are connected by adopting flexible materials, so that connecting plug-ins are reduced, and the reliability is improved; by using a redundant microcontroller (Micro-Control-Unit, MCU) safety check and communication algorithm architecture, fault tolerance of various faults is realized, and the safety level is improved algorithmically.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a redundant controller of an electric power steering system of an automobile according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a redundant controller circuit board provided in accordance with an embodiment of the present application;
FIG. 3 is a diagram illustrating structural information of a heat slug provided according to an embodiment of the present application;
FIG. 4 is structural information of a support plate provided according to an embodiment of the present application;
FIG. 5 is a redundant MCU security checksum communication algorithm framework provided in accordance with an embodiment of the present application;
fig. 6 is a flowchart of a redundancy control method for an electric power steering system of an automobile according to an embodiment of the present application.
Reference numerals are as follows: 1-a double-winding motor, 2-a radiating block, 3-a power board, 4-a main control board, 5-a supporting board, 6-an interface board and 7-a redundant controller shell.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.
Fig. 1 is a schematic structural diagram of a redundant controller of an electric power steering system of an automobile according to an embodiment of the present application.
The redundant controller of this car electric power assisted steering system includes: as shown in fig. 1, the microcontrollers with redundancy backup are composed of a power board 3 connected to a dual-winding motor 1, a main control board 4 connected to the power board 3, and an interface board 6 connected to the main control board 4.
Each microcontroller is provided with a plurality of independent operation cores for parallel operation or mutual verification; each microcontroller is connected with a whole vehicle network, so that redundant backup in each microcontroller is independently communicated with the whole vehicle network, and a redundant steering control function is realized; and an interaction channel is arranged between every two microcontrollers, so that active safety verification is carried out through a data transmission bus between every two microcontrollers, and the working state of every microcontroller is detected through heartbeat beats respectively so as to carry out passive safety verification.
Each microcontroller contains a plurality of independent operation kernels, can carry out parallel operation to accelerate the overall efficiency, and can also calculate the same content to carry out mutual verification.
The structural features of the redundant controller of the electric power steering system of the present application will be described first.
In the embodiment of the present application, the motor 1 is a double-winding motor, and only one motor housing and speed reducing mechanism are required. Effectively reducing space and weight. The electronic control unit comprises a plurality of sets of MCUs and an electric drive bridge and is provided with redundancy backup. The double-winding motor is provided with two sets of windings, and when a single winding breaks down, the other set of winding can still complete the steering action.
In the embodiment of the present application, the power board 3, the main control board 4 and the interface board 6 are arranged in parallel and are all parallel to the tail of the dual-winding motor 1. Thereby, the arrangement volume of the redundant controller can be effectively reduced.
In the embodiment of the present application, the power board 3, the main control board 4 and the interface board 6 are circular and have a diameter not larger than the maximum diameter of the double winding motor 1.
As shown in fig. 2, the circuit board of the controller is designed to be a multilayer circular design and is arranged at the tail part of the double-winding motor in parallel, so that the occupied space does not exceed the diameter range of the double-winding motor, and the space is effectively saved. In addition, the shape of the controller shell is regular due to the design, and the processing difficulty and cost are reduced.
In the embodiment of the application, the power board 3 is connected with the main control board 4 through a double-row pin, and the main control board 4 is connected with the interface board 6 through a flexible wire harness. The three-layer compact redundant structure is adopted, the middle part is connected by using a flexible plate, so that wiring harnesses are reduced, the reliability is improved, and meanwhile, the space and the weight are saved.
The signal transmission line is connected to the main control board of the second layer by using the flexible circuit board, so that the use of an unreliable plug-in is reduced, and the interference of high-frequency signals is inhibited. The large-current power supply line uses a vertical hard wire, so that the transmission path is shortened, the heat productivity is reduced, and the efficiency of the controller is improved. The interface board on the uppermost layer is connected to the main control board through the flexible circuit board and is responsible for communicating with the whole vehicle.
In an embodiment of the present application, the redundant controller of an electric power steering system of an automobile further includes: a heat dissipation block 2;
the radiating block 2 is arranged between the double-winding motor 1 and the power board 3, and the radiating block 2 is tightly attached to the power board 3 and used for radiating the controller to achieve the optimal radiating performance.
