A signal detection circuit, detection method, device and vehicle

Abstract

A signal detection circuit comprises a first processing circuit, a second processing circuit, a third processing circuit, a fourth processing circuit, a first controller and a second controller. The first processing circuit, the second processing circuit, the third processing circuit and the fourth processing circuit are used for filtering and voltage regulating processing of respective input signals. The output of the first processing circuit and the output of the third processing circuit are connected to the input of the first controller. The output of the second processing circuit and the output of the fourth processing circuit are connected to the input of the second controller. The first controller and the second controller are in communication connection. The reliability and safety of torque angle sensor signal detection can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobiles, in particular to a signal detection circuit, a detection method, a detection device and a vehicle. BACKGROUND

[0002] With the development of intelligent driving, safety is one of the key problems of future automobile development. The electric power steering system (EPS) is an important part of the vehicle, and its reliability is particularly important for vehicle safety.

[0003] The existing electric power steering system is mostly a single-point single-line control system, that is, each motor winding is equipped with a set of driving circuit. Once a fault occurs, it will cause the steering assist output part to fail or fail completely, especially for the detection part of the sensor signal, which is prone to failure, thereby causing a large safety hazard. SUMMARY

[0004] In view of the above problems of the prior art, the present application provides a signal detection circuit, a detection method, a detection device and a vehicle to improve the reliability of signal detection and reduce safety hazards.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides a signal detection circuit, which comprises: a first processing circuit, a second processing circuit, a third processing circuit, a fourth processing circuit, a first controller and a second controller. The first processing circuit, the second processing circuit, the third processing circuit and the fourth processing circuit are used for filtering and voltage regulating of the input signals. The output of the first processing circuit and the output of the third processing circuit are connected to the input of the first controller. The output of the second processing circuit and the output of the fourth processing circuit are connected to the input of the second controller. The first controller and the second controller are in communication connection.

[0006] The signal detection circuit provided by the first aspect of the present application sets at least two processing circuits for each controller and at least two controllers. When a part of the signal detection circuit fails, the other parts of the signal detection circuit can still work normally and are not affected, thereby improving the stability and reliability of signal detection.

[0007] As a possible implementation manner of the first aspect, the signal detection circuit further comprises a first sensor and a second sensor. The first sensor and the second sensor are used for detecting torque signals and angle signals. The output of the first sensor is connected to the input of the first processing circuit, and the output of the first sensor is also connected to the input of the second processing circuit. The output of the second sensor is connected to the input of the third processing circuit, and the output of the second sensor is also connected to the input of the fourth processing circuit.

[0008] From the above, by setting at least two data acquisition devices (sensors), the normal operation of the detection circuit can be avoided due to the failure of the device acquisition end.

[0009] As a possible implementation manner of the first aspect, the first sensor and the second sensor support PWM, SENT or SPC sensor signal types.

[0010] As a possible implementation manner of the first aspect, the first processing circuit comprises a voltage regulation circuit and a filter circuit. The input end of the voltage regulation circuit is the input end of the first processing circuit, and the output end of the voltage regulation circuit is connected with the input end of the filter circuit. The output end of the filter circuit is the output end of the first processing circuit. The voltage regulation circuit can support 5V or 3.3V voltage. The input signal is processed through the voltage regulation circuit and the filter circuit, and the signal format supported by the controller can be obtained.

[0011] As a possible implementation manner of the first aspect, the voltage regulation circuit comprises a first power supply and a first resistor. The first power supply is connected with the first resistor, and the connection position of the first power supply and the first resistor is taken as the input end of the voltage regulation circuit. The end of the first resistor far away from the first power supply is taken as the output end of the voltage regulation circuit.

[0012] As a possible implementation manner of the first aspect, the filter circuit comprises a second resistor, a third resistor, a first capacitor and a second capacitor. The first end of the second resistor is the input end of the filter circuit, and the second end of the second resistor is connected with the first end of the first capacitor. The first end of the third resistor is connected with the second end of the second resistor, and the second end of the third resistor is connected with the first end of the second capacitor. The second end of the first capacitor and the second end of the second capacitor are connected, and the second end of the first capacitor is also connected with the first ground end.

[0013] From the above, the specific connection relationship between the devices in the voltage regulation circuit and the filter circuit is provided to realize the voltage conversion and filtering of the input signal.

[0014] As a possible implementation manner of the first aspect, the first controller and the second controller are further used for controlling the three-phase winding of the motor.

[0015] As a possible implementation manner of the first aspect, further comprising: a power supply and a ground connected with the first sensor; and a power supply and a ground connected with the second sensor.

[0016] As a possible implementation manner of the first aspect, the first processing circuit, the second processing circuit, the third processing circuit and the fourth processing circuit are redundant processing circuits. The four processing circuits are the same in circuit structure, so as to realize the redundancy of each other.

[0017] As a possible implementation manner of the first aspect, the first controller and the second controller are redundant controllers. Wherein, the two controllers are the same controller to realize the redundant controllers.

[0018] As a possible implementation manner of the first aspect, the first sensor and the second sensor are redundant sensors. Wherein, the first sensor and the second sensor are the same sensor and the signal sources collected by the two sensors are the same.

[0019] From the above, two same sensors are arranged to collect data of the same signal source to realize the redundancy of the two sensors.

[0020] The second aspect of the present application provides a signal detection method, which comprises: receiving a first signal of a first sensor by a first processing circuit, and receiving a third signal of a second sensor by a third processing circuit. Receiving a second signal of the first sensor by a second processing circuit, and receiving a fourth signal of the second sensor by a fourth processing circuit. When the first signal and the third signal differ by less than a first threshold value, then the first signal or the third signal is taken as an input signal of a first controller. When the second signal and the fourth signal differ by less than a second threshold value, then the second signal or the fourth signal is taken as an input signal of a second controller.

