CN114684254B - Steering assistance adjusting method, device, equipment and storage medium - Google Patents
Steering assistance adjusting method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN114684254B CN114684254B CN202210479047.5A CN202210479047A CN114684254B CN 114684254 B CN114684254 B CN 114684254B CN 202210479047 A CN202210479047 A CN 202210479047A CN 114684254 B CN114684254 B CN 114684254B
- Authority
- CN
- China
- Prior art keywords
- adjustment
- power
- assisted
- fault
- assistance
- 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 57
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000012790 confirmation Methods 0.000 claims description 39
- 238000011084 recovery Methods 0.000 claims description 26
- 230000006870 function Effects 0.000 description 29
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0484—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 for reaction to failures, e.g. limp home
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application discloses a steering assistance adjusting method, a device, equipment and a storage medium, wherein the method comprises the following steps: detecting the state of a power-assisted steering system of a target vehicle to obtain a detection result, wherein the power-assisted steering system comprises two steering systems; determining the fault type of the fault steering system under the condition that the detection result is that any one of the two steering systems fails; generating first assistance adjustment information based on the fault type; and adjusting the power-assisted moments of the two steering systems based on the first power-assisted adjustment information. By means of the technical scheme, under the application scene that the single-side system faults occur in the redundant steering system, the power-assisted moment of the two steering systems can be reasonably adjusted, the fault tolerance of the redundant steering system is improved, the steering capacity of the vehicle is guaranteed, and the running stability and safety of the vehicle are improved.
Description
Technical Field
The application relates to the technical field of automobile steering, in particular to a steering power-assisted adjustment method, a device, equipment and a storage medium.
Background
Current redundant power steering systems generally include two steering systems that each bear 50% of the power output of the redundant power steering system. After either steering system fails and the redundant power steering system confirms the failure, the redundant power steering system directly cuts off the power output of the failed steering system, and the other steering system which is in normal operation maintains 50% of power.
Then, this kind of helping hand control method can lead to the helping hand of redundant power assisted steering system to jump suddenly from 100% output to 50%, on the one hand, and the power assisted steering suddenly halves, leads to the steering ability of vehicle limited, deviates from anticipated driving route to reduce stability and the security that the vehicle was driven, on the other hand, can lead to the steering feel of driver suddenly to become heavy, influence driving experience. Accordingly, it is desirable to provide a more stable steering assist adjustment method.
Disclosure of Invention
The application provides a power-assisted steering adjustment method, a device, equipment and a storage medium, which can reasonably adjust the power-assisted torque of two steering systems under the application scene that a single-side system fault occurs in a redundant steering system, and improve the fault tolerance of the redundant steering system, thereby ensuring the steering capacity of a vehicle and improving the running stability and safety of the vehicle, and the technical scheme is as follows:
in one aspect, a method of steering assist adjustment is provided, the method comprising:
detecting the state of a power-assisted steering system of a target vehicle to obtain a detection result, wherein the power-assisted steering system comprises two steering systems;
determining the fault type of the fault steering system under the condition that the detection result is that any one of the two steering systems fails;
generating first assistance adjustment information based on the fault type;
and adjusting the power-assisted moments of the two steering systems based on the first power-assisted adjustment information.
In another aspect, a steering assist adjustment device is provided, the device comprising:
the power-assisted steering system comprises two steering systems;
the fault type confirming module is used for determining the fault type of the fault steering system under the condition that any one of the two steering systems fails according to the detection result;
the first power-assisted adjustment information generation module is used for generating first power-assisted adjustment information based on the fault type;
and the first assistance torque adjusting module is used for adjusting the assistance torques of the two steering systems based on the first assistance adjusting information.
In another aspect, a steering assist adjustment device is provided, the device comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement a steering assist adjustment method as described above.
In another aspect, a computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement a steering assist adjustment method as described above is provided.
The steering assistance adjusting method, the device, the equipment and the storage medium have the following technical effects:
by utilizing the technical scheme provided by the application, under the application scene that the single-side system fault occurs in the redundant steering system, the fault type of the fault steering system can be determined, the first power-assisted adjustment information is generated based on the fault type, and the power-assisted moments of the two steering systems are reasonably adjusted based on the first power-assisted adjustment information, so that on one hand, the fault tolerance capability of the redundant steering system can be improved, the steering capability of a vehicle is ensured, and the running stability and safety of the vehicle are effectively improved; on the other hand, the comfort of the driving experience of the driver can be improved.
