CN107340763B - Electric power steering system based on external watchdog and control method thereof - Google Patents
Electric power steering system based on external watchdog and control method thereof Download PDFInfo
- Publication number
- CN107340763B CN107340763B CN201710010873.4A CN201710010873A CN107340763B CN 107340763 B CN107340763 B CN 107340763B CN 201710010873 A CN201710010873 A CN 201710010873A CN 107340763 B CN107340763 B CN 107340763B
- Authority
- CN
- China
- Prior art keywords
- watchdog
- reset
- mcu
- mcu module
- external
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003745 diagnosis Methods 0.000 claims abstract description 20
- 230000002159 abnormal effect Effects 0.000 claims abstract description 11
- 102100038595 Estrogen receptor Human genes 0.000 claims abstract description 7
- 101000882584 Homo sapiens Estrogen receptor Proteins 0.000 claims abstract description 7
- 230000005856 abnormality Effects 0.000 claims abstract description 5
- 238000012840 feeding operation Methods 0.000 claims abstract description 4
- 230000000737 periodic effect Effects 0.000 claims abstract description 3
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 9
- 230000007547 defect Effects 0.000 abstract description 4
- 241000282472 Canis lupus familiaris Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25158—Watchdog
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Debugging And Monitoring (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an electric power steering system based on an external watchdog and a control method thereof, wherein an external watchdog RESET output pin RESET is connected with an ESR1 pin of an MCU module and used as an external RESET source of the MCU module; the MCU module closes the relay during normal power-assisted control and enables the watchdog at the same time; the MCU module controls the power-assisted output of the motor and simultaneously performs periodic dog feeding operation; when the feeding period exceeds the reset period of the watchdog, judging whether the current reset is caused by MCU abnormality according to the type of the reset source and the diagnosis state of the external watchdog: if so, the relay is opened to enable the electric power steering system to enter a safe state. The invention uses the MCU capable of distinguishing different reset sources to realize the diagnosis of the external watchdog function and the MCU, and timely cuts off the power assistance when the watchdog fails or the MCU is abnormal, accurately diagnoses and records the current failure by software, and makes up the defect of the watchdog monitoring system.
Description
Technical Field
The invention belongs to the automotive electronics technology, relates to an electric power steering system and a control method thereof, and particularly relates to an electric power steering system based on an external watchdog and a control method thereof.
Background
The electric power steering system provides additional steering power for a driver, controls the traveling direction of a vehicle, and plays an extremely important role in vehicle traveling safety.
The core of the electric power steering system is an Electronic Control Unit (ECU) which controls the operation of a motor through a Microprocessor (MCU), and the normal operation of the microprocessor is a key for ensuring the safety and reliability of the whole electric power steering system. Since the electronic control unit is a safety component, it is necessary to ensure that the system enters a safe state when the microprocessor is operating abnormally.
The operating state of the MCU may be monitored in a manner of external Watchdog (WDT) monitoring. When the MCU runs abnormally, the MCU is triggered to reset, so that the MCU is restarted and is restored to a normal state.
However, the object monitored by the monitoring mode is MCU, and the state before the ECU is reset can not be judged after the MCU is reset, and the fault of the external watchdog can not be diagnosed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a more reasonable electric power steering system and a control method thereof, and the MCU capable of distinguishing different reset sources is used for realizing the diagnosis of the external watchdog function and making up the defect of the watchdog monitoring system.
The invention provides an electric power steering system based on an external watchdog, which comprises a motor and an MCU module, wherein the MCU module outputs PWM signals to control the motor to rotate, the MCU module controls the motor to start and stop through a relay, a power supply end of the motor is connected with an output loop of the relay, a first IO output end of the MCU module is connected with an input loop of the relay, a second IO output end of the MCU module is connected with an enabling end of the external watchdog chip, a third IO output end of the MCU module is connected with a dog feeding output end of the external watchdog chip, and a reset end of the MCU module is connected with a reset end of the external watchdog chip.
