Electric power steering monitoring method, device and storage medium

Abstract

The present invention discloses an electric power steering monitoring method, device and storage medium, the method comprising: when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state, executing a first direction callback in the opposite direction of the current electric power steering system; if the current value decreases, continuing to execute the first direction callback until the current value is less than or equal to the target current value; if the current value increases, stopping the first direction callback, executing the second direction callback in the same direction of the current electric power steering system until the current value is less than or equal to the target current value. The present invention adjusts the steering wheel angle of the vehicle in a stationary or low-speed state by monitoring the magnitude of the power-assisted current, and then prevents the electric power steering system from overheating by reducing the power-assisted current.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to an electric power steering monitoring method, device and storage medium. Background Art

[0002] When the vehicle is driving, especially in the urban village scene (low speed, large angle) and congested road scene, the EPS power will increase. The increase in power will consume current, and the current will generate heat, which will cause the motor and ECU temperature to continue to rise, and then cause the EPS ECU and Motor to overheat and cause the EPS to fail. After the EPS fails, the vehicle will be uncontrollable laterally, which may cause danger. Summary of the invention

[0003] The main purpose of the present invention is to provide an electric power steering monitoring method, device and storage medium, aiming to solve the problem in the prior art that after the EPS overheats and causes system failure, the vehicle will become uncontrollable laterally, thereby posing the possibility of vehicle driving danger.

[0004] To achieve the above object, the present invention provides an electric power steering monitoring method, the method comprising the following steps:

[0005] When the current value of the power-assisting current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state, executing a first direction callback in the opposite direction of the current electric power-assisting steering system;

[0006] If the current value decreases, continue to execute the first direction callback until the current value is less than or equal to the target current value;

[0007] If the current value increases, the first direction callback is stopped, and the second direction callback of the electric power steering system with the same current steering direction is executed until the current value is less than or equal to the target current value.

[0008] Optionally, the method further comprises the following steps:

[0009] If the current value decreases, the first direction callback or the second direction callback is continued to be executed to a minimum current value.

[0010] Optionally, the method further comprises the following steps:

[0011] Acquire a steering target angle value corresponding to the minimum current value of the assist current during the first direction callback process or the second direction callback process;

[0012] It is detected whether there is a driving space of a specified range in front of the vehicle. If there is a driving space of the specified range, the vehicle drives forward a specified distance at a steering target angle value corresponding to the minimum current value.

[0013] Optionally, the first direction callback and the second direction callback are performed step by step at preset angles.

[0014] In addition, to achieve the above-mentioned purpose, the present invention further provides an electric power steering monitoring device, wherein:

[0015] A first callback unit is used to execute a first direction callback in the opposite direction of the current electric power steering system when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state; if the current value decreases, continue to execute the first direction callback to a target current value;

[0016] The second callback unit is used for stopping the first direction callback if the current value increases, and executing the callback to the target current value in the second direction in which the electric power steering system is currently turned.

[0017] Optionally, the device further comprises:

[0018] The minimum current callback unit is used to continue to perform the first direction callback or the second direction callback to the minimum current value if the current value decreases.

[0019] In addition, to achieve the above-mentioned objectives, the present invention also proposes a vehicle, which includes: a memory, a processor, and an electric power steering monitoring program stored in the memory and executable on the processor, wherein the electric power steering monitoring program is configured to implement the steps of the electric power steering monitoring method described above.

[0020] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the electric power steering monitoring method as described above are implemented.

[0021] The embodiment of the present invention adjusts the steering wheel angle when the vehicle is stationary or at a low speed by monitoring the magnitude of the power-assist current, thereby preventing the electric power-assist steering system from overheating by reducing the power-assist current. This prevents the electric power-assist steering system from failing due to overheating, avoids vehicle danger, and improves vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic flow chart of the electric power steering monitoring method provided by the present invention.

[0023] Figure 2 Another schematic flow chart of the electric power steering monitoring method provided by the present invention.

[0024] Figure 3 A schematic diagram of a flow chart of minimum current monitoring provided by the present invention.

[0025] Figure 4 It is a structural block diagram of an embodiment of an electric power steering monitoring device of the present invention.