[0021] As a possible implementation manner of the second aspect, further comprising: when the first signal and the third signal differ by no less than the first threshold value, and the first signal and the second signal differ by less than a third threshold value, then the first signal is taken as the input signal of the first controller.

[0022] As a possible implementation manner of the second aspect, further comprising: when the first signal and the third signal differ by no less than the first threshold value, and the third signal and the fourth signal differ by less than a fourth threshold value, then the third signal is taken as the input signal of the first controller.

[0023] As a possible implementation manner of the second aspect, further comprising: when the second signal and the fourth signal differ by no less than the second threshold value, and the first signal and the second signal differ by less than the third threshold value, then the second signal is taken as the input signal of the second controller.

[0024] As a possible implementation manner of the second aspect, further comprising: when the second signal and the fourth signal differ by no less than the second threshold value, and the third signal and the fourth signal differ by less than the fourth threshold value, then the fourth signal is taken as the input signal of the second controller.

[0025] The third aspect of the present application provides a signal detection device, comprising: a first control module receiving a first signal of a first sensor through a first processing circuit, and the first control module receiving a third signal of a second sensor through a third processing circuit. A second control module receives a second signal of the first sensor through a second processing circuit, and the second control module receives a fourth signal of the second sensor through a fourth processing circuit. A first judgment module is configured to take the first signal or the third signal as an input signal of the first controller when the first signal and the third signal differ by less than a first threshold. A second judgment module is configured to take the second signal or the fourth signal as an input signal of the second controller when the second signal and the fourth signal differ by less than a second threshold.

[0026] As a possible implementation of the third aspect, further comprising: a third judgment module configured to take the first signal as the input signal of the first controller when the first signal and the third signal differ by no less than the first threshold, and the first signal and the second signal differ by less than a third threshold.

[0027] As a possible implementation of the third aspect, further comprising: a fourth judgment module configured to take the third signal as the input signal of the first controller when the first signal and the third signal differ by no less than the first threshold, and the third signal and the fourth signal differ by less than a fourth threshold.

[0028] As a possible implementation of the third aspect, further comprising: a fifth judgment module configured to take the second signal as the input signal of the second controller when the second signal and the fourth signal differ by no less than the second threshold, and the first signal and the second signal differ by less than the third threshold.

[0029] As a possible implementation of the third aspect, further comprising: a sixth judgment module configured to take the fourth signal as the input signal of the second controller when the second signal and the fourth signal differ by no less than the second threshold, and the third signal and the fourth signal differ by less than the fourth threshold.

[0030] The fourth aspect of the present application provides a steering system, comprising the signal detection circuit, the first driving circuit, the second driving circuit, the first three-phase winding and the second three-phase winding of the first aspect. The first controller in the signal detection circuit, the first driving circuit and the first three-phase winding are connected in sequence. The second controller in the signal detection circuit, the second driving circuit and the second three-phase winding are connected in sequence.

[0031] The fifth aspect of the present application provides a vehicle, comprising a vehicle body and the steering system of the fourth aspect.

[0032] The sixth aspect of the present application provides a computer readable storage medium, which stores program instructions, and the program instructions make the computer execute the signal detection method of the second aspect when executed by the computer.

[0033] These and other aspects of the application will become more fully understood from the following (a few) embodiment descriptions. BRIEF DESCRIPTION OF DRAWINGS

[0034] Various features and connection between various features of the application will be further described below with reference to the drawings. The drawings are all exemplary, some features are not shown in actual proportion, and some features in the drawings can omit features that are conventional in the field to which the application pertains and are not essential to the application, or additional features that are not essential to the application can be shown, and the combination of various features shown in the drawings is not intended to limit the application. In addition, throughout the specification, the same reference signs refer to the same things. The specific drawings are as follows:

[0035] Figure 1 A block diagram of an EPS system in a related art for embodiments of the application is provided;

[0036] Figure 2 An application scenario diagram of a signal detection circuit provided for embodiments of the application is provided;

[0037] Figure 3 A structural schematic diagram of a signal detection circuit provided for embodiments of the application is provided;

[0038] Figure 4 A specific circuit diagram of a signal detection circuit provided for embodiments of the application is provided;

[0039] Figure 5 A structural schematic diagram of an EPS provided for embodiments of the application is provided;

[0040] Figure 6 A structural schematic diagram of a signal detection device provided for embodiments of the application is provided;

[0041] Figure 7 A structural schematic diagram of a computing device provided for embodiments of the application is provided;

[0042] Figure 8 A structural schematic diagram of another computing device provided for embodiments of the application is provided. DETAILED DESCRIPTION

[0043] The words "first", "second", "third", etc. or module A, module B, module C, etc. in the specification and claims, or similar terms, are only used to distinguish similar objects, and it can be understood that the specific order or sequence can be interchanged as allowed, so that the application described herein can be implemented in an order other than that illustrated or described herein.

[0044] In the following description, reference is made to the accompanying drawings which form a part hereof, and in which are shown by way of illustration specific embodiments in which reference numerals designate the same parts in the various figures. It is to be understood that other embodiments can be used and structural or

[0045] The term "comprising" as used in the specification and in claims includes that there are no other elements or steps. Thus, it should be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof. Thus, the expression "a device comprising means A and B" should be interpreted to possibly include other elements or steps in addition to A and B.