Two groups of driving bridges are arranged on the power board, wherein the switch device with high calorific value is tightly attached to the radiating block, so that sufficient radiating area is ensured. The structural information of the heat dissipation block is shown in fig. 3, which mainly includes the relative positions and sizes of the holes and the threaded holes, and also some specific external structural dimensions.
In an embodiment of the present application, the redundant controller of an electric power steering system of an automobile further includes: a support plate 5;
the supporting plate 5 is disposed between the main control board 4 and the interface board 6, and is used for supporting the main control board 4 and the interface board 6. The metal frame is additionally arranged between the three layers of the flexible board, so that the flexible board has supporting and heat dissipation functions. The structural information of the support frame is shown in fig. 4, which shows the structural information of the support position and the heat radiating portion thereof in detail.
In an embodiment of the present application, the redundant controller of an electric power steering system of an automobile further includes: a redundant controller enclosure 7;
the redundant controller shell 7 wraps the double-winding motor 1 and the redundant controller, and sealing grooves are formed in the joints of the redundant controller shell 7, the power board 3, the main control board 4 and the interface board 6. Through designing sealed recess to redundant controller, improve waterproof dustproof ability, reach the requirement of car specification level three proofings.
As can be seen from fig. 1, the double-winding motor 1 and the redundant controller are designed to be an integrated housing, and the plane of the circuit board is parallel to the tail of the double-winding motor, so that a sufficient heat dissipation area is ensured. The connector and the shell joint are designed with a sealing groove, so that the waterproof and dustproof capacity is improved.
The redundant MCU security checksum communication algorithm framework of the embodiment of the present application is described below. The redundant MCU safety check and communication algorithm framework can process different levels of faults in the redundant backup, including peripheral circuit failure, motor winding failure, communication line failure, single MCU internal failure and the like. As long as an independent unit can operate in the redundant component, the whole controller can ensure the basic steering control function and meet the higher safety requirement in automatic driving.
Optionally, in an embodiment of the present application, the performing active security check through a data transmission bus between each microcontroller includes: and each microcontroller performs data transmission at a preset frequency and is used for refreshing signals at the preset frequency so as to realize active safety verification of each microcontroller.
Optionally, in an embodiment of the present application, when a heartbeat beat of each microcontroller is connected to a watchdog corresponding to its own controller, the heartbeat beat of each microcontroller is connected to another microcontroller respectively, and a working state of each microcontroller is detected through the heartbeat beat to perform passive security verification, including: the method comprises the steps that each microcontroller sends out timing beats and transmits the timing beats to the corresponding watchdog chip and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller and exclude operation results of the abnormal microcontroller from redundancy check, so that the rapid passive safety check of the whole redundancy controller is realized.
Specifically, the heartbeat beat of each microcontroller is connected with all other microcontrollers besides the watchdog corresponding to the microcontroller, so that passive safety verification is realized. Each microcontroller sends out timing beat and transmits the timing beat to the watchdog chip corresponding to the microcontroller and all other microcontrollers. For example, only the heartbeat beat of microcontroller 1 is present on the "heartbeat beat 1" line. When the beat of the microcontroller 1 is abnormal, the corresponding watchdog chip executes the safety protection action, and all other microcontrollers can know the abnormality of the microcontroller 1 at the first time and exclude the operation result from the redundancy check. The operation executed when other backup microcontrollers are abnormal is the same as that of the microcontroller 1, so that the rapid passive safety check of the integral controller is realized.
The redundancy controller of the automobile electric power steering system in the embodiment of the application adopts a hierarchical combination redundancy communication scheme, in particular a passive and active combination redundancy safety check scheme.
On the first hand, the data transmission with lower speed in the data transmission of the redundant MCU can interact with any signal with refresh frequency at millisecond level, for example, the signal with refresh frequency <1kHz, and the CANFD interface is adopted to realize electrical isolation. The interface comprises a data packet for indicating the normal work of the chip and is used as active safety check.
In the second aspect, a timing beat is sent by using a universal IO of a single MCU, the timing beat is transmitted to a watchdog chip and a backup MCU, when the single MCU is abnormal in serious operation, when the beat is stopped, the watchdog chip can start reset operation, power supply can be cut off rapidly, the backup MCU does not receive the beat within a period of time, the other side is considered to be in an abnormal state, a redundant backup algorithm is started to serve as passive safety check, the judgment speed of the scheme is higher, the triggering condition is stricter, the speed defect of an active safety check mode can be overcome, and therefore the fault of a redundant unit can be responded to at the first time.