[0026] Figure 5 Another structural block diagram of an embodiment of an electric power steering monitoring device of the present invention.

[0027] Figure 6 It is a schematic diagram of the structure of a transportation tool of the hardware operating environment involved in the embodiment of the present invention.

[0028] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0030] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0032] In one embodiment, Figure 1 As shown, the present invention provides an electric power steering monitoring method, the method comprising:

[0033] Step S101: When the current value of the power-assisted current is greater than a preset current threshold and the vehicle is stationary or in a low-speed state, executing a first direction callback of the current electric power-assisted steering system in the opposite direction.

[0034] The autonomous vehicle obtains the power-assisted current of the electric power steering system and the vehicle driving status. The electric power steering system (EPS) sends the current power-assisted current to the CAN bus, which is then forwarded to the autonomous driving system. The autonomous driving system receives the current value of the current power-assisted current of the EPS in real time. The vehicle driving status includes information such as the vehicle's stationary state, vehicle speed, direction, and the vehicle's driving status: unmanned or manned.

[0035] After the automatic driving system obtains the current value of the assist current in real time, it determines whether the current value is greater than the preset current threshold. The preset current threshold can be set according to the actual situation, such as setting different current thresholds according to different vehicle models. For example, the current threshold is set to 3A.

[0036] When the vehicle is stationary or driving at a low speed, such as when changing lanes in a congested road section, a car cuts in and stops suddenly and the congestion lasts for a long time, or when turning around, a car cuts in and needs to stop, etc., the automatic driving system determines that the current value of the power-assisted current is greater than the current threshold, and then executes a callback in the direction opposite to the current electric power-assisted steering system. The first angle value is used as the amplitude of each callback, and the steering target angle value is continuously called back in the opposite direction of the steering target angle value of the electric power-assisted steering system. For example, the amplitude of each callback is 10 degrees, or other amplitude values; the callback is executed step by step, such as once every 10 seconds. The amplitude of the callback is a preset amplitude value, such as 10 degrees every 10 seconds at the beginning, and 8 degrees every 10 seconds after a period of time (such as 2 minutes). The preset amplitude value can be set according to actual needs, such as gradually reducing or increasing according to the callback duration; the amplitude value can also be adjusted according to the difference between the current value of the power-assisted current and the target current value. The larger the difference, the larger the amplitude value.

[0037] Step S102: If the current value decreases, continue to execute the first direction callback until the current value is less than or equal to the target current value.

[0038] After the automatic driving system calls back the vehicle's steering, it can reduce tire deformation and thus reduce the friction between the tire and the ground, and recently reduce the EPS power assist. Therefore, after the vehicle's steering is called back, the current value of the power assist current will gradually decrease. If the current value of the power assist current gradually decreases during the steering call back process, the vehicle's steering will continue to be called back in the direction opposite to the vehicle's power assist system steering, and the direction call back will only be stopped when the current value of the power assist current reaches the target current value, such as below 1A.

[0039] When the current value of the power-assisting current is less than the target current value, the power assist output by the vehicle's electric power-assisting steering is small. At this time, the heat generation of the electric power-assisting steering system is within the allowable range of the system and will not cause overheating of the vehicle's electric power-assisting system.

[0040] Step S103: If the current value increases, the first direction callback is stopped, and the electric power steering system is currently turned to the same second direction callback until the current value is less than or equal to the target current value.

[0041] After executing the first direction callback, that is, callback in the opposite direction of the steering target angle value of the electric power steering system, the current value of the power-assisted current does not gradually decrease. For example, after the current value of the power-assisted current decreases from 3.2A to 2.5A, it does not gradually decrease, but gradually increases, such as from 2.5A to 2.8A. This may be because there are other obstacles blocking the tire, causing the power-assisted current to gradually increase.

[0042] At this time, it is necessary to stop the first direction callback, and then execute the second direction callback with the same steering direction of the current electric power steering system, that is, to call back in the same direction as the steering target angle value of the electric power steering system. In the second direction callback, the second angle value is used as the amplitude of each callback, and the steering target angle value is continuously called back in the same direction as the steering target angle value of the electric power steering system. For example, the amplitude of each callback is 10deg or 15deg, or other amplitude values; the callback is executed step by step, such as once every 5 seconds.

[0043] The second direction callback is executed step by step until the current value of the assisting current is below the target current value, such as when the current value of the assisting current reaches below 1A, the second direction callback is stopped.

[0044] The embodiment of the present invention adjusts the steering wheel angle when the vehicle is stationary or at a low speed by monitoring the magnitude of the power-assist current, thereby preventing the electric power-assist steering system from overheating by reducing the power-assist current. This prevents the electric power-assist steering system from failing due to overheating, avoids vehicle danger, and improves vehicle safety.

[0045] In one embodiment, the present invention provides an electric power steering monitoring method, such as Figure 2 This method is shown in Figure 1 In addition to the above, it also includes:

[0046] Step S104: If the current value decreases, continue to execute the first direction callback or the second direction callback to a minimum current value.

[0047] After the automatic driving system performs the first direction callback or the second direction callback, the assist current still cannot reach the target current value. For example, the minimum assist current can only reach 2.0A, but the target current value is 1.0A. At this time, the driving system calls back the assist current to the minimum current value. For details, see Figure 3 The process shown:

[0048] Step S201: obtaining a steering target angle value corresponding to the minimum current value of the assisting current during the first direction callback process or the second direction callback process.

[0049] First direction callback process: The autonomous driving system performs the first direction callback to a certain angle, such as 180 degrees; or the callback duration reaches a certain time, such as 10 minutes. However, the current value of the assist current has not yet been adjusted back to the target current value, such as the minimum assist current can only reach 2.0A, but the target current value is 1.0A.

[0050] Second direction callback process: The autonomous driving system executes the second direction callback to a certain angle, such as 120 degrees; or the callback duration reaches a certain time, such as 5 minutes. However, the current value of the assist current has not yet been adjusted back to the target current value, such as the minimum assist current can only reach 2.2A, but the target current value is 1.0A.

[0051] When the automatic driving system performs the first direction callback or the second direction callback, it records the current value of the assist current and the current steering angle of the vehicle in real time, as shown in the following table:

[0052] Vehicle steering angle value Assist current value 50deg 3.2A 60deg 2.8A 70deg 2.5A 80deg 2.0A 90deg 1.7A 100deg 1.5A 110deg 1.8A 120deg 2.2A

[0053] According to the steering angle and current value recorded in real time, the steering angle corresponding to the minimum current value is obtained. For example, according to the above table, the vehicle steering angle corresponding to the minimum assist current of 1.5A is 100 degrees.

[0054] Step S202, detecting whether there is a specified range of driving space in front of the vehicle, if there is a specified range of driving space, the vehicle drives forward a specified distance at a steering target angle value corresponding to the minimum current value.

[0055] The automatic driving system detects whether there is a specified range of driving space in front of the vehicle, such as a driving space of 1.5 meters with a vehicle steering angle of 100 degrees corresponding to the minimum assist current of 1.5A. How to detect it specifically belongs to the existing technical solution of automatic driving and will not be described in detail in this invention.

[0056] When the autonomous driving system detects that there is a specified range of driving space in front of the vehicle, the vehicle will travel 1.5 meters at a steering angle of 100 degrees corresponding to the minimum assist current of 1.5A. This solution can avoid the tire deformation position, thereby reducing the resistance caused by tire deformation to the battery assist system.

[0057] Through the embodiment of the present invention, when the current cannot reach the target current value after callback, the steering wheel angle position corresponding to the minimum current value in the callback process is obtained, and the vehicle drives forward at this angle for a certain period of time, thereby avoiding the tire deformation position and reducing the resistance of the battery power assist system caused by the tire deformation, thereby reducing the power assist current value, and ultimately achieving the purpose of reducing the heat generation of the electric power assist system and improving the safety of the vehicle.

[0058] In addition, the embodiment of the present invention also provides an electric power steering monitoring device, referring to Figure 4 , the electric power steering monitoring device comprises:

[0059] The first callback unit 10 is used to perform a first direction callback in the opposite direction of the current electric power steering system when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state; if the current value decreases, continue to perform the first direction callback to a target current value;

[0060] The second callback unit 20 is configured to stop the first direction callback if the current value increases, and execute a second direction callback in which the electric power steering system is currently turned to the same direction to the target current value.