The electric power steering system based on the external watchdog, wherein the relay is a normally open relay, the first IO output end of the MCU module is connected with the input loop of the relay through the pull-down resistor, and the default state of the first IO output end of the MCU module is low level, so that the relay is in a disconnection state when the MCU is reset and does not enter normal power-assisted control.
The external watchdog-based electric power steering system is characterized in that the external watchdog chip configures a watchdog reset period through capacitors with different external capacitance values.
The invention also provides a control method of the electric power steering system based on the external watchdog, which comprises the following steps: a) Connecting an external watchdog chip RESET output pin RESET with an ESR1 pin of the MCU module, and using the external watchdog chip RESET output pin RESET as an external RESET source of the MCU module; b) During normal power-assisted control, the MCU module closes the relay and simultaneously controls the watchdog to enable; the MCU module controls the power-assisted output of the motor and simultaneously performs periodic dog feeding operation; c) When the feeding period exceeds the reset period of the watchdog, judging whether the current reset is caused by MCU abnormality according to the type of the reset source and the diagnosis state of the external watchdog: if the MCU is abnormal, the relay is disconnected, so that the electric power steering system is in a safe state in time, and abnormal power is prevented from being generated.
According to the control method of the external watchdog-based electric power steering system, when the MCU module is powered on and initialized, the ESR1 pin is configured as reset input, when the MCU module is reset, the current reset source type is automatically stored in the reset source register by the MCU module, and the MCU module judges the latest reset source type by reading the register.
In the control method of the external watchdog-based electric power steering system, the MCU module performs the following diagnosis on the external watchdog chip in the ECU power-on diagnosis stage: 1) Storing an external watchdog diagnostic state machine EWDT_DiagState in RAM, and initializing the external watchdog diagnostic state machine when reset is forbidden; 2) If the current RESET source is power-on RESET, clearing a watchdog fault sign and fault type, setting an EWDT_DiagState to DIAG_EWDT_NO_RESET, enabling a watchdog, and simultaneously feeding the watchdog by the MCU module in a watchdog RESET period, and continuously testing 3 watchdog RESET periods; 3) If watchdog RESET is generated, and the condition that the EWDT_DiagState state is still DIAG_EWDT_NO_RESET is judged, the watchdog fault is diagnosed, and the fault type is abnormal RESET; 4) If no watchdog RESET is generated, then setting the EWDT_DiagState to DIAG_EWDT_RESET, and stopping feeding the watchdog by the MCU module and waiting for 2 watchdog RESET periods; 5) If the watchdog reset is not generated at this time, diagnosing that the watchdog is faulty, and the fault type is that the watchdog reset is invalid; 6) If the watchdog RESET is normally generated at this time, and the condition that the EWDT_DiagState state is still DIAG_EWDT_RESET is judged, the watchdog is diagnosed to be fault-free, and a watchdog fault sign is cleared; 7) After the watchdog diagnosis is finished, the EWDT_DiagState is set to DIAG_EWDT_FINISH, the watchdog is forbidden, and other functions of the ECU are continuously diagnosed.
Compared with the prior art, the invention has the following beneficial effects: the external watchdog-based electric power steering system and the control method thereof provided by the invention can realize the diagnosis of the external watchdog function and the MCU by using the MCU capable of distinguishing different reset sources, and timely cut off the power assistance when the watchdog is in fault or the MCU is abnormal, accurately diagnose and record the current fault through software, and make up for the defects of the watchdog monitoring system.
Drawings
FIG. 1 is a schematic diagram of a watchdog monitoring system for electric power steering of the present invention;
FIG. 2 is a schematic diagram of the watchdog reset signal relationships of the present invention;
FIG. 3 is a state transition diagram for watchdog diagnostics of the present invention;
FIG. 4 is a schematic diagram of a watchdog diagnostic implementation of the present invention;
fig. 5 is a flow chart of the watchdog diagnostic of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and examples.
