CN116215652A - Failure control method and device for hydraulic steering gear, vehicle and storage medium - Google Patents

Abstract

The invention relates to the technical field of automobiles, in particular to a failure control method and device of a hydraulic steering gear, a vehicle and a storage medium, wherein the method comprises the following steps of; acquiring the current speed of a vehicle and the actual torque of a steering wheel; when the current vehicle speed is greater than a first preset vehicle speed and the actual torque of the steering wheel is greater than a preset torque, accumulating the duration time when the actual torque of the steering wheel is greater than the preset torque; and calculating the turning angle change quantity of the steering wheel when the duration time is longer than the preset duration time, judging that the hydraulic steering gear fails when the turning angle change quantity is smaller than the preset change quantity, and controlling the vehicle to execute failure protection action. According to the method, whether the hydraulic steering gear fails can be accurately judged without additionally adding a sensor, low-cost failure control of the hydraulic steering gear is realized, and the cost of the whole vehicle is reduced.

Description

Failure control method, device, vehicle and storage medium of hydraulic steering gear

technical field

The invention relates to the technical field of automobiles, in particular to a failure control method, device, vehicle and storage medium of a hydraulic steering gear.

Background technique

With the rapid development of automobiles, more and more vehicles are equipped with EHPS (electrical hydraulic power steering, electronically controlled hydraulic power steering system). To automatically meet the steering requirements.

Among them, the hydraulic steering gear provides the main steering torque required by the EHPS. Once the hydraulic steering gear fails, it will directly affect the control strategy of the EHPS. Therefore, failure detection of the hydraulic steering gear is required. However, in the related art, it is usually necessary to add additional sensors to realize the failure judgment of the hydraulic steering gear, which results in high cost of failure control of the hydraulic steering gear and increases the cost of the entire vehicle.

Contents of the invention

In view of this, the present invention aims to propose a failure control method of the hydraulic steering gear, which can accurately determine whether the hydraulic steering gear fails without additional sensors, realize low-cost failure control of the hydraulic steering gear, and reduce the cost of the entire vehicle .

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A failure control method of a hydraulic steering gear, comprising the following steps;

Get the current speed of the vehicle and the actual torque of the steering wheel;

When the current vehicle speed is greater than the first preset vehicle speed, and the actual steering wheel torque is greater than the preset torque, accumulating the duration for which the actual steering wheel torque is greater than the preset torque;

Calculate the amount of change in the steering wheel angle when the duration is greater than the preset time, and when the amount of change in the angle is less than the preset amount, it is determined that the hydraulic steering gear is invalid, and the vehicle is controlled to perform a failsafe action.

Further, the control vehicle performs a failsafe action, including:

Generate a release command for the steering motor;

The steering motor is controlled to release the rated current limitation based on the release command.

Further, the controlling the vehicle to perform a failsafe action also includes:

judging whether the current vehicle speed is greater than a second preset vehicle speed, wherein the second preset vehicle speed is greater than the first preset vehicle speed;

If the current vehicle speed is greater than the second preset vehicle speed, the current vehicle speed is controlled to decrease to a target vehicle speed.

Further, the controlling the vehicle to perform a failsafe action also includes:

A reminder signal is generated, and the surrounding vehicles are reminded by using the reminder signal.

Further, the controlling the vehicle to perform a failsafe action also includes:

A failure signal of the hydraulic steering gear is generated, and the failure signal is sent to a preset terminal.

Further, before calculating the amount of change in the steering wheel's rotation angle when the duration is longer than the preset duration, it also includes:

judging whether the actual torque of the steering wheel reaches the limit torque;

If the actual torque of the steering wheel reaches the limit torque, it is determined that the hydraulic steering gear has not failed.

Compared with the prior art, the failure control method of the hydraulic steering gear of the present invention has the following advantages:

The failure control method of the hydraulic steering gear of the present invention can determine whether the hydraulic steering gear is invalid according to the vehicle speed, the steering wheel angle, and the amount of change in the angle of rotation, and can accurately determine whether the hydraulic steering gear is invalid without additional sensors, thereby realizing the hydraulic steering gear failure control method. Low-cost failure control, reducing the cost of the vehicle.