Drawings
In order to more clearly illustrate the technical solutions and advantages of embodiments of the present application or of the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the prior art descriptions, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a steering assist adjustment method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of generating first assistance adjustment information based on a fault type according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a first proportional adjustment curve and a second proportional adjustment curve provided in an embodiment of the present application;
FIG. 4 is a schematic flow chart of generating first assistance adjustment information based on a first assistance adjustment index according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of adjusting the assist torque of two steering systems based on the first assist adjustment information according to the embodiment of the present application;
FIG. 6 is a flow chart of another method of steering assist adjustment provided in an embodiment of the present application;
FIG. 7 is a schematic illustration of a third and fourth scaling curve provided in an embodiment of the present application;
FIG. 8 is a schematic flow chart of generating second assistance adjustment information based on a second assistance adjustment index according to an embodiment of the present disclosure;
FIG. 9 is a schematic flow chart of adjusting the assist torque of the two steering systems based on the second assist adjustment information according to the embodiment of the present application;
fig. 10 is a schematic diagram of a steering assist adjustment method according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the following, a method for adjusting steering assistance provided in an embodiment of the present application is described, and fig. 1 is a schematic flow chart of a method for adjusting steering assistance provided in an embodiment of the present application. It is noted that the present specification provides method operational steps as described in the examples or flowcharts, but may include more or fewer operational steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. In actual system or product execution, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment). As shown in fig. 1, the method may include:
s101, detecting the state of a power-assisted steering system of a target vehicle to obtain a detection result, wherein the power-assisted steering system comprises two steering systems.
In the embodiments of the present disclosure, the power steering system may be a redundant steering system with dual motor control, and in particular, the power steering system may include two steering systems, where each steering system may include: the device comprises a power supply, a sensor, a wire harness, an interface, a controller, a driving module, a motor and other modules.
In practical applications, under the condition that the power steering systems are operating normally, the two steering systems can respectively provide 50% of target steering power to meet steering requirements based on the target steering power currently required.
S102, determining the fault type of the fault steering system under the condition that the detection result is that any one of the two steering systems fails.
Specifically, in the case where any one of the steering systems fails, the failed steering system is regarded as a failed steering system, and the other steering system that is operating normally is regarded as a non-failed steering system.
S103, generating first power-assisted adjustment information based on the fault type.
In the embodiments of the present specification, the first assist adjustment information may be used to characterize the tendency of adjustment of the assist torque of the two steering systems after a fault has occurred.
In a specific embodiment, as shown in fig. 2, generating the first assistance adjustment information based on the fault type may include:
s201, acquiring a fault confirmation time length corresponding to the fault type.
Specifically, the failure confirmation time period may be a time interval between a time when the failure steering system fails and a time when the steering assist adjustment apparatus confirms that the failure occurs.
In practical application, the fault confirmation time length can be preset according to the fault type and the accuracy requirement of fault confirmation.
In an optional embodiment, the method for setting the fault confirmation duration may include:
1) And determining the occurrence times of the preset faults corresponding to the fault types.
Specifically, setting the preset fault occurrence times of each fault type can ensure the accuracy of fault confirmation, avoid the power-assisted proportion adjustment of the steering system due to the faults which occur instantly and recover quickly, and reduce the stability of the power-assisted steering system.
2) And analyzing the time length based on the preset fault occurrence times to generate fault confirmation time length.
Specifically, the duration analysis may be performed according to the preset number of occurrences of each fault type and the repetition frequency of each fault type in the actual application, and the fault confirmation duration corresponding to each fault type may be set.
According to the embodiment, the fault confirmation time is generated according to the preset fault occurrence times, so that the accuracy of fault confirmation can be improved, and the stability of the power steering system is improved.
S202, performing power-assisted adjustment analysis based on fault confirmation time to obtain a first power-assisted adjustment index.
In the embodiment of the present specification, the first assist adjustment index may characterize the adjustment amplitude of the assist ratio of the two steering systems after occurrence of the failure.
In a specific embodiment, the performing the power adjustment analysis based on the fault confirmation time period to obtain the first power adjustment index may include: a first power adjustment index is generated based on the step response and the fault confirmation duration of the first order system.
In a specific embodiment, the first boost adjustment indexWhere T represents the current time, T represents a time constant, and t=k times the failure confirmation time period.
In a specific embodiment, t is counted from the moment the faulty steering system fails.
In practical applications, the coefficient k may be preset in combination with the stability requirement of the boost adjustment. Alternatively, k=1/4.
S203, generating first assistance adjustment information based on the first assistance adjustment index.
In a specific embodiment, generating the first assistance adjustment information based on the first assistance adjustment index may include:
1) And carrying out power-assisted adjustment analysis based on the first power-assisted adjustment index and a preset reference proportion to obtain a first power-assisted adjustment function.
In the present embodiment, the preset reference proportion may represent a standard assist control proportion of the two steering systems. Specifically, the preset reference proportion may be 50%.
In a specific embodiment, the first boost adjustment function may be:
wherein P is 1 Represents the power-assisted control proportion of the fault steering system after the fault occurs, P 2 And the power-assisted control proportion of the non-fault steering system after the fault occurs is represented, and M represents a preset reference proportion.