[0046] The terms "one embodiment" or "an embodiment" as used in this specification means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearance of the phrases "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, but can refer to different embodiments. Furthermore, where a particular feature, structure or characteristic is described in connection with one or more embodiments, it is submitted that it is within the purview of one of ordinary skill in the art to effect such feature, structure or characteristic in connection with other ones of the described embodiments.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for describing particular embodiments only and is not intended to be limiting of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0048] In order to accurately describe the technical content in the application, and in order to accurately understand the application, before the specific embodiments are described, the following explanations or definitions of the terms used in the specification are given:

[0049] 1) Electric Power Steering (EPS): a power steering system that directly relies on an electric motor to provide assist torque. In the embodiments of the application, EPS includes but is not limited to: Column Electric Power Steering (C-EPS), Pinion Electric Power Steering (P-EPS), Rack Electric Power Steering (R-EPS), etc.

[0050] 2) Electronic Control Unit (ECU): used to realize the analysis and processing of data and realize the corresponding control, also known as "car computer", generally composed of microcontroller (Microcontroller Unit, MCU), memory, input / output interface, drive circuit. ECU can generally be used to determine the state of the vehicle and the intention of the driver and control the vehicle through actuators to control the driving of the vehicle.

[0051] 3) Redundancy technology: also known as reserve technology, is a means to improve system reliability by using parallel models of the system.

[0052] Next, first of all, a kind of EPS system provided by the related art is analyzed:

[0053] As Figure 1 It is a kind of EPS system block diagram provided by the related art. The EPS system of the scheme includes two parts, the first part is torque and angle sensor signal detection device 110, and the second part is winding driving part 120. Among them, the torque and angle sensor signal detection device 110 includes first branch and second branch, and the first branch and the second branch are redundant. The first branch includes torque and angle sensor 1 (TAS), processing unit 1 and MUC1 connected in turn. Similarly, the second branch also includes TAS sensor 2, processing unit 2 and MUC2 connected in turn, wherein MUC1 of the first branch and MCU2 of the second branch are in communication connection. The winding driving part 120 includes driving unit 1 for driving three-phase winding A and driving unit 2 for driving three-phase winding B. The driving unit 1 is connected with the first branch of the torque and angle sensor signal detection device 110, and the driving unit 2 is connected with the second branch of the torque and angle sensor signal detection device 110. Among them, each processing unit is used for filtering and voltage regulating processing of the input signal.

[0054] In the scheme, the first branch and the second branch in the torque and angle sensor signal detection device 110 are redundant, when one of the branches fails, the MCU of the other branch can transmit the sensor signal collected by the other branch to the branch that fails, so as to realize driving the branch that fails by using the sensor signal of the other branch, thereby ensuring the reliability of the EPS system. However, this scheme is only suitable for the case where one of the branches is open circuit, if both branches can collect sensor signals, only the signal values are different, then the EPS system cannot determine which branch is faulty and which branch is normal, so sometimes it will lead to misjudgment, thereby affecting the normal work of the EPS system, and in serious cases it may also cause safety accidents.

[0055] Based on the research on related technologies and the defects of related technologies, an embodiment of the present application provides a signal detection circuit, which improves the safety and reliability of signal detection without adding sensors by utilizing redundancy technology to change the connection relationship of the signal detection circuit.

[0056] The embodiments of the present application are described in detail below with reference to the accompanying drawings. First, a scenario in which a signal detection circuit provided in an embodiment of the present application is applied is introduced.

[0057] A signal detection circuit provided in an embodiment of the present application is applicable to intelligent driving technology, and can be specifically applied to the steering system of an autonomous vehicle (AV).

[0058] like Figure 2 As shown, vehicle 200 is equipped with a steering system 210, which includes a steering wheel 211, a steering shaft 212, a TAS sensor 213, an EPS system 214, and a motor 215. When the driver manipulates the steering wheel 211 to steer, the TAS sensor 213 detects a voltage signal indicating the direction and torque of the steering wheel 211 and transmits the voltage signal to the EPS system 214. Based on the received voltage signal indicating the direction and torque, the EPS system 214 issues a command to the motor 215, causing the motor 215 to output an assist torque of the corresponding direction and magnitude to drive the steering shaft 212 to achieve steering. In this application scenario, the EPS system 214 includes a signal detection circuit provided by an embodiment of the present application. This allows the torque angle sensor signal detection portion of the EPS system to still drive the steering system using normal sensor signals even in the event of a single-point failure. This prevents the steering system from degrading, improves the reliability of the steering system, and enhances vehicle driving safety. The following describes a signal detection circuit provided by an embodiment of the present application in detail with reference to the various figures.

[0059] In this embodiment, the following description uses the torque signal and the rotation angle signal as input signals for each processing circuit. It should be understood that in other embodiments, the input signals for each processing circuit may also be other signals. In this embodiment, the following description uses the microcontroller as an example. It should be understood that in other embodiments, each controller may also be other controllers. This application does not impose any particular limitations on these.

[0060] like Figure 3 FIG2 is a schematic diagram of a structure of a signal detection circuit provided by an embodiment of the present application. The circuit includes two signal detection branches that are redundant with each other.

[0061] In this embodiment, the first signal detection branch includes a first processing circuit (ieFigure 3 the first processing circuit 1), the second processing circuit (i.e. Figure 3 the second processing circuit 2), and the first microcontroller (i.e. Figure 3 the MCU 1). The second signal detection branch includes the third processing circuit (i.e. Figure 3 the third processing circuit 3), the fourth processing circuit (i.e. Figure 3 the fourth processing circuit 4), and the second microcontroller (i.e. Figure 3 the MCU 2).