Another object of the present invention is to propose a failure control device for a hydraulic steering gear, which can accurately determine whether the hydraulic steering gear is failure without additional sensors, realize low-cost failure control of the hydraulic steering gear, and reduce the cost of the entire vehicle.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A hydraulic steering gear failure control device, comprising;

The obtaining module is used to obtain the current speed of the vehicle and the actual torque of the steering wheel;

An accumulative module, configured to accumulate the duration for which the actual steering wheel torque is greater than the preset torque when the current vehicle speed is greater than the first preset vehicle speed and the actual steering wheel torque is greater than the preset torque;

The control module is used to calculate the variation of the steering wheel angle when the duration is longer than the preset duration, and when the variation of the rotation angle is smaller than the preset variation, determine that the hydraulic steering gear is invalid, and control the vehicle to perform a failsafe action.

Further, the control module is further configured to generate a release command of the steering motor, and control the steering motor to release the rated current limit based on the release command.

The failure control device of the hydraulic steering gear has the same advantages as the above-mentioned failure control method of the hydraulic steering gear over the prior art, and will not be repeated here.

Another object of the present invention is to provide a vehicle, which can accurately determine whether the hydraulic steering gear fails without adding additional sensors, realize low-cost failure control of the hydraulic steering gear, and reduce the cost of the entire vehicle.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A vehicle, comprising: a memory, a processor, and a computer program stored in the memory and operable on the processor, the processor executes the program to realize the hydraulic steering gear described in the above embodiments failure control methods.

The vehicle described above has the same advantages as the above-mentioned method for controlling the failure of the hydraulic steering gear compared to the prior art, and will not be repeated here.

Another object of the present invention is to provide a computer-readable storage medium, which can accurately determine whether the hydraulic steering gear is invalid without adding additional sensors, realize low-cost failure control of the hydraulic steering gear, and reduce the cost of the entire vehicle.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

A computer-readable storage medium stores a computer program thereon, and the program is executed by a processor to implement the failure control method for a hydraulic steering gear described in the above-mentioned embodiments.

The computer-readable storage medium has the same advantages as the above-mentioned failure control method of the hydraulic steering gear compared with the prior art, and will not be repeated here.

Description of drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

FIG. 1 is a schematic structural diagram of an EHPS in the related art;

Fig. 2 is a schematic diagram of installation positions of rotation angle and torque sensors in the related art;

Fig. 3 is the working principle flowchart of EHPS in the related art;

4 is a flowchart of a failure control method for a hydraulic steering gear according to an embodiment of the present invention;

5 is a flow chart of a failure judgment method for a hydraulic steering gear according to an embodiment of the present invention;

Fig. 6 is a schematic block diagram of a failure control device for a hydraulic steering gear according to an embodiment of the present invention.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

With the rapid development of the automobile industry, EHPS has gradually become an essential device for vehicles. For example, EHPS is a necessary device for intelligent driving of heavy-duty commercial vehicles. As shown in Figure 1, EHPS is to add electronic control and execution components (which can be steering motors) to the hydraulic power steering, that is, the electronic control unit, which can receive external signals to achieve improved steering performance and automatic driving; therefore, EHPS is mainly composed of two components. Part composition: hydraulic steering gear and electronic control unit. The hydraulic steering gear can be a hydraulic circulating ball steering gear. The electronic control unit is equipped with a rotation angle and torque sensor (TAS). The installation position is shown in Figure 2 to detect the rotation angle of the steering wheel. And input torque, and send related signals to the CAN network. Among them, the working principle of EHPS is shown in Figure 3, including: when the driver applies a steering torque of M ₀ , the torsion bar produces a certain torsion angle due to elastic deformation, and the angle is detected by the sensor and transmitted to the electronic control unit. The unit controls the steering motor to output a corresponding auxiliary torque M ₁ , which becomes M ₂ after being decelerated and increased by the worm gear mechanism, and superimposed with the driver's steering hand force (M ₀ +M ₂ )=M, acting on the hydraulic pressure on the input shaft of the steering gear.

According to the above working principle, the hydraulic steering gear is the core steering execution part of EHPS, providing the main steering output torque; the electronic control unit is to meet the advanced steering requirements, imitate the direction of the human hand or receive external control instructions, and optimize the performance of the steering gear The electronic control unit is used as the control mechanism and the backup mechanism when the hydraulic pressure fails. Therefore, whether the hydraulic steering gear fails directly affects the EHPS control strategy, and then it is necessary to determine the failure of the hydraulic steering gear. However, in the related art, additional sensors are needed to realize the failure determination of the hydraulic steering gear, which increases the cost of the vehicle; therefore, how to determine the failure of the hydraulic steering gear without adding additional sensors has become an urgent problem to be solved.

The present invention will be described in detail below with reference to the accompanying drawings and examples.

Fig. 4 is a flowchart of a failure control method of a hydraulic steering gear according to an embodiment of the present invention. It should be noted that the method of the embodiment of the present invention can be applied to the EHPS, so as to realize the failure control of the hydraulic steering gear in the EHPS.

As shown in Figure 4, the failure control method of a hydraulic steering gear according to an embodiment of the present invention includes the following steps:

Step S101, acquiring the current vehicle speed and the actual torque of the steering wheel of the vehicle.

Wherein, the current vehicle speed and the actual torque of the steering wheel acquired by the embodiment of the present invention can be detected in various ways, for example, a vehicle speed sensor can be used to detect the current vehicle speed, and a rotation angle and torque sensor as shown in Figure 2 can be used to detect the actual torque of the steering wheel; Not specifically limited.

Step S102, when the current vehicle speed is greater than the first preset vehicle speed, and the actual steering wheel torque is greater than the preset torque, accumulating a duration for which the actual steering wheel torque is greater than the preset torque.

Wherein, the first preset vehicle speed can be specifically calibrated according to the actual situation, for example, the first preset vehicle speed can be set to 0 or 5km/h, etc., which is not specifically limited.

Among them, the preset torque T can be understood as the judgment value of the steering wheel torque, which can be confirmed according to the calibration of different models. Considering that the maximum steering hand force of different models is different, sufficient margin can be reserved to avoid frequent false alarms.

It should be noted that due to the large ground resistance when turning on the spot, the output torque of the steering gear has been used to more than 90%, and for some models, such as trucks, the position change of the cargo when the truck is loaded will affect the front axle load. It is easy to exceed the output capacity of the steering gear, resulting in an abnormal increase in steering hand force, resulting in misjudgment of hydraulic steering gear failure. However, the steering resistance when the vehicle is running is much smaller than that of the in-situ steering condition. At this time, the output torque of the steering gear is relatively large. will affect the accuracy of judgment.

Based on the above reasons, the embodiment of the present invention can detect whether the vehicle is in a normal driving condition when judging the failure of the hydraulic steering gear, and when the vehicle is in the in-situ steering working condition, the failure judgment of the hydraulic steering gear is not performed, and the vehicle is in normal driving The failure judgment of the hydraulic steering gear is carried out during the working condition to avoid the misjudgment of the failure of the hydraulic steering gear caused by the in-situ steering and improve the accuracy of the judgment.

In this embodiment, in order to improve the accuracy of judging the failure of entering the hydraulic steering gear, the embodiment of the present invention can also obtain the IG signal and the enabling signal of the vehicle, and jointly judge the hydraulic steering gear according to the IG signal, enabling signal and vehicle speed signal. Whether the judgment trigger condition is met.

Among them, the IG signal is ON, indicating that the car key is in the ON position and has been powered on; when the vehicle is a fuel vehicle, the enable signal of the fuel vehicle is ON, indicating that the engine is started; when the vehicle is an electric vehicle, the enable signal of the electric vehicle If it is READY, it means that the motor is under high voltage; if the vehicle speed signal >0, it means that the vehicle is running. When the above three conditions are met at the same time, enter the failure judgment of the hydraulic steering gear, and exit the judgment when any of the conditions are not satisfied.

Step S103, calculating the steering wheel angle variation when the duration is longer than the preset duration, and when the rotation angle variation is less than the preset variation, it is determined that the hydraulic steering gear is invalid, and the vehicle is controlled to perform a failsafe action.

Among them, the preset time t can be calibrated according to different models, and in order to avoid misjudgment when the steering wheel rotates too fast and hits the wall, that is, insufficient power assistance and a short-term hand force increase sharply, set the preset The duration t usually cannot be too small.

Among them, the preset variation A can be calibrated according to different models, and because the steering angle stiffness of different models is different, it is necessary to reserve enough margin to avoid changes in other states of the vehicle, such as load, tire pressure, Misjudgment occurs when the lubrication of the steering system changes.

It can be understood that, in the embodiment of the present invention, when the steering wheel torque>T, the duration>t, and the angle change <A are simultaneously satisfied, it can be determined that the hydraulic steering gear has failed, and when any condition is not satisfied, it can be determined that the hydraulic steering gear has not failed ; Thereby, the existing sensors of the vehicle can be used to realize the failure judgment of the hydraulic steering gear, reducing the judgment cost, and further reducing the failure control cost.

In this embodiment, before calculating the amount of change in steering wheel angle when the duration is longer than the preset time, it further includes: judging whether the actual torque of the steering wheel reaches the limit torque; if the actual torque of the steering wheel reaches the limit torque, then judging that the hydraulic steering gear has not failed.

Wherein, the limit torque refers to the corresponding torque when the steering wheel angle reaches the limit position.

It is understandable that due to the mechanical structure of the vehicle, when the steering reaches the limit position, there will be a mechanical limit to avoid further increase of the corner, exceeding the design requirements and causing unnecessary interference; when the mechanical limit is reached, the steering hand force It will also produce abnormal increase, which is easy to cause misjudgment of hydraulic system failure. Therefore, in the embodiment of the present invention, when the vehicle is running normally and the steering angle is not at the limit position, it is determined whether the hydraulic steering gear is invalid, so as to improve the accuracy of determination.

The method for judging the failure of the hydraulic steering gear will be further elaborated below in conjunction with Figure 5, including:

Step 1. Judging whether the IG signal of the vehicle is ON, the enable signal is ON or READY, and the vehicle speed signal > 0 are satisfied at the same time, if yes, perform step 2; otherwise, exit the judgment;

Step 2. Whether the torque of the steering wheel > T and the duration > t are satisfied at the same time, if yes, go to step 3; otherwise, it is judged that the hydraulic steering gear has not failed;

Step 3. Whether the steering wheel angle does not reach the limit value and the amount of change of the steering wheel < A is satisfied at the same time. If so, it is judged that the hydraulic steering gear is invalid; otherwise, it is judged that the hydraulic steering gear is not invalid.

In this embodiment, controlling the vehicle to execute the failsafe action includes: generating a release command of the steering motor; and controlling the steering motor to release the rated current limit based on the release command.

It should be noted that the hydraulic steering gear in EHPS is the main power output unit. When it fails, the output of the steering motor needs to be much greater than the rated power to meet the requirements of emergency steering. However, the output of the steering motor is limited by the software. There is no input for hydraulic failure, and the software limit cannot be opened; if a motor with a high rated power is selected when selecting a motor, it will greatly increase the size, weight and cost, seriously weaken the competitiveness of the product, and increase energy consumption, which is not conducive to energy saving and reduction. Row.

Based on the above reasons, the embodiment of the present invention can use the existing sensor on the vehicle to judge whether the hydraulic steering gear is invalid. If it fails, the release command will be sent to the motor controller, and the motor controller can release the maximum current limit of the motor in a short time, satisfying Regulate emergency steering requirements and improve vehicle reliability. At the same time, when the motor is selected, the rated power of the selected motor can be reduced, thereby reducing the volume, weight and cost of the motor, reducing energy consumption, and improving product competitiveness.

In some embodiments, controlling the vehicle to execute the failsafe action further includes: judging whether the current vehicle speed is greater than a second preset vehicle speed, wherein the second preset vehicle speed is greater than the first preset vehicle speed; if the current vehicle speed is greater than the second preset vehicle speed , the current vehicle speed is controlled to decrease to the target vehicle speed.

Wherein, the second preset vehicle speed can be specifically set according to the actual situation, which is not specifically limited.

It can be understood that when the hydraulic steering gear fails, if it is detected that the current vehicle speed of the vehicle is too fast, the embodiment of the present invention can reduce the current vehicle speed before releasing the rated current limit, so as to avoid the sudden recovery of the steering and cause the vehicle to lose control, and improve the vehicle's safety. safety.

In some embodiments, controlling the vehicle to perform the failsafe action further includes: generating a reminder signal, and using the reminder signal to remind surrounding vehicles.

Wherein, the embodiments of the present invention may provide reminders in various ways, such as voice broadcast reminders, light flashing reminders, etc., which are not specifically limited.

It can be understood that the embodiment of the present invention can generate a warning signal when the hydraulic steering gear fails, so as to remind the surrounding vehicles and pedestrians, so that the surrounding vehicles and pedestrians can avoid in time and avoid safety accidents.

In some embodiments, controlling the vehicle to perform the failsafe action further includes: generating a failure signal of the hydraulic steering gear, and sending the failure signal to a preset terminal.

Wherein, the preset terminal may be a personal computer or other intelligent mobile terminal, etc., without limitation, for example, it may be a mobile phone, a tablet computer, a personal digital assistant, an e-book, and other hardware devices with various operating systems.

It can be understood that the embodiment of the present invention can send a failure signal to a designated terminal when the hydraulic steering gear fails, such as the owner's mobile phone, so that the owner can know the situation of the hydraulic steering gear at any time and improve the user experience.

According to the failure control method of the hydraulic steering gear in the embodiment of the present invention, it is possible to determine whether the hydraulic steering gear is invalid according to the vehicle speed, the steering wheel angle, and the amount of change in the angle of rotation, and it is possible to accurately determine whether the hydraulic steering gear is invalid without adding additional sensors, so as to realize hydraulic steering The low-cost failure control of the device reduces the cost of the whole vehicle.

Further, as shown in FIG. 6 , the embodiment of the present invention also discloses a failure control device 10 for a hydraulic steering gear, which includes: an acquisition module 100 , an accumulation module 200 and a control module 300 .

Specifically, as shown in FIG. 6, the obtaining module 100 is used to obtain the current vehicle speed and the actual steering wheel torque of the vehicle; the accumulation module 200 is used to obtain the current vehicle speed greater than the first preset vehicle speed, and when the actual steering wheel torque is greater than the preset torque, The cumulative actual torque of the steering wheel is greater than the duration of the preset torque; the control module 300 is used to calculate the amount of change in the steering wheel angle when the duration is greater than the preset time, and when the amount of change in the angle of rotation is less than the preset amount of change, it is determined that the hydraulic steering gear is invalid, and Control the vehicle to perform fail-safe actions.

Further, the control module 300 is further configured to generate a release command of the steering motor, and control the steering motor to release the rated current limit based on the release command.

It should be noted that the specific implementation manner of the failure control device of the hydraulic steering gear in the embodiment of the present invention is similar to the specific implementation manner of the failure control method of the hydraulic steering gear, and will not be repeated here to reduce redundancy.

According to the failure control device of the hydraulic steering gear in the embodiment of the present invention, it is possible to determine whether the hydraulic steering gear is invalid according to the vehicle speed, the steering wheel angle, and the amount of change in the angle of rotation. It can accurately determine whether the hydraulic steering gear is invalid without adding additional sensors, and realize hydraulic steering. The low-cost failure control of the device reduces the cost of the whole vehicle.

The embodiment of the present invention also discloses a vehicle, including: a memory, a processor, and a computer program stored in the memory and operable on the processor, and the processor executes the program to realize the failure of the hydraulic steering gear in the above embodiment Control Method. The vehicle can accurately determine whether the hydraulic steering gear fails without adding additional sensors, realizes low-cost failure control of the hydraulic steering gear, and reduces the cost of the entire vehicle.

The embodiment of the present invention also discloses a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor, so as to realize the failure control method of the hydraulic steering gear of the above-mentioned embodiment. The storage medium can accurately determine whether the hydraulic steering gear fails without adding additional sensors, realize low-cost failure control of the hydraulic steering gear, and reduce the cost of the entire vehicle.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of the present invention. within the scope of protection.

Claims (10)

1. A failure control method of a hydraulic steering gear, characterized in that, comprising the following steps; Get the current speed of the vehicle and the actual torque of the steering wheel; When the current vehicle speed is greater than the first preset vehicle speed and the actual steering wheel torque is greater than the preset torque, accumulating the duration of the actual steering wheel torque being greater than the preset torque; and Calculate the amount of change in the steering wheel angle when the duration is greater than the preset time, and when the amount of change in the angle is less than the preset amount, it is determined that the hydraulic steering gear is invalid, and the vehicle is controlled to perform a failsafe action. 2. The method according to claim 1, wherein the controlling the vehicle to perform a failsafe action comprises: Generate a release command for the steering motor; The steering motor is controlled to release the rated current limitation based on the release command. 3. The method according to claim 1 or 2, wherein the controlling the vehicle to perform a failsafe action further comprises: judging whether the current vehicle speed is greater than a second preset vehicle speed, wherein the second preset vehicle speed is greater than the first preset vehicle speed; If the current vehicle speed is greater than the second preset vehicle speed, the current vehicle speed is controlled to decrease to a target vehicle speed. 4. The method according to claim 1 or 2, wherein the controlling the vehicle to perform a failsafe action further comprises: A reminder signal is generated, and the surrounding vehicles are reminded by using the reminder signal. 5. The method according to claim 1 or 2, wherein the controlling the vehicle to perform a failsafe action further comprises: A failure signal of the hydraulic steering gear is generated, and the failure signal is sent to a preset terminal. 6. The method according to claim 1, characterized in that before calculating the amount of change in the steering wheel's rotation angle when the duration is greater than a preset duration, further comprising: judging whether the actual torque of the steering wheel reaches the limit torque; If the actual torque of the steering wheel reaches the limit torque, it is determined that the hydraulic steering gear has not failed. 7. A hydraulic steering gear failure control device, characterized in that it comprises; The obtaining module is used to obtain the current speed of the vehicle and the actual torque of the steering wheel; An accumulating module, configured to accumulate the duration for which the actual steering wheel torque is greater than the preset torque when the current vehicle speed is greater than a first preset vehicle speed and the actual steering wheel torque is greater than the preset torque; and The control module is used to calculate the variation of the steering wheel angle when the duration is longer than the preset duration, and when the variation of the rotation angle is smaller than the preset variation, determine that the hydraulic steering gear is invalid, and control the vehicle to perform a failsafe action. 8 . The device according to claim 7 , wherein the control module is further configured to generate a release command of the steering motor, and control the steering motor to release the rated current limit based on the release command. 9. A vehicle, characterized in that it comprises: a memory, a processor, and a computer program stored on the memory and operable on the processor, the processor executes the program, so as to realize the The failure control method of the hydraulic steering gear described in any one of 1-6. 10. A computer-readable storage medium, on which a computer program is stored, wherein the program is executed by a processor, so as to realize the failure control of the hydraulic steering gear according to any one of claims 1-6 method.

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