2) And generating data based on the first power-assisted adjustment function to obtain first power-assisted adjustment information.
In particular, the first assistance adjustment information may comprise a plurality of data forms, for example, forms of graphs, histograms, lists, or the like.
According to the embodiment, under the condition that the single-side fault occurs in the redundant steering system, the first power-assisted adjustment index is generated based on the step response and the fault confirmation time of the first-order system, power-assisted adjustment analysis is carried out according to the first power-assisted adjustment index and the preset reference proportion, first power-assisted adjustment information is obtained, the accuracy of the first power-assisted adjustment information can be improved, the power-assisted moment of the steering system can be conveniently and reasonably adjusted later, and the stability of the redundant steering system is improved.
In a specific embodiment, in the case where the data form of the first assistance adjustment information is a graph, the first assistance adjustment information may include: a first proportional adjustment curve and a second proportional adjustment curve. Referring to fig. 3, fig. 3 is a schematic diagram of a first proportional adjustment curve and a second proportional adjustment curve provided in the embodiments of the present application, specifically, the first proportional adjustment curve may represent an adjustment trend of a power assisting moment of a fault steering system after a fault occurs, and the second proportional adjustment curve may represent an adjustment trend of a power assisting moment of a non-fault steering system after a fault occurs.
In a specific embodiment, as shown in fig. 4, generating the first power adjustment information based on the first power adjustment index may include:
s401, generating a first initial adjustment curve based on the product of the first assistance adjustment index and a preset reference proportion.
Specifically, a first initial adjustment function is obtained according to the product of the first power adjustment index and a preset reference proportion, and data generation is performed according to the first initial adjustment function to obtain a first initial adjustment curve.
Specifically, the first initial adjustment function may be
S402, generating a first proportion adjusting curve based on the difference between the preset reference proportion and the corresponding power assisting proportion of the first initial adjusting curve.
Specifically, a first proportional adjustment function is obtained according to the difference between a preset reference proportion and a first initial adjustment function, and data generation is performed according to the first proportional adjustment function to obtain a first proportional adjustment curve.
Specifically, the first proportional adjustment function may be
S403, generating a second proportion adjustment curve based on the sum of the preset reference proportion and the corresponding power assisting proportion of the first initial adjustment curve.
Specifically, a second proportion adjusting function is obtained according to the sum of a preset reference proportion and the first initial adjusting function, and data generation is carried out according to the second proportion adjusting function to obtain a second proportion adjusting curve.
In particular, the second scaling function may be
According to the embodiment, under the condition that the single-side system faults occur, the proportion adjustment curves matched with the two steering systems are generated based on the first power-assisted adjustment index, so that the accuracy of the proportion adjustment curves can be improved, and the follow-up accurate adjustment of the power-assisted moments of the two steering systems is facilitated.
And S104, adjusting the power-assisted moments of the two steering systems based on the first power-assisted adjustment information.
In a specific embodiment, as shown in fig. 5, adjusting the assist torque of the two steering systems based on the first assist adjustment information may include:
s501, acquiring a target power-assisted torque of a power-assisted steering system.
Specifically, the target assist torque may be a total assist torque currently required by the power steering system.
S502, reducing the power assisting moment of the fault steering system to zero based on the first proportional adjustment curve and the target power assisting moment.
Specifically, a current power-assisted proportion of the fault steering system is determined based on the first proportion adjustment curve, and the power-assisted moment of the fault steering system is controlled based on the current power-assisted proportion of the fault steering system and the target power-assisted moment until the power-assisted moment of the fault steering system is reduced to zero.
And S503, increasing the power assisting moment of the non-fault steering system to the target power assisting moment based on the second proportion adjustment curve and the target power assisting moment.
Specifically, a current power-assisted ratio of the non-fault steering system is determined based on the second ratio adjustment curve, and the power-assisted torque of the non-fault steering system is controlled based on the current power-assisted ratio of the non-fault steering system and the target power-assisted torque until the power-assisted torque of the fault steering system is increased to the target power-assisted torque.
In the embodiment of the present specification, in adjusting the assist torque of the two steering systems based on the first assist adjustment information, the sum of the assist torques provided by the two steering systems is always the target assist torque.
As can be seen from the above embodiments, the assist torques of the two steering systems are adjusted based on the first proportional adjustment curve, the second proportional adjustment curve, and the target assist torque, on the one hand, the assist adjustment method is optimized, and the accuracy of the assist adjustment is improved; on the other hand, the power-assisted output of the normal steering system is increased to meet the power-assisted requirement of the fault steering system, the sum of the power-assisted torques provided by the two steering systems can be guaranteed to be the target power-assisted torque all the time, and the stability of the power-assisted steering system is improved, so that the stability and the safety of vehicle driving are improved.