Fig. 1 is a schematic diagram of a watchdog monitoring system for electric power steering of the present invention.
Referring to fig. 1, the relay used in the present invention is a normally open relay, the switching state of which is controlled by the MCU, and the signal (1) is a control signal thereof, and the high level is effective. When the MCU outputs high level, the relay is closed, and bus current can be input into the motor to provide power assistance for the EPS. When the MCU outputs low level or outputs tri-state, the relay is disconnected, bus current is cut off, and the EPS is converted into a mechanical power-assisted state. When the ECU diagnoses faults, the MCU cuts off the relay to ensure the safety of the EPS, so that the EPS is in a safe state.
The default state of the signal (1) is low level, and is pulled down by a pull-down resistor on hardware, so that when the MCU is reset and normal power-assisted control is not entered, the relay is in a disconnected state, and abnormal power assistance caused by uncontrolled EPS is prevented.
The reset period of the watchdog is typically configured by a hardware charge-discharge circuit, e.g., configurable to 30ms. The signal (2) is a watchdog enable signal, which is active high, defaults to low, and inhibits the watchdog from outputting a reset signal. When the signal is high, a reset signal is output when the watchdog overflows. The signal (3) is a dog feeding signal, generally a low pulse signal, and if the interval between adjacent pulses exceeds the reset period of the watchdog, the watchdog overflows to generate a reset signal. Therefore, when the watchdog is enabled, the MCU must ensure that the output period of the watchdog feeding signal is less than the reset period of the watchdog. The signal (4) is a reset output signal when the watchdog overflows, and the MCU is caused to enter a reset state by a low level, and the MCU is restarted by a rising edge.
The relationship of the signals when the watchdog is reset is shown in fig. 2.
In the ECU power-on diagnosis stage, the MCU can diagnose the reset function of the external watchdog, and the diagnosis strategy is shown in fig. 5:
1. an external watchdog diagnosis state machine EWDT_DiagState is defined by space allocation in the RAM, and is initialized when reset is forbidden;
2. when the current RESET source is power-on RESET, a watchdog fault flag EWDT_FaultFlag=FALSE and a fault type EWDT_ResetErrorCode=EWDT_OK are cleared, the EWDT_DiagState is set to DIAG_EWDT_NO_RESET, so that the watchdog is enabled, and meanwhile, the MCU feeds the watchdog in a watchdog RESET period for 3 continuous periods, and the watchdog RESET is not generated under normal conditions;
3. if the watchdog reset is generated by the abnormality at this time, the MCU detects the watchdog reset source. Judging the state of the EWDT_DiagState at the same time, if the state is still DIAG_EWDT_NO_RESET, and the MCU does not overflow the watchdog before the table is RESET, diagnosing that the watchdog has the fault EWDT_FaultFlag=TRUE, and the fault type is abnormal RESET EWDT_ResetErrorCode=EWDT_ERR_RESET, and exiting the watchdog diagnosis;
4. if watchdog RESET is not generated at this time, setting the EWDT_DiagState to DIAG_EWDT_RESET, stopping feeding the dogs by the MCU, waiting for 2 watchdog RESET periods, and triggering watchdog RESET under normal conditions;
5. if the watchdog RESET is not generated at this time, diagnosing that the watchdog fault is ewdt_faultflag=true, and the fault type is that the watchdog RESET is INVALID ewdt_reseterrorcode=ewdt_reset_invalid, and exiting the watchdog diagnosis;
6. if the watchdog reset is normally generated at this time, the MCU will detect the watchdog reset source. Judging the state of the EWDT_DiagState at the same time, if the state is still DIAG_EWDT_RESET, and the MCU overflows the watchdog before the table is RESET, diagnosing that the watchdog has no fault EWDT_ResetErrorCode=EWDT_OK, clearing a watchdog fault flag EWDT_FaultFlag=FALSE, and exiting the watchdog diagnosis;
7. after the watchdog diagnosis is finished, the EWDT_DiagState is set to DIAG_EWDT_FINISH, the watchdog is forbidden, and other functions of the ECU are continuously diagnosed.