[0061] The embodiment of the present invention adjusts the steering wheel angle when the vehicle is stationary or at a low speed by monitoring the magnitude of the power-assist current, thereby preventing the electric power-assist steering system from overheating by reducing the power-assist current. This prevents the electric power-assist steering system from failing due to overheating, avoids vehicle danger, and improves vehicle safety.

[0062] In one embodiment, the present invention further provides an electric power steering monitoring device, referring to Figure 5 ,exist Figure 4 On the basis of the above, the electric power steering monitoring device further includes:

[0063] The minimum current callback unit is used to continue to perform the first direction callback or the second direction callback to the minimum current value if the current value decreases.

[0064] Through the embodiment of the present invention, when the current cannot reach the target current value after callback, the steering wheel angle position corresponding to the minimum current value in the callback process is obtained, and the vehicle drives forward at this angle for a certain period of time, thereby avoiding the tire deformation position and reducing the resistance of the battery power assist system caused by the tire deformation, thereby reducing the power assist current value, and ultimately achieving the purpose of reducing the heat generation of the electric power assist system and improving the safety of the vehicle.

[0065] It should be noted that each unit in the above-mentioned device can be used to implement each step in the above-mentioned method and achieve corresponding technical effects, which will not be described in detail in this embodiment.

[0066] Reference Figure 6 , Figure 6 A schematic diagram of the structure of a vehicle in the hardware operating environment involved in an embodiment of the present invention.

[0067] like Figure 6 As shown, the vehicle may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as WI-FI, 4G, 5G interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0068] Those skilled in the art will understand that Figure 6 The structure shown in the figure does not constitute a limitation on the vehicle, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0069] like Figure 6 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an electric power steering monitoring program.

[0070] exist Figure 6 In the vehicle shown, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving user input instructions; the vehicle calls the electric power steering monitoring program stored in the memory 1005 through the processor 1001, and performs the following operations:

[0071] When the current value of the power-assisting current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state, executing a first direction callback in the opposite direction of the current electric power-assisting steering system;

[0072] If the current value decreases, continue to execute the first direction callback until the current value is less than or equal to the target current value;

[0073] If the current value increases, the first direction callback is stopped, and the second direction callback of the electric power steering system with the same current steering direction is executed until the current value is less than or equal to the target current value.

[0074] Optionally, the method further comprises the following steps:

[0075] If the current value decreases, the first direction callback or the second direction callback is continued to be executed to a minimum current value.

[0076] Optionally, the method further comprises the following steps:

[0077] Acquire a steering target angle value corresponding to the minimum current value of the assist current during the first direction callback process or the second direction callback process;

[0078] It is detected whether there is a driving space of a specified range in front of the vehicle. If there is a driving space of the specified range, the vehicle drives forward a specified distance at a steering target angle value corresponding to the minimum current value.

[0079] Optionally, the first direction callback and the second direction callback are performed step by step at preset angles.

[0080] In addition, to achieve the above-mentioned purpose, the present invention further provides an electric power steering monitoring device, wherein:

[0081] A first callback unit is used to execute a first direction callback in the opposite direction of the current electric power steering system when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state; if the current value decreases, continue to execute the first direction callback to a target current value;

[0082] The second callback unit is used for stopping the first direction callback if the current value increases, and executing the callback to the target current value in the second direction in which the electric power steering system is currently turned.

[0083] Optionally, the device further comprises:

[0084] The minimum current callback unit is used to continue to perform the first direction callback or the second direction callback to the minimum current value if the current value decreases.

[0085] The embodiment of the present invention adjusts the steering wheel angle when the vehicle is stationary or at a low speed by monitoring the magnitude of the power-assist current, thereby preventing the electric power-assist steering system from overheating by reducing the power-assist current. This prevents the electric power-assist steering system from failing due to overheating, avoids vehicle danger, and improves vehicle safety.

[0086] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which an electric power steering monitoring program is stored. When the electric power steering monitoring program is executed by a processor, the following operations are implemented:

[0087] When the current value of the power-assisting current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state, executing a first direction callback in the opposite direction of the current electric power-assisting steering system;

[0088] If the current value decreases, continue to execute the first direction callback until the current value is less than or equal to the target current value;

[0089] If the current value increases, the first direction callback is stopped, and the second direction callback of the electric power steering system with the same current steering direction is executed until the current value is less than or equal to the target current value.

[0090] Optionally, the method further comprises the following steps:

[0091] If the current value decreases, the first direction callback or the second direction callback is continued to be executed to a minimum current value.

[0092] Optionally, the method further comprises the following steps:

[0093] Acquire a steering target angle value corresponding to the minimum current value of the assist current during the first direction callback process or the second direction callback process;

[0094] It is detected whether there is a driving space of a specified range in front of the vehicle. If there is a driving space of the specified range, the vehicle drives forward a specified distance at a steering target angle value corresponding to the minimum current value.

[0095] Optionally, the first direction callback and the second direction callback are performed step by step at preset angles.

[0096] In addition, to achieve the above-mentioned purpose, the present invention further provides an electric power steering monitoring device, wherein:

[0097] A first callback unit is used to execute a first direction callback in the opposite direction of the current electric power steering system when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state; if the current value decreases, continue to execute the first direction callback to a target current value;

[0098] The second callback unit is used for stopping the first direction callback if the current value increases, and executing the callback to the target current value in the second direction in which the electric power steering system is currently turned.

[0099] Optionally, the device further comprises:

[0100] The minimum current callback unit is used to continue to perform the first direction callback or the second direction callback to the minimum current value if the current value decreases.

[0101] The embodiment of the present invention adjusts the steering wheel angle when the vehicle is stationary or at a low speed by monitoring the magnitude of the power-assist current, thereby preventing the electric power-assist steering system from overheating by reducing the power-assist current. This prevents the electric power-assist steering system from failing due to overheating, avoids vehicle danger, and improves vehicle safety.

[0102] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0103] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0104] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, controller, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0105] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An electric power steering monitoring method, characterized in that: The method comprises the following steps: When the current value of the power-assisting current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state, executing a first direction callback in the opposite direction of the current electric power-assisting steering system; If the current value decreases, continue to execute the first direction callback until the current value is less than or equal to the target current value; If the current value increases, the first direction callback is stopped, and the second direction callback of the electric power steering system with the same current steering direction is executed until the current value is less than or equal to the target current value.

2. The method according to claim 1, characterized in that: The method further comprises the following steps: If the current value decreases, the first direction callback or the second direction callback is continued to be executed to a minimum current value.

3. The method according to claim 2, characterized in that: The method further comprises the following steps: Acquire a steering target angle value corresponding to the minimum current value of the assist current during the first direction callback process or the second direction callback process; It is detected whether there is a driving space of a specified range in front of the vehicle. If there is a driving space of the specified range, the vehicle drives forward a specified distance at a steering target angle value corresponding to the minimum current value.

4. The method according to claim 1, characterized in that: The first direction callback and the second direction callback are executed step by step at a preset angle.

5. An electric power steering monitoring device, characterized in that: The electric power steering monitoring device: A first callback unit is used to execute a first direction callback in the opposite direction of the current electric power steering system when the current value of the power-assisted current is greater than a preset current threshold and the vehicle is in a stationary or low-speed state; if the current value decreases, continue to execute the first direction callback to a target current value; The second callback unit is used for stopping the first direction callback if the current value increases, and executing the callback to the target current value in the second direction in which the electric power steering system is currently turned.

6. The device according to claim 5, characterized in that: The device also includes: The minimum current callback unit is used to continue to perform the first direction callback or the second direction callback to the minimum current value if the current value decreases.

7. A means of transport, characterized in that: The vehicle comprises: a memory, a processor, and an electric power steering monitoring program stored in the memory and executable on the processor, wherein the electric power steering monitoring program is configured to implement the steps of the electric power steering monitoring method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the electric power steering monitoring method according to any one of claims 1 to 5 are implemented.

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