[0062] Specifically, the four processing circuits in the embodiment are used to implement voltage regulation and filtering of the respective input signals (torque signal and rotation angle signal). The two microcontrollers in the embodiment are used to perform signal verification on the respective input signals (signals processed by the processing circuits). The specific process of signal verification can be referred to the description of the working principle of the signal detection circuit below.

[0063] The output end of the first processing circuit in the first signal detection branch is connected to the input end of the first microcontroller, and the output end of the second processing circuit is connected to the input end of the second microcontroller.

[0064] The output end of the third processing circuit in the second signal detection branch is connected to the input end of the first microcontroller, and the output end of the fourth processing circuit is connected to the input end of the second microcontroller.

[0065] As a possible implementation manner, the first microcontroller and the second microcontroller are communicatively connected to implement signal verification.

[0066] The input end of each processing circuit in the embodiment can be connected to a signal acquisition device, such as a sensor. Figure 3 As shown in the figure, the input end of the first processing circuit is connected to a first sensor, and the input end of the second processing circuit is also connected to the first sensor. The input end of the third processing circuit is connected to a second sensor, and the input end of the fourth processing circuit is also connected to the second sensor. As a possible implementation manner, the first sensor and the second sensor can both be torque rotation angle sensors, which are used to detect torque signals and rotation angle signals.

[0067] In this embodiment, the first sensor and the second sensor are redundant sensors. It should be understood that the redundant sensors herein can be sensors of the same model and structure, or sensors capable of acquiring the same signal, and this embodiment does not limit this. Furthermore, the first processing circuit, the second processing circuit, the third processing circuit, and the fourth processing circuit in this embodiment are redundant processing circuits. It should be understood that the redundant processing circuits herein can be processing circuits with the same circuit structure, or circuits capable of performing the same processing function, and this embodiment does not limit this. The first microcontroller and the second microcontroller in this embodiment are redundant controllers. It should be understood that the redundant controllers herein can be controllers with the same structure, or controllers capable of performing the same control function, and this embodiment does not limit this.

[0068] It is understood that this embodiment does not limit the number of detection branches in the signal detection circuit. This embodiment is merely an example of two detection branches. In other embodiments, the number of detection branches can be any number greater than or equal to 2. For example, when there are n detection branches, the output end of the nth data acquisition device (e.g., a sensor) is respectively connected to the input ends of the two processing circuits corresponding to the branch, the output end of one processing circuit is connected to the input end of the first microcontroller, and the output end of the other processing circuit is connected to the input end of the second microcontroller; wherein n ≥ 2.

[0069] like Figure 4 , which is a specific circuit diagram of a signal detection circuit provided by an embodiment of the present application, includes a data acquisition device (here taking a TAS sensor as an example) part 310 , a processing circuit part 320 and a control part 330 .

[0070] Next, the data acquisition device part 310 will be first introduced in detail.

[0071] See also Figure 4The data acquisition device part 310 mainly comprises a sensor chip, two capacitors (a third capacitor and a fourth capacitor) and a resistor (a fourth resistor). The sensor chip is an application specific integrated circuit (ASIC) supporting single edge nibble transmission (SENT). The first end of the sensor chip is used for connecting the power supply end V sensor of the sensor. The second end of the sensor chip is used for connecting the first end of the third capacitor. The third end of the sensor chip is used for connecting the second end of the third capacitor. The first end of the third capacitor is also used for connecting the first end of the fourth resistor. The second end of the fourth resistor is used for connecting the first end of the fourth capacitor. The second end of the fourth capacitor is connected with the second end of the third capacitor, and the connection point of the second end of the fourth capacitor and the second end of the third capacitor is connected to the ground (i.e. the sensor ground). In addition, the connection point of the second end of the fourth resistor and the first end of the fourth capacitor is connected with the processing circuit part 320 as the output end of the TAS sensor, for transmitting the TAS signal collected by the TAS sensor to the processing circuit part 320 for relevant processing. Figure 4 The processing circuit part 320 is shown in detail.

[0072] Next, the processing circuit part 320 is described in detail.

[0073] Referring to Figure 4 The processing circuit part 320 comprises at least two processing circuits which are redundant to each other. That is Figure 4 The processing circuit 3201 and the processing circuit 3202 are shown. It should be understood that the processing circuit 3201 and the processing circuit 3202 are redundant to each other, and are used to realize the voltage conversion and filtering of the TAS signal transmitted by the TAS sensor, so as to obtain the TAS signal conforming to the actual operating condition. Since the circuit structures of the processing circuits in the processing circuit part 320 are the same, the circuit structure of the processing circuit is described only by taking the processing circuit 3201 as an example, and the other processing circuits are not described again. As shown in Figure 4The processing circuit 3201 includes a power supply, three resistors (a first resistor, a second resistor, and a third resistor), and two capacitors (a first capacitor and a second capacitor). The power supply and the first resistor are connected in sequence to form a voltage regulating circuit, which is used to regulate the voltage of the TAS signal transmitted by the TAS sensor. For example, the voltage regulating circuit can match a voltage of 5V or 3.3V. In addition, the second resistor, the first capacitor, the third resistor, and the second capacitor form two LC filter circuits. The second resistor and the first capacitor form a first-stage filter circuit, and the third resistor and the second capacitor form a second-stage filter circuit. The two LC filter circuits are used to perform double filtering on the signal transmitted thereto. Specifically, a first end of the second resistor is connected to the first resistor in the voltage regulating circuit, a second end of the second resistor is connected to a first end of the first capacitor, a second end of the first capacitor is connected to the ground, a connection point of the second resistor and the first capacitor is connected to the third resistor, a second end of the third resistor is connected to a first end of the second capacitor, a second end of the second capacitor is connected to the second end of the first capacitor. In addition, the second end of the second capacitor and the first end of the second capacitor are both connected to the control part 330 as output terminals of the processing circuit 3201. It should be understood that a plurality of processing circuits form the processing circuit part 320. Through the processing circuit part 320, the input signal (TAS signal) is regulated and filtered.

[0074] Then the control part 330 is introduced.

[0075] Referring to Figure 4 In this embodiment, the control part 330 can include two microcontrollers (MCU1 and MCU2) that are redundant to each other. Figure 4 The MCU1 and the MCU2 can communicate with each other to perform signal checking. The specific signal checking process can be referred to the working principle of the signal detection circuit described below.

[0076] Next, the working principle of the signal detection circuit is introduced. The working principle of the signal detection circuit includes two cases: normal working and fault.

[0077] First, the normal working of the signal detection circuit is introduced.

[0078] The TAS sensor 1 transmits the collected signal to the processing circuit 1 and the processing circuit 2 for processing, respectively. The first signal processed by the processing circuit 1 is transmitted to the MCU1, and the second signal processed by the processing circuit 2 is transmitted to the MCU2.

[0079] The TAS sensor 2 sends the collected signals to the processing circuit 3 and the processing circuit 4 for processing, respectively, and transmits the third signal processed by the processing circuit 3 to the MCU 1 and transmits the fourth signal processed by the processing circuit 4 to the MCU 2.

[0080] As an optional implementation, the first signal and the third signal received by the MCU 1 are compared, and when the first signal and the third signal in the MCU 1 are consistent, it indicates that the branch corresponding to the processing circuit 1 and the branch corresponding to the processing circuit 3 are both normal, and at this time, the first signal or the third signal is taken as the input signal of the MCU 1. It should be understood that whether the first signal or the third signal is taken as the input signal of the MCU 1 can be determined according to the preset credibility of each branch.

[0081] As an optional implementation, "consistent" in the embodiment of the application can be understood as that the difference between the two signal values is less than a certain threshold value; for example, the signal value of the first signal in the MCU 1 is a, and the signal value of the third signal in the MCU 1 is b, and the difference between the first signal and the third signal is a-b, and when the difference is less than a certain threshold value, it is considered that the first signal and the third signal are consistent. As another optional implementation, "consistent" in the embodiment of the application can also be understood as that the absolute value of the difference between the two signal values is less than a certain threshold value; for example, the signal value of the first signal in the MCU 1 is a, and the signal value of the third signal in the MCU 1 is b, and the absolute value of the difference between the first signal and the third signal is |a-b|, and when the absolute value is less than a certain threshold value, it is considered that the first signal and the third signal are consistent. In the following embodiments, this case is described as "consistent".

[0082] As an optional implementation, "inconsistent" in the embodiment of the application can be understood as that the difference between the two signal values is not less than a certain threshold value, for example, the signal value of the first signal in the MCU 1 is a, and the signal value of the third signal in the MCU 1 is b, and the difference between the first signal and the third signal is a-b, and when the difference is not less than a certain threshold value, it is considered that the first signal and the third signal are inconsistent. As another optional implementation, "inconsistent" in the embodiment of the application can also be understood as that the absolute value of the difference between the two signal values is not less than a certain threshold value; for example, the signal value of the first signal in the MCU 1 is a, and the signal value of the third signal in the MCU 1 is b, and the absolute value of the difference between the first signal and the third signal is |a-b|, and when the absolute value is not less than a certain threshold value, it is considered that the first signal and the third signal are inconsistent. In the following embodiments, this case is described as "inconsistent".

[0083] Next, the second signal and the fourth signal received by the MCU2 are compared, and when the second signal and the fourth signal in the MCU2 are consistent, it indicates that the branch corresponding to the processing circuit 2 and the branch corresponding to the processing circuit 4 are both normal, and at this time, the second signal or the fourth signal is taken as the input signal of the MCU2. It should be understood that whether the second signal is taken as the input signal of the MCU2 or the fourth signal is taken as the input signal of the MCU2 can be determined according to the preset credibility of each branch.

[0084] Then, when the signal detection circuit has a fault:

[0085] The TAS sensor 1 sends the collected signal to the processing circuit 1 and the processing circuit 2 for processing, respectively, and the first signal processed by the processing circuit 1 is transmitted to the MCU1, and the second signal processed by the processing circuit 2 is transmitted to the MCU2.

[0086] The TAS sensor 2 sends the collected signal to the processing circuit 3 and the processing circuit 4 for processing, respectively, and the third signal processed by the processing circuit 3 is transmitted to the MCU1, and the fourth signal processed by the processing circuit 4 is transmitted to the MCU2.

[0087] For the control of the MCU1:

[0088] As an optional implementation manner, the first signal and the third signal received by the MCU1 are compared, and when the first signal and the third signal in the MCU1 are inconsistent, the second signal in the MCU2 is transmitted to the MCU1, and the first signal and the second signal in the MCU1 are compared, and when the first signal and the second signal in the MCU1 are consistent, it indicates that the branch corresponding to the processing circuit 1 is normal, and the branch corresponding to the processing circuit 3 has a fault, and at this time, the first signal is taken as the input signal of the MCU1.