If the fault is not diagnosed, the system enters normal power-assisted control, the MCU closes the relay, meanwhile, the watchdog is controlled to enable, and the watchdog chip is subjected to periodical dog feeding operation.
Whether the current reset is caused by MCU abnormality can be judged according to the reset source type and the EWDT_DiagState state: when the reset source is an external watchdog reset and the ewdt_diagstate is diag_ewdt_finish, then the MCU exception may be diagnosed. At this time, the signal (1) automatically enters a default state, and the relay is disconnected, so that the EPS timely enters a safe state, and abnormal power assistance is prevented.
The state transition for watchdog diagnostics is shown in fig. 3.
The system makes up the defect of external watchdog monitoring in the EPS system, achieves the effect of double MCU monitoring, and saves the cost.
One implementation of the circuit configuration is shown in fig. 4.
Wherein CD charges the watchdog with a capacitor whose capacity determines the watchdog reset period:
T WO ＝2.976*10 6 *CD s
in this scheme, cd=10nf, so the watchdog reset period T WO About 30ms.
The RESET output pin RESET of the WDT is input to the ESR1 pin of the MCU, and is used as an external RESET source of the MCU.
At power-up initialization, ESR1 is configured as a reset input. When the MCU is reset, the latest reset source can be judged through the related register.
A flow chart of the process of watchdog diagnosis is shown in fig. 5.
While the invention has been described with reference to the preferred embodiments, it is not intended to limit the invention thereto, and it is to be understood that other modifications and improvements may be made by those skilled in the art without departing from the spirit and scope of the invention, which is therefore defined by the appended claims.
Claims (4)
1. The control method of the electric power steering system based on the external watchdog comprises a motor and an MCU module, wherein the MCU module outputs PWM signals to control the motor to rotate;
the control method comprises the following steps:
a) Connecting an external watchdog chip RESET output pin RESET with an ESR1 pin of the MCU module, and using the external watchdog chip RESET output pin RESET as an external RESET source of the MCU module;
b) During normal power-assisted control, the MCU module closes the relay and simultaneously controls the watchdog to enable; the MCU module controls the power-assisted output of the motor and simultaneously performs periodic dog feeding operation;
c) When the feeding period exceeds the reset period of the watchdog, judging whether the current reset is caused by MCU abnormality according to the type of the reset source and the diagnosis state of the external watchdog: if the MCU is abnormal, the relay is disconnected, so that the electric power steering system is in a safe state in time, and abnormal power is prevented from being generated;
the MCU module performs the following diagnosis on the external watchdog chip in the ECU power-on diagnosis stage:
1) Storing an external watchdog diagnostic state machine EWDT_DiagState in RAM, and initializing the external watchdog diagnostic state machine when reset is forbidden;
2) If the current RESET source is power-on RESET, clearing a watchdog fault sign and fault type, setting an EWDT_DiagState to DIAG_EWDT_NO_RESET, enabling a watchdog, and simultaneously feeding the watchdog by the MCU module in a watchdog RESET period, and continuously testing 3 watchdog RESET periods;
3) If watchdog RESET is generated, and the condition that the EWDT_DiagState state is still DIAG_EWDT_NO_RESET is judged, the watchdog fault is diagnosed, and the fault type is abnormal RESET;
4) If no watchdog RESET is generated, then setting the EWDT_DiagState to DIAG_EWDT_RESET, and stopping feeding the watchdog by the MCU module and waiting for 2 watchdog RESET periods;
5) If the watchdog reset is not generated at this time, diagnosing that the watchdog is faulty, and the fault type is that the watchdog reset is invalid;
6) If the watchdog RESET is normally generated at this time, and the condition that the EWDT_DiagState state is still DIAG_EWDT_RESET is judged, the watchdog is diagnosed to be fault-free, and a watchdog fault sign is cleared;
7) After the watchdog diagnosis is finished, the EWDT_DiagState is set to DIAG_EWDT_FINISH, the watchdog is forbidden, and other functions of the ECU are continuously diagnosed.