Optionally, in the embodiment of the present application, each microcontroller is connected to another microcontroller through a high-speed synchronization bus, and the running time is aligned according to a preset synchronization signal, so as to ensure real-time synchronization of the running of each microcontroller and synchronization of control between windings of the dual-winding motor.
The double-winding motor has winding mutual inductance interference, and the current acquisition time sequence of the redundant MCU needs to ensure the synchronism. In order to ensure the synchronism of current control between two windings of the double-winding motor, high-speed synchronous signals are used for completing the synchronization. And sending square waves by using the general IO of the MCU, and finishing tasks such as current sampling, PWM modulation and the like by the redundant MCU according to the signals.
Specifically, the clock module of one MCU outputs an internal clock, and the electromagnetic isolation of the high-frequency circuit from other modules is ensured on the wiring. And the backup MCU completes tasks such as current sampling, PWM modulation and the like according to the signal, and ensures the synchronism of current control between two sets of windings of the double-winding motor.
In conclusion, the redundant MCU detects the working state of the opposite side through beat, and uses the high-speed synchronous signal to ensure the synchronism of current loop sampling and control between the two sets of windings, thereby preventing torque fluctuation caused by abnormal mutual inductance or harmonic waves between the two sets of windings. When each MCU communicates with the whole vehicle, an internal communication interface is arranged between the redundant MCUs, so that the communication rate is ensured, and the interference of a large amount of data in a whole vehicle network is avoided.
The redundant MCU CAN transmit data of the whole vehicle, the two MCUs are respectively connected to a whole vehicle network by using interfaces such as CAN/CANFD/Ethernet and the like, and double-path communication between the redundant controller of the steering system and the whole vehicle is formed.
According to the controller of the automobile electric power-assisted steering redundant system, a three-layer compact redundant structure is adopted, the middle parts of the three layers are connected by using a flexible plate, so that wiring harnesses are reduced, the reliability is improved, and the space and the weight are saved; the safety check and communication algorithm of the redundancy controller can process the faults of different levels in the redundancy backup, including peripheral circuit failure, motor winding failure, communication line failure, MCU internal failure and the like. As long as one set of redundant components can operate, the whole controller can ensure the basic steering control function and meet the higher safety requirement in automatic driving.
The embodiment of the application also provides a redundancy control method of the automobile electric power steering system.
As shown in fig. 6, the redundancy control method for an electric power steering system of an automobile can be applied to the redundancy controller for an electric power steering system of an automobile of the above embodiment, and the method includes the following steps:
and S101, performing parallel operation or mutual verification by using independent operation kernels in each microcontroller, and independently communicating with the whole vehicle network through redundant backup in each microcontroller to realize a redundant steering control function.
And S102, controlling each microcontroller to perform data transmission at a preset frequency so as to refresh signals at the preset frequency and perform active safety verification on each microcontroller.
And step S103, detecting the working state of each microcontroller through the heartbeat beat, eliminating the operation result of the abnormal microcontroller and carrying out passive safety verification.
Optionally, in an embodiment of the present application, the method further includes: and aligning the running time of each microcontroller by using a preset synchronous signal so as to ensure the synchronism of control between the windings of the double-winding motor.
Optionally, in an embodiment of the present application, detecting a working state of each microcontroller through a heartbeat beat, removing an operation result of an abnormal microcontroller, and performing passive security verification includes: the method comprises the steps that each microcontroller sends out timing beats, the timing beats are transmitted to corresponding watchdog chips and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller, and the operation result of the abnormal microcontroller is removed from redundancy check, so that the rapid passive safety check of the whole redundancy controller is realized.
According to the redundancy control method for the automobile electric power steering system, faults of different levels in redundancy backup can be processed, wherein the faults include peripheral circuit failure, motor winding failure, communication line failure, MCU internal failure and the like. As long as one set of redundant components can operate, the whole controller can ensure the basic steering control function and meet the higher safety requirement in automatic driving.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Claims (13)
1. An automotive electric power steering system redundancy controller, comprising:
the system comprises a plurality of microcontrollers with redundant backup, a plurality of controllers and a plurality of control units, wherein the microcontrollers are composed of a power board connected with a double-winding motor, a main control board connected with the power board and an interface board connected with the main control board;
each microcontroller is provided with a plurality of independent operation cores for parallel operation or mutual verification; each microcontroller is connected with a whole vehicle network, so that redundant backup in each microcontroller is independently communicated with the whole vehicle network, and a redundant steering control function is realized; and an interaction channel is arranged between every two microcontrollers, so that active safety verification is carried out through a data transmission bus between every two microcontrollers, and the working state of every microcontroller is detected through heartbeat beats respectively so as to carry out passive safety verification.