[0089] As another optional implementation manner, the first signal and the third signal received by the MCU1 are compared, and when the first signal and the third signal in the MCU1 are inconsistent, the fourth signal in the MCU2 is transmitted to the MCU1, and the third signal and the fourth signal in the MCU1 are compared, and when the third signal and the fourth signal in the MCU1 are consistent, it indicates that the branch corresponding to the processing circuit 3 is normal, and the branch corresponding to the processing circuit 1 has a fault, and at this time, the third signal is taken as the input signal of the MCU1.

[0090] For the control of the MCU2:

[0091] As an optional implementation, the second signal received by the MCU 2 is compared with the fourth signal, when the second signal and the fourth signal in the MCU 2 are inconsistent, the first signal in the MCU 1 is transmitted to the MCU 2, the second signal and the first signal in the MCU 2 are compared, when the second signal and the first signal in the MCU 2 are consistent, it indicates that the branch corresponding to the processing circuit 2 is normal, and the branch corresponding to the processing circuit 4 has a fault, at this time, the second signal is taken as the input signal of the MCU 2.

[0092] As another optional implementation, the second signal received by the MCU 2 is compared with the fourth signal, when the second signal and the fourth signal in the MCU 2 are inconsistent, the third signal in the MCU 1 is transmitted to the MCU 2, the third signal and the fourth signal in the MCU 2 are compared, when the third signal and the fourth signal in the MCU 2 are consistent, it indicates that the branch corresponding to the processing circuit 4 is normal, and the branch corresponding to the processing circuit 2 has a fault, at this time, the fourth signal is taken as the input signal of the MCU 2.

[0093] It should be understood that the threshold value preset when comparing whether the above signals are consistent can be the same or different, and the embodiment does not limit it. It should be understood that the above description of transmitting the signal received by the MCU 1 to the MCU 2 or transmitting the signal received by the MCU 2 to the MCU 1 is optional, and the application does not limit it, as long as the first signal output by the processing circuit 1 and the second signal output by the processing circuit 2 can be compared, and the third signal output by the processing circuit 3 and the fourth signal output by the processing circuit 4 can be compared.

[0094] The embodiment of the application can improve the reliability of signal detection and reduce safety hazards through the redundant setting of one data acquisition device corresponding to multiple processing circuits, transmitting the output signals of the multiple processing circuits to different MCUs, and setting multiple data acquisition branches. Even if there is a partial failure, the signal detection task can still run stably. In addition, the signal detection provided by the embodiment of the application only increases a small amount of resistance and capacitance, and the cost is low.

[0095] As shown in FIG. 1, an EPS structure schematic diagram provided by another embodiment of the application is shown. The EPS includes the signal detection circuit provided by the above embodiment, a first driving circuit (i.e., the driving circuit 1 shown in FIG. 2), a second driving circuit (i.e., the driving circuit 2 shown in FIG. 3), a first three-phase winding (i.e., the three-phase winding 1 shown in FIG. 4), and a second three-phase winding (i.e., the three-phase winding 2 shown in FIG. 5). Figure 5 Figure 5 Figure 5 Figure 5 Figure 5

[0096] ​​​​​In the embodiment, the first controller, the first driving circuit and the first three-phase winding in the signal detection circuit are connected in sequence; the second controller, the second driving circuit and the second three-phase winding in the signal detection circuit are connected in sequence.

[0097] As an implementation manner, two controllers can be used to control two driving circuits respectively to drive corresponding three-phase windings to work. Specifically, the output signal of the first controller is used to control the first driving circuit, and the output signal of the first driving circuit is used to drive the first three-phase winding to work. Similarly, the output signal of the second controller is used to control the second driving circuit, and the output signal of the second driving circuit is used to drive the second three-phase winding to work.

[0098] As another implementation manner, the first driving circuit and the second driving circuit can be redundant driving circuits, that is, when one of the driving circuits fails, the output signal of the other driving circuit can be used to drive two three-phase windings (i.e., the first three-phase winding and the second three-phase winding) respectively. As an implementation manner, the first driving circuit and the second driving circuit need to be communicatively connected (not shown). Specifically, when one of the driving circuits fails, the output signal of the other driving circuit is transmitted to the failed driving circuit, and the received signal is used to drive the corresponding three-phase winding to work. As another implementation manner, the output ends of the driving circuits can be connected to the two three-phase windings, that is, the output end of the first driving circuit is connected to the first three-phase winding and the second three-phase winding, and the output end of the second driving circuit is connected to the first three-phase winding and the second three-phase winding (not shown). When both of the driving circuits are normal, the corresponding three-phase windings can be driven to work according to a preset driving mode. When one of the driving circuits fails, the normal driving circuit is used to drive the two three-phase windings to work. Thus, the three-phase windings can work stably.

[0099] It should be understood that the number of three-phase windings in the embodiment is 2, which is only an exemplary description. In other embodiments, the number of three-phase windings can be set according to the working condition. As an implementation manner, the number of three-phase windings can be determined according to the number of motor windings. For example, when the motor needs 12-phase windings for driving, four three-phase windings should be set. For another example, when the motor only needs 3-phase windings for driving, only one three-phase winding is needed.

[0100] It should be understood that the determination process of the input signal in each controller is described in the above embodiment of the signal detection circuit. Therefore, it will not be described here.

[0101] In addition, the embodiments of the present application also provide a vehicle with the above-mentioned EPS, which can be any vehicle, such as a family car or a truck, etc., or a special vehicle, such as an ambulance, fire truck, police car or engineering rescue vehicle, etc.

[0102] Another embodiment of the present application provides a signal detection device, which can be implemented by a software system, a hardware device, or a combination of a software system and a hardware device.