In an alternative embodiment, as shown in fig. 6, in the process of adjusting the assist torques of the two steering systems based on the first assist adjustment information, the method may further include:
s601, under the condition of fault recovery of the fault steering system, acquiring fault recovery time length.
Specifically, the fault recovery time period may be a time interval between a time when the fault steering system fails and a time when the fault recovers.
In the present embodiment, the failure recovery may occur before the failure confirmation, and thus, the failure recovery period is smaller than the failure confirmation period.
And S602, performing power-assisted adjustment analysis based on the fault confirmation time and the fault recovery time to obtain a second power-assisted adjustment index.
In the embodiment of the present specification, the second assist adjustment index may characterize an adjustment amplitude of the assist ratios of the two steering systems after the failure recovery.
In a specific embodiment, the performing the power adjustment analysis based on the fault confirmation time period and the fault recovery time period to obtain the second power adjustment index may include: a second power adjustment index is generated based on the step response, the fault confirmation duration, and the fault recovery duration of the first order system.
In a specific embodiment, the second boost adjustment indexWherein T represents the current time, δt represents the failure recovery time period, T represents the time constant, and t=k times the failure confirmation time period.
In a specific embodiment, t is counted from the moment the faulty steering system fails.
In practical applications, the coefficient k may be preset in combination with the stability requirement of the boost adjustment. Alternatively, k=1/4.
And S603, generating second assistance adjustment information based on the second assistance adjustment index.
In a specific embodiment, generating the second assistance adjustment information based on the second assistance adjustment index may include:
1) A first assist ratio of the faulty steering system and a second assist ratio of the non-faulty steering system are obtained.
Specifically, the first power-assisted ratio may be a power-assisted ratio of the fault steering system at the fault recovery time, and the second power-assisted ratio may be a power-assisted ratio of the non-fault steering system at the fault recovery time.
2) And performing power-assisted adjustment analysis based on the first power-assisted proportion, the second power-assisted proportion and the second power-assisted adjustment index to obtain a second power-assisted adjustment function.
In a specific embodiment, the second boost adjustment function may be:
wherein Q is 1 Represents the power-assisted control proportion of the fault steering system after fault recovery, Q 2 Represents the power-assisted control proportion of the non-fault steering system after fault recovery, M represents the preset reference proportion, M 1 Represents a first boosting proportion, M 2 A second assist ratio is indicated.
3) And generating data based on the second power-assisted adjustment function to obtain second power-assisted adjustment information.
In particular, the second assistance adjustment information may include various data forms, for example, forms of a graph, a histogram, or a list.
According to the embodiment, under the condition of fault recovery of the unilateral system, the assistance adjustment analysis is carried out based on the fault confirmation time and the fault recovery time to obtain a second assistance adjustment index, the assistance adjustment analysis is carried out according to the first assistance proportion, the second assistance proportion and the second assistance adjustment index to obtain second assistance adjustment information, the accuracy of the second assistance adjustment information can be improved, the assistance moment of the steering system can be conveniently and reasonably adjusted, and the stability of the assistance steering system is improved.
In a specific embodiment, where the data form of the second assistance adjustment information is a graph, the second assistance adjustment information may include a third proportional adjustment curve and a fourth proportional adjustment curve. Referring to fig. 7 for an example, fig. 7 is a schematic diagram of a third proportion adjustment curve and a fourth proportion adjustment curve provided in the embodiment of the present application, specifically, the third proportion adjustment curve may represent an adjustment trend of a power assisting moment of a fault steering system after a fault recovery, and the fourth proportion adjustment curve may represent an adjustment trend of a power assisting moment of a non-fault steering system after a fault recovery.
In a specific embodiment, as shown in fig. 8, generating the second assistance adjustment information based on the second assistance adjustment index may include:
s801, a first assistance ratio of a fault steering system and a second assistance ratio of a non-fault steering system are obtained.
S802, generating a second initial adjustment curve based on the product of the second assistance adjustment index and a preset reference proportion.
Specifically, a second initial adjustment function is obtained according to the product of the second power adjustment index and a preset reference proportion, and data generation is performed according to the second initial adjustment function to obtain a second initial adjustment curve.
In particular, the second initial adjustment function may be
S803, a third proportion adjustment curve is generated based on the sum of the first assistance proportion and the assistance proportion corresponding to the second initial adjustment curve.
Specifically, a third proportion adjusting function is obtained according to the sum of the first power assisting proportion and the second initial adjusting function, and data generation is carried out according to the third proportion adjusting function, so that a third proportion adjusting curve is obtained.
Specifically, the third scaling function may be
S804, generating a fourth proportion adjustment curve based on the difference between the second assistance proportion and the assistance proportion corresponding to the second initial adjustment curve.
Specifically, a fourth proportion adjusting function is obtained according to the difference between the second power assisting proportion and the second initial adjusting function, and data generation is carried out according to the fourth proportion adjusting function, so that a fourth proportion adjusting curve is obtained.
Specifically, the fourth scaling function may be
According to the embodiment, under the condition of fault recovery of the unilateral system, the proportion adjustment curves matched with the two steering systems respectively are generated based on the first power-assisted proportion, the second power-assisted proportion and the second power-assisted adjustment index, so that the accuracy of the proportion adjustment curves can be improved, and the power-assisted moments of the two steering systems can be accurately adjusted subsequently.
And S604, adjusting the power-assisted moments of the two steering systems based on the second power-assisted adjustment information.
In a specific embodiment, as shown in fig. 9, adjusting the assist torques of the two steering systems based on the second assist adjustment information may include:
s901, obtaining a target power-assisted moment of a power-assisted steering system.
Specifically, the target assist torque may be a total assist torque currently required by the power steering system.
And S902, based on the third proportion adjustment curve and the target power assisting moment, increasing the power assisting moment of the fault steering system to the target moment, wherein the target moment is the product of the preset reference proportion and the target power assisting moment.
Specifically, the preset reference proportion may be 50%, and correspondingly, the target torque may be a target assist torque of 50%.
Specifically, a current power-assisted proportion of the fault steering system is determined based on the third proportion adjustment curve, and the power-assisted moment of the fault steering system is controlled based on the current power-assisted proportion of the fault steering system and the target power-assisted moment until the power-assisted moment of the fault steering system is increased to 50% of the target power-assisted moment.
S903, reducing the non-fault steering system assistance torque to a target torque based on the fourth proportion adjustment curve and the target assistance torque.
Specifically, a current power-assisted ratio of the non-fault steering system is determined based on the fourth ratio adjustment curve, and the power-assisted torque of the non-fault steering system is controlled based on the current power-assisted ratio of the non-fault steering system and the target power-assisted torque until the power-assisted torque of the non-fault steering system is reduced to 50% of the target power-assisted torque.
As can be seen from the above embodiments, the assist torques of the two steering systems are adjusted based on the third proportional adjustment curve, the fourth proportional adjustment curve and the target assist torque, on the one hand, the assist adjustment method is optimized, and the accuracy of the assist adjustment is improved; on the other hand, on the basis of recovering the common assistance of the two steering systems, the sum of the assistance torques provided by the two steering systems is always the target assistance torque, and the stability of the assistance steering system is improved, so that the stability and the safety of vehicle driving are improved.
As can be seen from the embodiments of the foregoing description, by using the technical solutions provided by the embodiments of the present disclosure, on one hand, in the case that a single-side system fault occurs in a power-assisted steering system, the power-assisted output of the normal steering system is increased to connect the power-assisted requirement of the faulty steering system, and in the case that the single-side system fault is recovered, the common power assistance of the two steering systems is recovered, so that the sum of the power-assisted torques provided by the two steering systems can be ensured to be always the target power-assisted torque, and the fault tolerance capability and stability of the power-assisted steering system are improved, thereby improving the stability and safety of vehicle driving; on the other hand, based on the fault confirmation time length, performing power-assisted adjustment analysis to obtain a first power-assisted adjustment index and a second power-assisted adjustment index, and respectively obtaining first power-assisted adjustment information and second power-assisted adjustment information according to the first power-assisted adjustment index and the second power-assisted adjustment index, so that the accuracy of the two power-assisted adjustment information can be improved, and the power-assisted adjustment method is optimized, so that the accuracy of power-assisted adjustment is improved; on the other hand, the comfort of the driving experience of the driver can be improved.
An embodiment of the present application provides a steering assist adjustment device, as shown in fig. 10, where the device may include:
the state detection module 1010 is configured to perform state detection on a power steering system of a target vehicle, so as to obtain a detection result, where the power steering system includes two steering systems;
the fault type confirming module 1020 is configured to determine a fault type of the fault steering system when the detection result is that either one of the two steering systems fails;
a first assistance adjustment information generation module 1030 configured to generate first assistance adjustment information based on the fault type;
the first assistance torque adjustment module 1040 is configured to adjust assistance torques of the two steering systems based on the first assistance adjustment information.
In a specific embodiment, the first assistance adjustment information generating module may include:
the fault confirmation time length acquisition unit is used for acquiring the fault confirmation time length corresponding to the fault type;
the first power-assisted adjustment index generation unit is used for carrying out power-assisted adjustment analysis based on the fault confirmation time length to obtain a first power-assisted adjustment index;
and the first power-assisted adjustment information generation unit is used for generating first power-assisted adjustment information based on the first power-assisted adjustment index.
In an alternative embodiment, the apparatus may further include:
the fault occurrence number determining unit is used for determining the preset fault occurrence number corresponding to the fault type;
the fault confirmation time length generation unit is used for performing time length analysis based on the preset fault occurrence times and generating fault confirmation time length.
In a specific embodiment, the first assistance adjustment information may include: the first assist adjustment information generating unit may include:
a first initial adjustment curve generation unit for generating a first initial adjustment curve based on a product of the first assist adjustment index and a preset reference ratio;
the first proportion adjusting curve generating unit is used for generating a first proportion adjusting curve based on the difference between the preset reference proportion and the corresponding power assisting proportion of the first initial adjusting curve;
and the second proportion adjustment curve generating unit is used for generating a second proportion adjustment curve based on the sum of the preset reference proportion and the corresponding power assisting proportion of the first initial adjustment curve.
In a specific embodiment, the first assisting torque adjusting module may include:
the first target power-assisted moment acquisition unit is used for acquiring the target power-assisted moment of the power-assisted steering system;
a first torque adjustment unit for reducing the assist torque of the faulty steering system to zero based on the first proportional adjustment curve and the target assist torque;
and the second torque adjusting unit is used for increasing the power assisting torque of the non-fault steering system to the target power assisting torque based on the second proportion adjusting curve and the target power assisting torque.
In an alternative embodiment, the apparatus may further include:
the fault recovery time length acquisition module is used for acquiring the fault recovery time length under the condition of fault recovery of the fault steering system;
the second power-assisted adjustment index generation module is used for carrying out power-assisted adjustment analysis based on the fault confirmation time and the fault recovery time to obtain a second power-assisted adjustment index;
the second power-assisted adjustment information generation module is used for generating second power-assisted adjustment information based on a second power-assisted adjustment index;
and the second assistance torque adjusting module is used for adjusting the assistance torques of the two steering systems based on the second assistance adjusting information.
In a specific embodiment, the second assistance adjustment information generating module may include:
the power-assisted ratio acquisition unit is used for acquiring a first power-assisted ratio of the fault steering system and a second power-assisted ratio of the non-fault steering system;
a second initial adjustment curve generation unit for generating a second initial adjustment curve based on a product of the second assist adjustment index and a preset reference ratio;
the third proportion adjustment curve generating unit is used for generating a third proportion adjustment curve based on the sum of the first power assisting proportion and the corresponding power assisting proportion of the second initial adjustment curve;
and the fourth proportion adjustment curve generating unit is used for generating a fourth proportion adjustment curve based on the difference between the second power assisting proportion and the corresponding power assisting proportion of the second initial adjustment curve.
In a specific embodiment, the second assisting torque adjusting module may include:
the second target power-assisted moment acquisition unit is used for acquiring the target power-assisted moment of the power-assisted steering system;
the third torque adjusting unit is used for increasing the power assisting torque of the fault steering system to a target torque based on a third proportion adjusting curve and the target power assisting torque, wherein the target torque is the product of a preset reference proportion and the target power assisting torque;
and the fourth torque adjusting unit is used for reducing the power-assisted torque of the non-fault steering system to the target torque based on the fourth proportional adjustment curve and the target power-assisted torque.
The embodiment of the application provides a steering assist adjustment device, which comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the steering assist adjustment method provided by the embodiment of the method.
The memory may be used to store software programs and modules that the processor executes to perform various functional applications and data processing by executing the software programs and modules stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for functions, and the like; the storage data area may store data created according to the use of the above-described device, or the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide access to the memory by the processor.
The method embodiments provided in the embodiments of the present application may be performed in a vehicle-mounted terminal or a similar computing device, i.e. the above-mentioned computer device may include a vehicle-mounted terminal or a similar computing device.
The present application further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program related to a steering assist adjustment method for implementing one of the method embodiments, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the steering assist adjustment method provided by the method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server among a plurality of network servers of the computer network. Alternatively, in the present embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
As can be seen from the embodiments of the method, the device, the apparatus or the storage medium for adjusting steering assistance provided by the present application, by using the technical solution provided by the embodiments of the present application, on one hand, in the case that a single-side system fault occurs in the power-assisted steering system, the assistance output of the normal steering system is increased to receive the assistance requirement of the fault steering system, and in the case that the single-side system fault is recovered, the common assistance of the two steering systems is recovered, so that the sum of the assistance torques provided by the two steering systems is always the target assistance torque, and the fault tolerance capability and the stability of the assistance steering system are improved, thereby improving the stability and the safety of the driving of the vehicle; on the other hand, based on the fault confirmation time length, performing power-assisted adjustment analysis to obtain a first power-assisted adjustment index and a second power-assisted adjustment index, and respectively obtaining first power-assisted adjustment information and second power-assisted adjustment information according to the first power-assisted adjustment index and the second power-assisted adjustment index, so that the accuracy of the two power-assisted adjustment information can be improved, and the power-assisted adjustment method is optimized, so that the accuracy of power-assisted adjustment is improved; on the other hand, the comfort of the driving experience of the driver can be improved.
It should be noted that: the foregoing sequence of the embodiments of the present application is only for describing, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for apparatus, devices and storage medium embodiments, the description is relatively simple as it is substantially similar to method embodiments, with reference to the description of method embodiments in part.
Those of ordinary skill in the art will appreciate that all or a portion of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program indicating that the relevant hardware is implemented, where the program may be stored on a computer readable storage medium, where the storage medium may be a read only memory, a magnetic disk or optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
Claims (10)
1. A steering assist adjustment method, characterized in that the method comprises:
detecting the state of a power-assisted steering system of a target vehicle to obtain a detection result, wherein the power-assisted steering system comprises two steering systems;
determining the fault type of the fault steering system under the condition that the detection result is that any one of the two steering systems fails;
acquiring a fault confirmation time length corresponding to the fault type;
performing power-assisted adjustment analysis based on the fault confirmation time to obtain a first power-assisted adjustment index;
generating first assistance adjustment information based on the first assistance adjustment index;
and adjusting the power-assisted moments of the two steering systems based on the first power-assisted adjustment information.
2. The method of claim 1, wherein the first assistance adjustment information comprises a first scaling curve and a second scaling curve, and wherein generating the first assistance adjustment information based on the first assistance adjustment index comprises:
generating a first initial adjustment curve based on a product of the first assist adjustment index and a preset reference ratio;
generating the first proportion adjusting curve based on the difference between the preset reference proportion and the corresponding power assisting proportion of the first initial adjusting curve;
and generating the second proportion adjusting curve based on the sum of the preset reference proportion and the corresponding power assisting proportion of the first initial adjusting curve.
3. The method of claim 2, wherein the two steering systems include the faulty steering system and a non-faulty steering system, the adjusting the assist torque of the two steering systems based on the first assist adjustment information comprising:
acquiring a target power-assisted moment of the power-assisted steering system;
reducing the assist torque of the faulty steering system to zero based on the first proportional adjustment curve and the target assist torque;
and increasing the assist torque of the non-faulty steering system to the target assist torque based on the second proportional adjustment curve and the target assist torque.
4. A method according to any one of claims 1 to 3, characterized in that during said adjusting of the assist torque of the two steering systems based on the first assist adjustment information, the method further comprises:
under the condition of fault recovery of the fault steering system, acquiring fault recovery time;
performing power-assisted adjustment analysis based on the fault confirmation time and the fault recovery time to obtain a second power-assisted adjustment index;
generating second assistance adjustment information based on the second assistance adjustment index;
and adjusting the power-assisted moments of the two steering systems based on the second power-assisted adjustment information.
5. The method of claim 4, wherein the two steering systems include the faulty steering system and a non-faulty steering system, the second assistance adjustment information includes a third scaling curve and a fourth scaling curve, and the generating second assistance adjustment information based on the second assistance adjustment index includes:
acquiring a first power-assisted proportion of the fault steering system and a second power-assisted proportion of the non-fault steering system;
generating a second initial adjustment curve based on a product of the second boost adjustment index and a preset reference ratio;
generating the third proportion adjustment curve based on the sum of the first assistance proportion and the assistance proportion corresponding to the second initial adjustment curve;
and generating the fourth proportion adjustment curve based on the difference between the second assistance proportion and the assistance proportion corresponding to the second initial adjustment curve.
6. The method of claim 5, wherein adjusting the assist torque of the two steering systems based on the second assist adjustment information comprises:
acquiring a target power-assisted moment of the power-assisted steering system;
based on the third proportion adjustment curve and the target power assisting moment, the power assisting moment of the fault steering system is increased to the target moment, and the target moment is the product of the preset reference proportion and the target power assisting moment;
and reducing the non-faulty steering system assistance torque to the target torque based on the fourth proportional adjustment curve and the target assistance torque.
7. The method according to claim 1, wherein the method further comprises:
determining the preset fault confirmation times corresponding to the fault type;
and performing duration analysis based on the preset fault confirmation times to generate the fault confirmation duration.
8. A steering assist adjustment device, characterized in that the device comprises:
the power-assisted steering system comprises two steering systems;
the fault type confirming module is used for determining the fault type of the fault steering system under the condition that any one of the two steering systems fails according to the detection result;
the fault confirmation time length acquisition module is used for acquiring the fault confirmation time length corresponding to the fault type;
the first power-assisted adjustment index generation module is used for carrying out power-assisted adjustment analysis based on the fault confirmation time length to obtain a first power-assisted adjustment index;
the first assistance adjustment information generation module is used for generating first assistance adjustment information based on the first assistance adjustment index;
and the first assistance torque adjusting module is used for adjusting the assistance torques of the two steering systems based on the first assistance adjusting information.
9. A steering assist adjustment device, characterized in that it comprises a processor and a memory in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the steering assist adjustment method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded and executed by a processor to implement the steering assist adjustment method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210479047.5A CN114684254B (en) | 2022-04-29 | 2022-04-29 | Steering assistance adjusting method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210479047.5A CN114684254B (en) | 2022-04-29 | 2022-04-29 | Steering assistance adjusting method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114684254A CN114684254A (en) | 2022-07-01 |
| CN114684254B true CN114684254B (en) | 2023-07-21 |
Family
ID=82145374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210479047.5A Active CN114684254B (en) | 2022-04-29 | 2022-04-29 | Steering assistance adjusting method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114684254B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115384605B (en) * | 2022-09-21 | 2024-08-09 | 上海集度汽车有限公司 | Steering-by-wire redundant control method, system, vehicle and medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6516792B2 (en) * | 2017-06-22 | 2019-05-22 | 三菱電機株式会社 | Vehicle equipped with electric power steering device |
| CN108082276B (en) * | 2018-01-22 | 2019-12-20 | 天津英创汇智汽车技术有限公司 | Steering method and system based on double motors |
| CN208053434U (en) * | 2018-02-13 | 2018-11-06 | 重庆长安汽车股份有限公司 | Vehicle redundant electronic servo steering system |
| CN108657270B (en) * | 2018-06-11 | 2023-08-15 | 南京航空航天大学 | A vehicle steering-by-wire system, a fault-tolerant control method, and a fault diagnosis method |
| CN111267946A (en) * | 2020-01-22 | 2020-06-12 | 清华大学 | Dual-motor redundant electric power steering control method incorporating active steering control |
| CN113460152B (en) * | 2020-03-31 | 2023-03-03 | 华为技术有限公司 | Electric power steering device and control method thereof |
| CN111762260B (en) * | 2020-06-22 | 2021-11-19 | 北京汽车股份有限公司 | Power-assisted steering system redundancy control system and method based on calibrated vehicle speed and vehicle |
| JP7459693B2 (en) * | 2020-07-07 | 2024-04-02 | 日本精工株式会社 | Sensor device and electric power steering device |
-
2022
- 2022-04-29 CN CN202210479047.5A patent/CN114684254B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114684254A (en) | 2022-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Huang et al. | Fault tolerant steer-by-wire systems: An overview | |
| DE102017122166B4 (en) | STEERING SYSTEM WITH FAIL-PROOF TORQUE SENSOR COMMUNICATION | |
| DE112014004320B4 (en) | Power steering device and control device for vehicle-mounted equipment | |
| DE102015008140B4 (en) | Electric power steering system and method for processing an electronic control unit fail-safe | |
| DE102018202052A1 (en) | Rotation sensing device | |
| CN113968237B (en) | Unmanned vehicle steering system, operation method and storage device | |
| DE102018201119A1 (en) | Method for monitoring the power supply of a motor vehicle with automated driving function | |
| CN114684254B (en) | Steering assistance adjusting method, device, equipment and storage medium | |
| KR102452555B1 (en) | Apparatus for controlling fail-operational of vehicle, and method thereof | |
| EP3810486A1 (en) | Motor vehicle steering system with a control unit of redundant configuration | |
| US20150046036A1 (en) | Abnormality diagnosis apparatus and abnormality diagnosis method for torque sensor | |
| EP3642717A1 (en) | Device and method for controlling a vehicle module | |
| EP2476590A1 (en) | Power supply status diagnostic method and device | |
| DE102018202256A1 (en) | Automatic steering control and steering control method | |
| DE102016208133B4 (en) | Method for synchronizing a voltage of a fuel cell vehicle | |
| DE102013100851A1 (en) | Electronic control device for controlling control object e.g. motor, has initial test unit which determines that abnormality detecting unit is normal, and enables microcomputer to commence control operation for actuating control object | |
| CN111559272B (en) | Method, device and equipment for controlling charging power of electric automobile and storage medium | |
| EP1271170B1 (en) | Device and method for determining the condition of batteries | |
| CN114200331A (en) | Vehicle battery detection method and device, vehicle and storage medium | |
| EP2071344B1 (en) | Method for determining the store temperature of an electric store | |
| EP2894080B1 (en) | Steering force control device | |
| JP2006331086A (en) | Memory diagnostic method and electric power steering device with the function | |
| CN112783140B (en) | System initialization method and device and vehicle | |
| JPH06329042A (en) | Rear wheel steering system | |
| DE10340369A1 (en) | Control method for at least a mechanical actuator, especially a mechanical actuator in a steer by wire system, whereby a control signal is generated based on analysis of an operation work flow |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |