Steer-by-wire fault degradation processing method, device and equipment and storage medium
By real-time monitoring of the redundant steer-by-wire system's fault information and status levels and implementing targeted fault handling measures, the system's complex fault handling challenges are resolved, improving the system's safety and functional stability.
Patent Information
- Application Number
- CN202511064868.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-31
- Publication Date
- 2025-10-17
Smart Images
Figure CN120792942A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of intelligent driving fault processing, and in particular relates to a steer-by-wire fault degradation processing method, device, equipment and storage medium. BACKGROUND
[0002] Steer-by-wire technology cancels the mechanical connection components between the steering wheel and the steering wheel, completely gets rid of the limitation of mechanical hardware, and occupies an advantage in safety, controllability, comfort and economy. Therefore, the research and development of the steer-by-wire system has become a hot spot in the automobile industry, and the redundant architecture of the steer-by-wire system has become a mainstream design scheme, and the motor, electronic controller, key sensor and communication architecture are designed redundantly.
[0003] For the redundant steer-by-wire system, due to the complex structure inside the system, the types of possible faults are numerous and the function degradation modes are complex, which brings challenges to the design of the fault degradation strategy of the steer-by-wire system.
[0004] Therefore, it is urgent to design a new fault degradation strategy to cope with the complex structure of the redundant steer-by-wire system. SUMMARY
[0005] The present application aims to solve at least one of the technical problems existing in the prior art, and provides a steer-by-wire fault degradation processing method, device, equipment and storage medium.
[0006] In a first aspect, the embodiments of the present application provide a steer-by-wire fault degradation processing method, comprising:
[0007] Real-time acquisition of fault information of each redundant subsystem in the system component, and determination of the current component state level of each system component;
[0008] According to the current component state level, the corresponding fault processing measure is executed;
[0009] Among them, the system component includes a lower steering machine and a road feeling simulator, and the fault information includes no fault, failure fault and degradation fault.
[0010] In some embodiments, when the system component is a lower steering machine, the lower steering machine includes two redundant subsystems;
[0011] The degradation fault of any redundant subsystem in the lower steering machine includes high / low power voltage, controller over-temperature fault, motor speed too high and / or common communication and redundant communication common failure;
[0012] The failure of any of the redundant subsystems in the lower steering gear includes one of the following: over / under voltage of power supply, failure of controller circuit, failure of controller chip, failure of sensor angle, simultaneous failure of redundant communication while one of the following occurs: failure of private communication, abnormal phase current of motor, failure of motor position signal, and / or short / open circuit of motor.
[0013] In some embodiments, when the system component is a road feel simulator, the road feel simulator includes two redundant subsystems;
[0014] The degradation failure of any of the redundant subsystems in the road feel simulator includes one of the following: over / under voltage of power supply, over-temperature failure of controller, failure of sensor torque, simultaneous failure of redundant communication while one of the following occurs: failure of public communication, and / or over-speed of motor;
[0015] The failure of any of the redundant subsystems in the road feel simulator includes one of the following: over / under voltage of power supply, failure of controller circuit, failure of controller chip, failure of sensor angle, simultaneous failure of redundant communication while one of the following occurs: failure of private communication, abnormal phase current of motor, failure of motor position signal, and / or short / open circuit of motor.
[0016] In some embodiments, the component state levels include: a first level state, a second level state, a third level state, a fourth level state, a fifth level state, and a sixth level state;
[0017] The first level state is that neither of the two redundant subsystems fails;
[0018] The second level state is that one of the two redundant subsystems fails, and the other one degrades;
[0019] The third level state is that both of the two redundant subsystems degrade;
[0020] The fourth level state is that one of the two redundant subsystems fails, and the other one degrades;
[0021] The fifth level state is that one of the two redundant subsystems degrades, and the other one fails;
[0022] The sixth level state is that both of the two redundant subsystems fail.
[0023] In some embodiments, if either of the redundant subsystems degrades and fails at the same time, the redundant subsystem is deemed to fail.
[0024] In some embodiments, when the system component is a lower steering gear, according to the current component state level of the lower steering gear, a corresponding processing measure is performed;
[0025] If the lower steering engine is in the first level state, no processing is needed;
[0026] If the lower steering engine is in the second level state, the degraded subsystem output steering torque is limited, the normal subsystem output steering torque is increased, and the driver is reminded to repair;
[0027] If the lower steering engine is in the third level state, the output steering torque of the two degraded subsystems is limited, and the driver is reminded to repair;
[0028] If the lower steering engine is in the fourth level state, the failed subsystem stops working, the steer-by-wire is executed by the normal subsystem alone, and the driver is reminded to repair;
[0029] If the lower steering engine is in the fifth level state, the failed subsystem stops working, the degraded subsystem output steering torque is limited, the vehicle speed is reduced to a preset interval at a calibrated slope, and the driver is reminded to repair;
[0030] If the lower steering engine is in the sixth level state, the two failed subsystems stop working, the vehicle speed is reduced to zero at a calibrated slope, and the driver is reminded to repair.
[0031] In some embodiments, when the system component is a road feeling simulator, according to the current component state level of the road feeling simulator component, the corresponding processing measures are executed;
[0032] If the road feeling simulator is in the first level state, no processing is needed;
[0033] If the road feeling simulator is in the second level state, the degraded subsystem output road feeling torque is limited, the normal subsystem output road feeling torque is increased, and the driver is reminded to repair;
[0034] If the road feeling simulator is in the third level state, the simulation road feeling of the two degraded subsystems is limited, and the driver is reminded to repair;
[0035] If the road feeling simulator is in the fourth level state, the failed subsystem stops working, the road feeling simulation is executed by the normal subsystem alone, and the driver is reminded to repair;
[0036] If the road feeling simulator is in the fifth level state, the failed subsystem stops working, the degraded subsystem output road feeling torque is limited, and the driver is reminded to repair;
[0037] If the road feeling simulator is in the sixth level state, the two failed subsystems stop working, and the driver is reminded to repair.
[0038] In a second aspect, an embodiment of the present application provides a steer-by-wire fault degradation processing device, comprising:
[0039] A state determining module is configured to acquire fault information of each redundant subsystem in a system component in real time and determine a current component state level of the system component;
[0040] A fault processing module is configured to perform corresponding fault processing measures according to the current component state level.
[0041] The system component includes a lower steering machine and a road feeling simulator, and the fault information includes no fault, failure fault and degradation fault.
[0042] In a third aspect, an electronic device is provided, and the electronic device includes:
[0043] at least one processor; and a memory connected with the at least one processor; wherein
[0044] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the steps of the method of any of the embodiments.
[0045] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions for enabling a processor to perform the steps of the method of any of the embodiments.
[0046] Compared with the prior art, the present application has the following beneficial effects:
[0047] The method for processing degradation fault of steer-by-wire provided by the present application first acquires fault information of each redundant subsystem in a lower steering machine and a road feeling simulator in real time and determines a current component state level of the lower steering machine and the road feeling simulator, and then performs corresponding fault processing measures according to the current component state level. Through the technical solution provided by the present application, degradation fault and failure fault of a redundant steer-by-wire system can be accurately processed. BRIEF DESCRIPTION OF DRAWINGS
[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only preferred embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0049] Figure 1 A flowchart of a method for processing degradation fault of steer-by-wire provided by the present application is shown in the figure.
[0050] Figure 2 A communication architecture of a redundant steer-by-wire system provided by the present application is shown in the figure.
[0051] Figure 3 A state transition schematic diagram of a lower steering gear assembly provided by the embodiment of the present application is shown in FIG. 1;
[0052] Figure 4 A state transition schematic diagram of a road feel simulator assembly provided by the embodiment of the present application is shown in FIG. 2;
[0053] Figure 5 A structure block diagram of a drive-by-wire steering failure degradation processing device provided by the embodiment of the present application is shown in FIG. 3;
[0054] Figure 6 A structure block diagram of an electronic device provided by the embodiment of the present application is shown in FIG. 4. DETAILED DESCRIPTION
[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.
[0056] In order for those skilled in the art to better understand the technical solutions of the present application, the exemplary embodiments of the present application will be described below with reference to the drawings, which include various details of the embodiments of the present application to help understanding, and should be considered as merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the described embodiments without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.
[0057] In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.
[0058] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.
[0059] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprising," "having," "containing," and "including" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" or similar terms as used herein, do not necessarily mean physically connected or coupled, but can include electrical connections or couplings, whether direct or indirect.
[0060] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an overly literal or overly formal sense unless expressly so defined herein.
[0061] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs. The use of user data in the technical solutions complies with relevant national laws and regulations (for example, "Information Security Technology Personal Information Security Specification" and the like). For example, appropriate measures are taken for personal information access control; the display of personal information is limited by regulations; the use purpose of personal information does not exceed the direct or reasonably related range; and the use of personal information eliminates explicit identity pointing and avoids precise positioning to a specific individual.
[0062] In the related art, the following schemes for fault handling in a steer-by-wire system are proposed:
[0063] 1) Handling when a road feel simulator fails. Several handling strategies when the road feel simulator fails are designed in advance, such as using the steering light lever, the window lifting button, etc. to operate steering to ensure that the steering wheel can still issue a steering instruction when it is abnormal. However, this scheme does not consider the redundant components of the steer-by-wire system, and only makes a plan for road feel simulator failure, without considering the higher risk of lower steering machine failure. In addition, using the steering light lever, the window lifting button, etc. to issue a steering instruction is not accurate enough and is difficult to operate, especially in high-speed emergency situations.
[0064] 2) Special handling for non-single-point faults when both redundant controllers / sensors fail. First, fault diagnosis information is collected, analyzed and classified to obtain the fault type, and then special handling is performed for non-single-point faults. A transition algorithm for reducing driving force is designed for steering failure conditions. However, this scheme does not have a degradation handling scheme for degradation faults, such as loss of vehicle speed signal, which will affect the road feel simulation, but the vehicle steering can still be executed. In addition, this scheme does not distinguish between private communication and public communication faults.
[0065] 3) Special handling for non-single-point faults in a centralized steer-by-wire system. A slope transition algorithm for reducing driving force is designed. However, this scheme also lacks a degradation classification method for degradation faults and redundant communication faults.
[0066] In summary, the faults that can occur in a redundant steer-by-wire system and the fault-tolerant strategies that can be adopted are quite different from those of a traditional steering system. Similar faults have different levels of danger in a redundant steer-by-wire system. For example, a single-phase drive bridge open circuit fault of a steering controller can cause a loss of steering assistance in a non-redundant actuator, but the backup subsystem can be used to continue steering in a redundant system. In addition, the fault degradation states of a redundant system are more, and the determination and transition of various states are more complex than those of a traditional steering system.
[0067] To solve at least one of the technical problems existing in the related art, the present application provides a steer-by-wire fault degradation processing method. Figure 1 A flowchart of a steer-by-wire fault degradation processing method provided by an embodiment of the present application is shown in the figure. The method is applicable to the case where a failure fault and a degradation fault occur in different components and redundant subsystems in a component in a redundant steer-by-wire system. The method can be executed by a steer-by-wire fault degradation processing device. The device can be implemented in software and / or hardware. The device can be configured in an electronic device.
[0068] As shown in the figure, the method specifically includes the following steps. Figure 1
[0069] S1, real-time acquisition of fault information of each redundant subsystem in a system component, and determination of a current component state level of each system component.
[0070] The system component includes a lower steering machine and a road feel simulator. The fault information includes no fault, failure fault, and degradation fault.
[0071] In a redundant steer-by-wire system, at least two core components, including a lower steering machine and a road feel simulator, are included. Each core component includes two redundant subsystems. The steer-by-wire system monitors the two redundant subsystems in each core component in real time. When a failure fault or a degradation fault occurs in a redundant subsystem inside a component, the steer-by-wire system generates a corresponding failure fault signal or a degradation fault signal.
[0072] The failure fault refers to the complete loss of the execution function of the subsystem. This fault can be caused by various reasons, including hardware failure, design defects, etc. The degradation fault refers to the system still being able to execute functions, but the torque output capability not meeting the design expectation.
[0073] Table 1 is a fault signal table of the redundant drive-by-wire system. As shown in Table 1, there are two redundant subsystems in the lower steering engine, one is denoted as lower steering engine RWA-A, and the other is denoted as lower steering engine RWA-B, and the lower steering engine RWA-A and the lower steering engine RWA-B can all have faults in power supply, controller, sensor, motor and communication; similarly, there are also two redundant subsystems in the road feel simulator, one is denoted as road feel simulator HWA-A, and the other is denoted as road feel simulator HWA-B, and the road feel simulator HWA-A and the road feel simulator HWA-B can also all have faults in power supply, controller, sensor, motor and communication.
[0074] Table 1 is a fault signal table of the redundant drive-by-wire system. As shown in Table 1, there are two redundant subsystems in the lower steering engine, one is denoted as lower steering engine RWA-A, and the other is denoted as lower steering engine RWA-B, and the lower steering engine RWA-A and the lower steering engine RWA-B can all have faults in power supply, controller, sensor, motor and communication; similarly, there are also two redundant subsystems in the road feel simulator, one is denoted as road feel simulator HWA-A, and the other is denoted as road feel simulator HWA-B, and the road feel simulator HWA-A and the road feel simulator HWA-B can also all have faults in power supply, controller, sensor, motor and communication.
[0075]
[0076] For the fault condition of the lower steering engine, the four cases of lower steering engine power voltage being too high / low, lower steering engine controller over-temperature fault, lower steering engine motor speed being too high, and lower steering engine common communication and redundant communication jointly failing can be marked as lower steering engine degradation faults; the seven cases of lower steering engine power voltage being too high / low, lower steering engine controller circuit fault, lower steering engine controller chip fault, lower steering engine sensor angle fault or private communication failure, simultaneous failure of redundant communication, lower steering engine motor phase current being abnormal, lower steering engine motor position signal fault, and lower steering engine motor short circuit or open circuit can be marked as lower steering engine failure faults.
[0077] For the fault condition of the road feel simulator, the four cases of road feel simulator power voltage being too high / low, road feel simulator controller over-temperature fault, road feel simulator sensor torque fault or common communication failure, and simultaneous failure of redundant communication can be marked as road feel simulator degradation faults; the seven cases of road feel simulator power voltage being too high / low, road feel simulator controller circuit fault, road feel simulator controller chip fault, road feel simulator sensor angle fault or private communication failure, simultaneous failure of redundant communication, road feel simulator motor phase current being abnormal, road feel simulator motor position signal fault, and road feel simulator motor short circuit or open circuit can be marked as road feel simulator failure faults.
[0078] In the embodiment of the application, the power supply, controller, sensor, motor and communication of the lower steering engine and the road feel simulator are taken as the core of fault detection, and these faults are artificially divided into failure faults and degradation faults. Then, corresponding processing measures are taken for different fault conditions.
[0079] Figure 2 A communication architecture schematic diagram of the redundant drive-by-wire steering system provided in the embodiment of the application is shown in Figure 1. Figure 2As shown, the road feel simulator HWA-A and the lower steering machine RWA-A can both establish common communication with other system components through the a-channel, and the road feel simulator HWA-A and the lower steering machine RWA-A can establish private communication through the c-channel; the road feel simulator HWA-B and the lower steering machine RWA-B can both establish common communication with other system components through the b-channel, and the road feel simulator HWA-B and the lower steering machine RWA-B can establish private communication through the c-channel; the road feel simulator HWA-A and the road feel simulator HWA-B can establish redundant communication through the e-channel, and the lower steering machine RWA-A and the lower steering machine RWA-B can establish redundant communication through the f-channel.
[0080] In some embodiments, the component state levels include: a first level state, a second level state, a third level state, a fourth level state, a fifth level state, and a sixth level state.
[0081] The first level state is that both redundant subsystems are normal;
[0082] The second level state is that one redundant subsystem is normal, and the other redundant subsystem has a degraded fault;
[0083] The third level state is that both redundant subsystems have a degraded fault;
[0084] The fourth level state is that one redundant subsystem is normal, and the other redundant subsystem has a failed fault;
[0085] The fifth level state is that one redundant subsystem has a degraded fault, and the other redundant subsystem has a failed fault;
[0086] The sixth level state is that both redundant subsystems have a failed fault.
[0087] In some embodiments, if a redundant subsystem has both a degraded fault and a failed fault at the same time, it is determined that the redundant subsystem has a failed fault.
[0088] S2, according to the current component state level, execute corresponding fault handling measures.
[0089] In some embodiments, different state transition conditions are constructed by combining faults in power supply, controller, sensor, motor and communication; according to the component state level at the last moment and the triggered state transition condition, the component state transition type is determined; and based on the component state transition type, the current component state level is determined.
[0090] Among them, the component state transition type includes: transition to the second level state, transition to the third level state, transition to the fourth level state, transition to the fifth level state, and transition to the sixth level state.
[0091] Transitioning to the second level state includes: the first level state transitioning to the second level state;
[0092] Transitioning to the third level state includes: the first level state transitioning to the third level state, the second level state transitioning to the third level state;
[0093] Transitioning to the fourth level state includes: the first level state transitioning to the fourth level state, the second level state transitioning to the fourth level state;
[0094] Transitioning to the fifth level state includes: the third level state transitioning to the fifth level state, the fourth level state transitioning to the fifth level state;
[0095] Transitioning to the sixth level state includes: the first level state transitioning to the sixth level state, the second level state transitioning to the sixth level state, the third level state transitioning to the sixth level state, the fourth level state transitioning to the sixth level state, and the fifth level state transitioning to the sixth level state.
[0096] Figure 3 A state transition schematic diagram of the lower steering engine assembly provided by the embodiment of the present application is shown in Figure 3 The state levels of the lower steering engine include: a first level state RWA1, a second level state RWA2, a third level state RWA3, a fourth level state RWA4, a fifth level state RWA5, and a sixth level state RWA6.
[0097] The first level state RWA1 transitions to the second level state RWA2 through a first state transition condition;
[0098] The first level state RWA1 transitions to the third level state RWA3 through a second state transition condition;
[0099] The first level state RWA1 transitions to the fourth level state RWA4 through a third state transition condition;
[0100] The second level state RWA2 transitions to the third level state RWA3 through a fourth state transition condition;
[0101] The second level state RWA2 transitions to the fourth level state RWA4 through a fifth state transition condition;
[0102] The second level state RWA2 transitions to the sixth level state RWA6 through a sixth state transition condition;
[0103] The third level state RWA3 transitions to the fifth level state RWA5 through a seventh state transition condition;
[0104] The fourth level state RWA4 transitions to the fifth level state RWA5 through an eighth state transition condition;
[0105] The fifth level state RWA5 is transferred to the sixth level state RWA6 through a ninth state transition condition;
[0106] The fourth level state RWA4 is transferred to the sixth level state RWA6 through a tenth state transition condition;
[0107] The third level state RWA3 is transferred to the sixth level state RWA6 through an eleventh state transition condition;
[0108] The first level state RWA1 is transferred to the sixth level state RWA6 through a twelfth state transition condition.
[0109] For the state transition of the down steering machine assembly, the following different processing measures are set correspondingly:
[0110] When being transferred to the second level state, the output steering torque of the degraded subsystem is limited, the output steering torque of the normal subsystem is increased, and the driver is reminded to maintain. At this time, the steering function of the steer-by-wire system is normal.
[0111] When being transferred to the third level state, the output steering torque of the two degraded subsystems is limited, and the driver is reminded to maintain. At this time, the steering function of the steer-by-wire system may be limited.
[0112] When being transferred to the fourth level state, the work of the failed subsystem is stopped, the steer-by-wire is executed by the normal subsystem alone, and the driver is reminded to maintain. At this time, the steering function of the steer-by-wire system may be limited.
[0113] When being transferred to the fifth level state, the work of the failed subsystem is stopped, the output steering torque of the degraded subsystem is limited, the vehicle speed is reduced to a preset interval at a marked slope, and the driver is reminded to maintain. At this time, the steering function of the steer-by-wire system is obviously degraded.
[0114] When being transferred to the sixth level state, the work of the two failed subsystems is stopped, the vehicle speed is reduced to zero at a marked slope, and the driver is reminded to maintain. At this time, the steering function of the steer-by-wire system is failed.
[0115] Figure 4 The state transition schematic diagram of the road feeling simulator assembly provided for the embodiment of the present application is shown in Figure 4 The state levels of the road feeling simulator include: the first level state HWA1, the second level state HWA2, the third level state HWA3, the fourth level state HWA4, the fifth level state HWA5 and the sixth level state HWA6.
[0116] The first level state HWA1 is transferred to the second level state HWA2 through a first state transition condition;
[0117] The first level state HWA1 is transferred to the third level state HWA3 through a second state transition condition;
[0118] The first level state HWA1 is transferred to the fourth level state HWA4 through a third state transition condition;
[0119] The second level state HWA2 is transferred to the third level state HWA3 through a fourth state transition condition;
[0120] The second level state HWA2 is transferred to the fourth level state HWA4 through a fifth state transition condition;
[0121] The second level state HWA2 is transferred to the sixth level state HWA6 through a sixth state transition condition;
[0122] The third level state HWA3 is transferred to the fifth level state HWA5 through a seventh state transition condition;
[0123] The fourth level state HWA4 is transferred to the fifth level state HWA5 through an eighth state transition condition;
[0124] The fifth level state HWA5 is transferred to the sixth level state HWA6 through a ninth state transition condition;
[0125] The fourth level state HWA4 is transferred to the sixth level state HWA6 through a tenth state transition condition;
[0126] The third level state HWA3 is transferred to the sixth level state HWA6 through an eleventh state transition condition;
[0127] The first level state HWA1 is transferred to the sixth level state HWA6 through a twelfth state transition condition.
[0128] For the state transition of the road feeling simulator component, the following different processing measures are set:
[0129] When transferred to the second level state, the output road feeling torque of the degraded subsystem is limited, the output road feeling torque of the normal subsystem is increased, and the driver is reminded to repair. At this time, the steering function of the steer-by-wire system is normal.
[0130] When transferred to the third level state, the simulation road feeling of the two degraded subsystems is limited, and the driver is reminded to repair. At this time, the driving comfort of the driver is poor.
[0131] When transferred to the fourth level state, the failed subsystem stops working, the road feeling simulation is performed by the normal subsystem alone, and the driver is reminded to repair.
[0132] When transferred to the fifth level state, the failed subsystem stops working, the output road feeling torque of the degraded subsystem is limited, and the driver is reminded to repair. At this time, the driving comfort of the driver is poor, and the limit function fails.
[0133] When the vehicle is transferred to the sixth level state, the work of two failed subsystems is stopped, and the driver is reminded to repair. At this time, the control of the vehicle driving state is determined according to the state of the lower steering machine.
[0134] The technical solution in the embodiment of the application designs a fault degradation method of a redundant steer-by-wire steering system, different subsystem failures and degradation faults are classified and discussed, and the interaction between the road feel simulator and the steering machine is considered, so that the safety of the steer-by-wire steering vehicle can be better guaranteed.
[0135] Based on the same inventive concept, the embodiment of the application further provides a steer-by-wire fault degradation processing device. Figure 5 A structural block diagram of a steer-by-wire fault degradation processing device provided by the embodiment of the application is shown in Figure 5 The device specifically includes:
[0136] A state determination module 100 is configured to acquire fault information of each redundant subsystem in the system component in real time, and determine the current component state level of each system component;
[0137] A fault processing module 200 is configured to execute corresponding fault processing measures according to the current component state level;
[0138] The system component includes a lower steering machine and a road feel simulator, and the fault information includes no fault, failure fault and degradation fault.
[0139] Based on the same inventive concept, the embodiment of the application further provides an electronic device. Figure 6 A structural block diagram of an electronic device provided by the embodiment of the application is shown in Figure 6 The electronic device provided by the embodiment of the application includes one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the steer-by-wire fault degradation processing method in any of the above embodiments. The one or more I / O interfaces 103 are connected between the processor and the memory, and are configured to realize the information interaction between the processor and the memory.
[0140] The processor 101 is a device with data processing capability, including but not limited to a central processing unit (CPU) and the like; the memory 102 is a device with data storage capability, including but not limited to a random access memory (RAM, more specifically SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (BUS) and the like.
[0141] In some embodiments, the processor 101, the memory 102, and the I / O interface 103 are connected to each other through the bus 104, and further connected to other components of the computing device.
[0142] In some embodiments, the one or more processors 101 include a field programmable gate array.
[0143] The embodiments of the present application also provide a computer readable medium. The computer readable medium stores a computer program, wherein the program is executed by a processor to implement the steps in the failure degradation processing method of the line control steering system in any one of the above embodiments. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.
[0144] The embodiments of the present application also provide a computer program product, including computer readable code or a non-volatile computer readable storage medium carrying computer readable code, when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the failure degradation processing method of the line control steering system.
[0145] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functions of the modules / units in the system and the device can be implemented as software, firmware, hardware, and appropriate combinations thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).
[0146] As those skilled in the art will appreciate, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as those skilled in the art will appreciate, communication media typically embodies computer readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics changed or set in a manner so as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as wireless networks, cellular telephone networks, code division multiple access (CDMA) networks, and other terrestrial and satellite radio frequency communication networks. Thus the computer readable program instructions and / or other program modules can be embodied in a computer readable storage medium, which can be any device or article that is enab!ed to store and / or carry computer readable program instructions and / or data structures. The computer readable storage medium can also be distributed over networked computer systems so that the computer readable program instructions and / or other program modules are stored and executed in a distributed fashion.
[0147] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.
[0148] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.
[0149] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.
[0150] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), and the like.
[0151] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.
[0152] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.
[0153] The flow and block diagrams in the drawings show the architectural, functional, and operational views of possible implementations of systems, methods, and computer program products according to the present application. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of instructions which contain one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may
[0154] Example embodiments have been disclosed and, although a specific terminology is employed, it is merely for the convenience of the reader and is not intended to be limiting. In some instances, specific details have been included for the purpose of providing a thorough understanding of the embodiments presented, but it will be apparent to those skilled in the art that embodiments of the application can be practiced without these specific details. In some instances, features, characteristics and / or elements described in connection with a particular embodiment can be used in conjunction with, or switched to, features, characteristics and / or elements described in connection with other embodiments, unless otherwise explicitly stated. Accordingly, it will be understood that various changes in form and details can be made without departing from the scope of the present application as set forth in the appended claims.
Claims
1. A method for processing steer-by-wire fault degradation, characterized in that: include: Acquire fault information of each redundant subsystem in the system components in real time, and determine the current component status level of each system component; Execute corresponding fault handling measures according to the current component status level; The system components include: a lower steering machine and a road feel simulator, and the fault information includes: no fault, failure fault and degradation fault.
2. The method according to claim 1, characterized in that When the system component is a lower steering machine, the lower steering machine includes two redundant subsystems; Degradation failure of any redundant subsystem in the lower steering gear includes: high / low power supply voltage, controller overtemperature failure, excessive motor speed and / or failure of both public communication and redundant communication; Failure of any redundant subsystem in the lower steering gear includes: redundant communication failure occurring simultaneously with one of the following: too high / low power supply voltage, controller circuit failure, controller chip failure, sensor angle failure or private communication failure, abnormal motor phase current, motor position signal failure and / or motor short / open circuit.
3. The method according to claim 1, characterized in that When the system component is a road feel simulator, the road feel simulator includes two redundant subsystems; Degradation failure of any redundant subsystem in the road sense simulator includes: high / low power supply voltage, controller overtemperature failure, sensor torque failure or public communication failure, redundant communication failure and / or excessive motor speed; Failure of any redundant subsystem in the road feel simulator includes: power supply voltage too high / low, controller circuit failure, controller chip failure, sensor angle failure or private communication failure, redundant communication failure at the same time, abnormal motor phase current, motor position signal failure and / or motor short / open circuit.
4. The method according to claim 1, wherein The component status levels include: first level status, second level status, third level status, fourth level status, fifth level status and sixth level status; The first level state is that both redundant subsystems are not faulty; The second level state is that one redundant subsystem has not failed and the other redundant subsystem has a degraded failure; The third level state is that both redundant subsystems have degraded failures; The fourth level state is that one redundant subsystem has not failed, and the other redundant subsystem has failed; The fifth level state is that one redundant subsystem has a degradation failure and the other redundant subsystem has a failure failure; The sixth level state is that both redundant subsystems fail.
5. The method according to claim 4, characterized in that If any redundant subsystem experiences both a degradation fault and a failure fault simultaneously, the redundant subsystem is deemed to have experienced a failure fault.
6. The method according to claim 1, characterized in that When the system component is a lower steering machine, executing corresponding processing measures according to the current component status level of the lower steering machine; If the lower steering machine is in the first level state, no processing is required; If the lower steering gear is in the second level state, the steering torque output by the degraded subsystem is limited, the steering torque output by the normal subsystem is increased, and the driver is reminded to perform maintenance; If the lower steering gear is in the third level state, the steering torque output by the two degraded subsystems is limited, and the driver is reminded to perform maintenance; If the lower steering gear is in the fourth level state, the failed subsystem stops working, the normal subsystem performs the wire control steering alone, and reminds the driver to repair; If the lower steering gear is in the fifth level state, the disabled subsystem stops working, the steering torque output by the degraded subsystem is limited, the vehicle speed is reduced to a preset range at a calibrated slope, and the driver is reminded to perform maintenance; If the lower steering gear is in the sixth level state, the two failed subsystems are stopped, the vehicle speed is reduced to zero at a calibrated slope, and the driver is reminded to perform maintenance.
7. The method according to claim 1, characterized in that When the system component is a road feeling simulator, executing corresponding processing measures according to the current component status level of the road feeling simulator component; If the road feel simulator is in the first level state, no processing is required; If the road feel simulator is in the second level state, the road feel torque output by the degraded subsystem is limited, the road feel torque output by the normal subsystem is increased, and the driver is reminded to perform maintenance; If the road feel simulator is in the third level, limiting the simulated road feel of the two degraded subsystems and reminding the driver to perform maintenance; If the road feel simulator is in the fourth level, the failed subsystem stops working, the normal subsystem performs the road feel simulation alone, and reminds the driver to repair; If the road feel simulator is in the fifth level, the disabled subsystem is stopped, the road feel torque output by the degraded subsystem is limited, and the driver is reminded to perform maintenance. If the road feel simulator is in the sixth level state, the two failed subsystems are stopped and the driver is reminded to perform maintenance.
8. A device for processing steer-by-wire fault degradation, characterized in that: The device is configured to implement the method according to any one of claims 1 to 7, and includes: A status determination module is used to obtain fault information of each redundant subsystem in the system component in real time and determine the current component status level of each system component; A fault handling module, configured to execute corresponding fault handling measures according to the current component status level; The system components include: a lower steering machine and a road feel simulator, and the fault information includes: no fault, failure fault and degradation fault.
9. An electronic device, characterized in that: The electronic device comprises: at least one processor, and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the steps of the method according to any one of claims 1 to 7 when executed.
Citation Information
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Steering control method and device based on angle module, electronic equipment and storage medium
CN121734500A