2. The control method of an external watchdog-based electric power steering system according to claim 1, wherein the relay is a normally open relay, the first IO output end of the MCU module is connected to an input loop of the relay through a pull-down resistor, and a default state of the first IO output end of the MCU module is a low level, so that the relay is in an off state when the MCU is reset and does not enter normal power steering.
3. The method for controlling an external watchdog-based electric power steering system according to claim 1, wherein the external watchdog chip configures a watchdog reset period by means of capacitors of different external capacitance values.
4. The control method of an external watchdog-based electric power steering system according to claim 1, wherein the MCU module configures ESR1 pin as a reset input at power-on initialization, and when the MCU module is reset, a current reset source type is automatically stored in a reset source register by the MCU module, and the MCU module determines a latest reset source by reading the register.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362077 | 2016-05-26 | ||
| CN2016103620772 | 2016-05-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107340763A CN107340763A (en) | 2017-11-10 |
| CN107340763B true CN107340763B (en) | 2023-08-08 |
Family
ID=59492234
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720015072.2U Active CN206388063U (en) | 2016-05-26 | 2017-01-06 | Electric boosting steering system based on outer watchdog |
| CN201710010873.4A Active CN107340763B (en) | 2016-05-26 | 2017-01-06 | Electric power steering system based on external watchdog and control method thereof |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720015072.2U Active CN206388063U (en) | 2016-05-26 | 2017-01-06 | Electric boosting steering system based on outer watchdog |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN206388063U (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298658B (en) * | 2018-07-26 | 2021-06-08 | 上海汽车工业(集团)总公司 | Dual-core EPS control program flow execution method and monitoring method thereof |
| CN110501990B (en) * | 2018-09-30 | 2024-03-12 | 国核自仪系统工程有限公司 | Control circuit of digital instrument control system |
| CN110794817A (en) * | 2019-12-03 | 2020-02-14 | 中国兵器装备集团自动化研究所 | Fault safety type current output channel diagnosis system and method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6373217B1 (en) * | 1999-07-02 | 2002-04-16 | Nsk Ltd. | Control apparatus of electric power steering system |
| CN201021986Y (en) * | 2007-03-08 | 2008-02-13 | 杭州华三通信技术有限公司 | Door guard reset circuit |
| CN202320213U (en) * | 2011-11-15 | 2012-07-11 | 株洲联诚集团有限责任公司 | Automatic controller of windscreen wiper of electric locomotive |
| CN102761439A (en) * | 2012-06-13 | 2012-10-31 | 烽火通信科技股份有限公司 | Device and method for detecting and recording abnormity on basis of watchdog in PON (Passive Optical Network) access system |
| CN102880523A (en) * | 2012-10-10 | 2013-01-16 | 北京和利时系统工程有限公司 | Watchdog circuit and failure monitoring method for same |
| JP2013182477A (en) * | 2012-03-02 | 2013-09-12 | Nsk Ltd | Microprocessor external monitoring circuit, electronic controller and electrically-driven power steering device |
| KR20150018044A (en) * | 2013-08-08 | 2015-02-23 | 현대모비스 주식회사 | Method for operating motor driven power steering apparatus |
| CN104750568A (en) * | 2015-04-14 | 2015-07-01 | 广州市智博光辉电气科技有限公司 | Abnormal forced resetting type watchdog circuit of microcontroller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012224298A (en) * | 2011-04-22 | 2012-11-15 | Honda Motor Co Ltd | Electric power steering apparatus |