2. The redundant controller of claim 1,
each microcontroller is connected through a high-speed synchronous bus, and the running time is aligned according to a preset synchronous signal, so that the real-time running synchronization of each microcontroller and the control synchronization between the double-winding motor windings are ensured.
3. The redundant controller according to claim 1, wherein the active safety check is performed via a data transfer bus between each of the microcontrollers, comprising:
and each microcontroller performs data transmission at a preset frequency and is used for refreshing signals at the preset frequency so as to realize active safety verification of each microcontroller.
4. The controller according to claim 1 or 3, wherein the heartbeat beat of each microcontroller is connected to a watchdog corresponding to its own controller, and is connected to other microcontrollers respectively, and the heartbeat beat detects the working state of each microcontroller to perform passive security verification, including:
each microcontroller sends out timing beats and transmits the timing beats to the corresponding watchdog chip and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller and exclude operation results of the abnormal microcontroller from redundancy check, thereby realizing rapid passive safety check of the whole redundancy controller.
5. The controller of claim 1,
the power board, the main control board and the interface board are arranged in parallel and are all parallel to the tail of the double-winding motor.
6. The controller according to claim 1 or 5,
the power board, the main control board and the interface board are circular, and the diameter of the power board, the main control board and the interface board is not larger than the maximum diameter of the double-winding motor.
7. The controller of claim 6,
the power board is connected with the main control board through double rows of pins, and the main control board is connected with the interface board through a flexible wire harness.
8. The controller according to claim 7, further comprising: a heat dissipating block;
the radiating block is arranged between the double-winding motor and the power board, is tightly attached to the power board and is used for radiating the controller.
9. The controller of claim 8, further comprising: a support plate;
the supporting plate is arranged between the main control board and the interface board and is used for supporting the main control board and the interface board.
10. The controller according to claim 8 or 9, further comprising: a redundant controller enclosure;
the redundant controller shell wraps the double-winding motor and the redundant controller, and sealing grooves are formed in the joints of the redundant controller shell, the power board, the main control board and the interface board.
11. A method for controlling redundancy of an electric power steering system of an automobile, which is applied to the redundancy controller of the electric power steering system of the automobile according to any one of claims 1 to 10, and is characterized by comprising the following steps:
the independent operation inner core in each microcontroller is used for carrying out parallel operation or mutual verification, and the redundant steering control function is realized through the independent communication between the redundant backup in each microcontroller and the whole vehicle network;
controlling each microcontroller to perform data transmission at a preset frequency so as to refresh signals of the preset frequency and perform active safety verification of each microcontroller;
and detecting the working state of each microcontroller through the heartbeat beat, eliminating the operation result of the abnormal microcontroller and carrying out passive safety check.
12. The method of claim 11, further comprising:
and aligning the running time of each microcontroller by using a preset synchronous signal so as to ensure the synchronism of control between the windings of the double-winding motor.
13. The method according to claim 11, wherein the working state of each microcontroller is detected through heartbeat beat, the operation result of the abnormal microcontroller is excluded, and the passive safety check is performed, comprising:
each microcontroller sends out timing beats and transmits the timing beats to the watchdog chip corresponding to the microcontroller and all other microcontrollers, when any microcontroller is abnormal, the watchdog chip corresponding to the abnormal microcontroller executes safety protection action, and all other microcontrollers acquire abnormal information of the abnormal microcontroller, and remove the operation result of the abnormal microcontroller from redundancy check, thereby realizing rapid passive safety check of the whole redundancy controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211210143.6A CN115755569A (en) | 2022-09-30 | 2022-09-30 | Redundancy controller and control method for automobile electric power steering system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211210143.6A CN115755569A (en) | 2022-09-30 | 2022-09-30 | Redundancy controller and control method for automobile electric power steering system |
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| CN115755569A true CN115755569A (en) | 2023-03-07 |
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| CN202211210143.6A Pending CN115755569A (en) | 2022-09-30 | 2022-09-30 | Redundancy controller and control method for automobile electric power steering system |
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