[0103] It should be understood that Figure 6 This is only an exemplary structural diagram of a signal detection device, and this application does not limit the division of functional modules in the signal detection device. Figure 6 As shown, the signal detection device can be logically divided into multiple modules, each of which can have different functions. The functions of each module are implemented by a processor in a computing device reading and executing instructions in a memory. Exemplarily, the signal detection device includes a first control module 610, a second control module 620, a first judgment module 630, and a fourth judgment module 640. Specifically, the first control module 610 receives a first signal from a first sensor via a first processing circuit, and receives a third signal from a second sensor via a third processing circuit. The second control module 620 receives a second signal from the first sensor via a second processing circuit, and receives a fourth signal from the second sensor via a fourth processing circuit. The first judgment module 630 is configured to use the first signal or the third signal as an input signal to the first controller when the difference between the first signal and the third signal is less than a first threshold. The second judgment module 640 is configured to use the second signal or the fourth signal as an input signal to the second controller when the difference between the second signal and the fourth signal is less than a second threshold.

[0104] Optionally, the signal detection device also includes a third judgment module, which is used to use the first signal as the input signal of the first controller when the difference between the first signal and the third signal is not less than a first threshold and the difference between the first signal and the second signal is less than a third threshold.

[0105] Optionally, the signal detection device also includes a fourth judgment module, which is used to use the third signal as the input signal of the first controller when the difference between the first signal and the third signal is not less than a first threshold, and the difference between the third signal and the fourth signal is less than a fourth threshold.

[0106] Optionally, the signal detection apparatus further comprises a fifth judging module, configured to: when the second signal and the fourth signal differ by no less than a second threshold value, and the first signal and the second signal differ by less than a third threshold value, then taking the second signal as the input signal of the second controller.

[0107] Optionally, the signal detection apparatus further comprises a sixth judging module, configured to: when the second signal and the fourth signal differ by no less than a second threshold value, and the third signal and the fourth signal differ by less than a fourth threshold value, then taking the fourth signal as the input signal of the second controller.

[0108] Optionally, the first threshold value, the second threshold value, the third threshold value and the fourth threshold value can be the same or different.

[0109] The specific implementation of each functional module in this embodiment can refer to the description in the method embodiments above, and the present embodiment will not be described again.

[0110] The present embodiment also provides a computing device, comprising a processor and a memory. The memory has program instructions stored thereon, and the program instructions, when executed by the processor, cause the processor to execute the method of the corresponding embodiment, or each optional embodiment therein. Figure 2

[0111] Figure 7 is a structural schematic diagram of a computing device 900 provided by the present embodiment. The computing device 900 comprises a processor 910 and a memory 920.

[0112] It should be understood that the computing device 900 shown in the above embodiment can further comprise a communication interface 930, which can be used for communication with other devices. Figure 7

[0113] The processor 910 can be connected with the memory 920. The memory 920 can be used for storing program codes and data. Therefore, the memory 920 can be an internal storage unit of the processor 910, can be an external storage unit independent of the processor 910, or can be a component comprising the internal storage unit of the processor 910 and the external storage unit independent of the processor 910.

[0114] ​​Optionally, the computing device 900 can further include a bus. The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0115] It should be understood that the processor 910 can be a central processing unit (CPU) in the embodiments of the present application. The processor can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. Alternatively, the processor 910 can be one or more integrated circuits executing programs to implement the technical solutions provided by the embodiments of the present application.

[0116] The memory 920 can include read-only memory and random access memory, and provide instructions and data to the processor 910. A portion of the processor 910 can also include non-volatile random access memory. For example, the processor 910 can also store device type information.

[0117] When the computing device 900 is running, the processor 910 executes computer-executable instructions in the memory 920 to perform the operation steps of the signal detection method described above.

[0118] It should be understood that the computing device 900 according to the embodiments of the present application can correspond to the execution of the corresponding subject in the method according to the embodiments of the present application, and the above and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding flow of each method of the embodiments, and for brevity, will not be repeated here.

[0119] The embodiments of the present application also provide another kind of computing device, such as Figure 8Another structural schematic diagram of another computing device 1000 provided by this embodiment is shown, including a processor 1010 and interface circuit 1020, wherein the processor 1010 accesses the memory through the interface circuit 1020, the memory stores program instructions, and the program instructions make the processor execute the method of the above embodiment when executed by the processor. In addition, the computing device can also include a communication interface, a bus, etc., which can be specifically referred to Figure 7 The introduction in the embodiment shown will not be repeated. For example, the interface circuit 1020 can be a CAN bus or a LIN bus.

[0120] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0122] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be realized by other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0123] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0124] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0125] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0126] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The program is executed by a processor to perform a signal detection method. The method includes at least one of the schemes described in the above embodiments.

[0127] The computer storage medium of the embodiments of the present application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device or apparatus.

[0128] The computer readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, in which a computer readable program code is borne. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and can send, propagate or transmit a program for use by or in connection with an instruction execution system, device or apparatus.

[0129] The computer readable media on which the program code can be carried can be any appropriate media including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0130] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code 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).

[0131] It should be noted that the above-mentioned are only the preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and all belong to the protection scope of the present application.

Claims

1. A signal detection circuit, characterized by, The signal detection circuit comprises: a first processing circuit, a second processing circuit, a third processing circuit, a fourth processing circuit, a first controller, and a second controller; the first processing circuit, the second processing circuit, the third processing circuit, and the fourth processing circuit are used for filtering and voltage regulating of respective input signals; the output of the first processing circuit and the output of the third processing circuit are connected to the input of the first controller; the output of the second processing circuit and the output of the fourth processing circuit are connected to the input of the second controller; the first controller and the second controller are in communication connection; the signal detection circuit further comprises a first sensor and a second sensor; the first sensor and the second sensor are used for detecting torque signals and rotation angle signals; the output of the first sensor is connected to the input of the first processing circuit, and the output of the first sensor is also connected to the input of the second processing circuit; the output of the second sensor is connected to the input of the third processing circuit, and the output of the second sensor is also connected to the input of the fourth processing circuit.

2. The circuit of claim 1, wherein, The first processing circuit comprises a voltage regulating circuit and a filtering circuit; the input of the voltage regulating circuit is the input of the first processing circuit, and the output of the voltage regulating circuit is connected to the input of the filtering circuit; the output of the filtering circuit is the output of the first processing circuit.

3. The circuit of claim 2, wherein, The voltage regulating circuit comprises a first power supply and a first resistor; the first power supply is connected to the first resistor, and the connection between the first power supply and the first resistor is taken as the input of the voltage regulating circuit; one end of the first resistor away from the first power supply is taken as the output of the voltage regulating circuit.

4. The circuit of claim 2, wherein, The filtering circuit comprises a second resistor, a third resistor, a first capacitor, and a second capacitor; the first end of the second resistor is the input of the filtering circuit, and the second end of the second resistor is connected to the first end of the first capacitor; the first end of the third resistor is connected to the second end of the second resistor, and the second end of the third resistor is connected to the first end of the second capacitor; the second end of the first capacitor and the second end of the second capacitor are connected, and the second end of the first capacitor is also connected to a first ground terminal.

5. The circuit according to any one of claims 1 to 4, characterized in that The first controller and the second controller are also used for controlling the three-phase winding of the motor.

6. The circuit of claim 1 or 2, wherein The first processing circuit, the second processing circuit, the third processing circuit, and the fourth processing circuit are redundant processing circuits.

7. The circuit of claim 1, wherein, The first controller and the second controller are redundant controllers.

8. The circuit of claim 1, wherein, The first sensor and the second sensor are redundant sensors.

9. A signal detection method, characterized by, The signal detection circuit comprises: the first signal of the first sensor is received by the first processing circuit, and the third signal of the second sensor is received by the third processing circuit; the second signal of the first sensor is received by the second processing circuit, and the fourth signal of the second sensor is received by the fourth processing circuit; when the first signal and the third signal differ by less than a first threshold value, the first signal or the third signal is taken as the input signal of the first controller; When the second signal and the fourth signal differ by less than a second threshold, then the second signal or the fourth signal is taken as an input signal of the second controller.

10. The method of claim 9, wherein, Further comprising: When the first signal and the third signal differ by not less than a first threshold, and the first signal and the second signal differ by less than a third threshold, then the first signal is taken as an input signal of the first controller.

11. The method of claim 9, wherein, Further comprising: When the first signal and the third signal differ by not less than a first threshold, and the third signal and the fourth signal differ by less than a fourth threshold, then the third signal is taken as an input signal of the first controller.

12. The method of claim 9, wherein, Further comprising: When the second signal and the fourth signal differ by not less than a second threshold, and the first signal and the second signal differ by less than a third threshold, then the second signal is taken as an input signal of the second controller.

13. The method of claim 9, wherein, Further comprising: When the second signal and the fourth signal differ by not less than a second threshold, and the third signal and the fourth signal differ by less than a fourth threshold, then the fourth signal is taken as an input signal of the second controller.

14. A signal detection apparatus, characterized by comprising: Comprising: The first control module receives a first signal of a first sensor through a first processing circuit, and the first control module receives a third signal of a second sensor through a third processing circuit; The second control module receives a second signal of the first sensor through a second processing circuit, and the second control module receives a fourth signal of the second sensor through a fourth processing circuit; The first judging module is configured to, when the first signal and the third signal differ by less than a first threshold, take the first signal or the third signal as an input signal of the first controller. The second judging module is configured to, when the second signal and the fourth signal differ by less than a second threshold, take the second signal or the fourth signal as an input signal of the second controller.

15. The apparatus of claim 14, wherein, Further comprising: The third judging module is configured to, when the first signal and the third signal differ by not less than a first threshold, and the first signal and the second signal differ by less than a third threshold, take the first signal as an input signal of the first controller.

16. The apparatus of claim 14, wherein, Further comprising: The fourth judging module is configured to, when the first signal and the third signal differ by not less than a first threshold, and the third signal and the fourth signal differ by less than a fourth threshold, take the third signal as an input signal of the first controller.

17. The apparatus of claim 14, wherein, Further comprising: The fifth judging module is configured to, when the second signal and the fourth signal differ by not less than a second threshold, and the first signal and the second signal differ by less than a third threshold, take the second signal as an input signal of the second controller.

18. The apparatus of claim 14, wherein, Further comprising: The sixth judging module is configured to, when the second signal and the fourth signal differ by not less than a second threshold, and the third signal and the fourth signal differ by less than a fourth threshold, take the fourth signal as an input signal of the second controller.

19. A steering system characterized by, The signal detection circuit, the first driving circuit, the second driving circuit, the first three-phase winding and the second three-phase winding according to any one of claims 1-8 are comprised. The first controller in the signal detection circuit, the first driving circuit and the first three-phase winding are connected in sequence; The second controller in the signal detection circuit, the second driving circuit and the second three-phase winding are connected in sequence.

20. A vehicle characterized by comprising: A steering system comprising the steering system of claim 19.

21. A computer readable storage medium having stored thereon program instructions, wherein, The program instructions, when executed by a computer, cause the computer to perform the signal detection method of any one of claims 9-13.

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