-
2017
- 2017-01-06 CN CN201720015072.2U patent/CN206388063U/en active Active
- 2017-01-06 CN CN201710010873.4A patent/CN107340763B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6373217B1 (en) * | 1999-07-02 | 2002-04-16 | Nsk Ltd. | Control apparatus of electric power steering system |
| CN201021986Y (en) * | 2007-03-08 | 2008-02-13 | 杭州华三通信技术有限公司 | Door guard reset circuit |
| CN202320213U (en) * | 2011-11-15 | 2012-07-11 | 株洲联诚集团有限责任公司 | Automatic controller of windscreen wiper of electric locomotive |
| JP2013182477A (en) * | 2012-03-02 | 2013-09-12 | Nsk Ltd | Microprocessor external monitoring circuit, electronic controller and electrically-driven power steering device |
| CN102761439A (en) * | 2012-06-13 | 2012-10-31 | 烽火通信科技股份有限公司 | Device and method for detecting and recording abnormity on basis of watchdog in PON (Passive Optical Network) access system |
| CN102880523A (en) * | 2012-10-10 | 2013-01-16 | 北京和利时系统工程有限公司 | Watchdog circuit and failure monitoring method for same |
| KR20150018044A (en) * | 2013-08-08 | 2015-02-23 | 현대모비스 주식회사 | Method for operating motor driven power steering apparatus |
| CN104750568A (en) * | 2015-04-14 | 2015-07-01 | 广州市智博光辉电气科技有限公司 | Abnormal forced resetting type watchdog circuit of microcontroller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN206388063U (en) | 2017-08-08 |
| CN107340763A (en) | 2017-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107433977B (en) | Electric power steering system with watchdog monitoring function and control method thereof | |
| CN102431549B (en) | For the control electronics of vehicle | |
| JP5533799B2 (en) | In-vehicle electronic control unit | |
| JP7010663B2 (en) | Monitoring device | |
| US6076172A (en) | Monitoting system for electronic control unit | |
| CN107340763B (en) | Electric power steering system based on external watchdog and control method thereof | |
| JP6983991B2 (en) | Battery control device | |
| CN104423374A (en) | Controller for automobile, automobile with controller and monitoring method | |
| JP5067359B2 (en) | Fault diagnosis device for electronic control system | |
| JP6683104B2 (en) | Electronic control unit | |
| CN115348133A (en) | Backup control method, device, equipment and medium of redundant backup system | |
| JP2006117131A (en) | Electronic control device for vehicle | |
| CN109690333B (en) | Electronic control device and method for diagnosing connection state of electronic control device | |
| KR101428288B1 (en) | Diagnosis method of side step apparatus for vehicle | |
| CN114184953A (en) | Abnormal diagnosis method and system of relay drive circuit | |
| KR102030827B1 (en) | Stater moter driver and diagnosis method thereof | |
| CN115503418B (en) | Five-connection-valve functional safety circuit and method for chassis domain controller system | |
| JP7596934B2 (en) | Fault Detection Method | |
| WO2015079842A1 (en) | Load-driving circuit | |
| CN106627478A (en) | Electronic steering column lock control circuit and control method thereof | |
| JP7254827B2 (en) | electronic controller | |
| WO2019029479A1 (en) | Digital switch detecting circuit and method | |
| JPH0317923A (en) | Diagnostic system for driving circuit | |
| JP7700695B2 (en) | Electronic Control Unit | |
| CN104276112B (en) | The power-supply management system of automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 702, Building 16, 1000 Jinhai Road, Pudong New Area, Shanghai Applicant after: NASN AUTOMOTIVE ELECTRONICS Co.,Ltd. Address before: Room J365, 4 Blocks, Zone B, 925 Yecheng Road, Jiading District, Shanghai, 2003 Applicant before: NASN AUTOMOTIVE ELECTRONICS Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |