Redundancy Control Method, Device, Vehicle, and Medium for Vehicle EPS Controller

Abstract

The present application relates to the technical field of vehicles, and particularly relates to a redundant control method, device, vehicle and medium for a vehicle EPS controller. The method includes: obtaining the current working states of a first control unit and a second control unit, and based on the current working states of the first control unit and the second control unit, when the current vehicle meets the preset redundant control conditions, determining the boost output value of the redundant control unit according to the current working states of the first control unit and the second control unit, and controlling the redundant control unit to boost the steering system of the current vehicle based on the boost output value of the redundant control unit. Thus, the problems in the related art that the functional safety level of the control unit in the dual redundant form is relatively low and the failure redundancy ability is poor, which are likely to affect the normal output of the controller boost, are solved. By adopting a control unit in the multi-redundant form, the failure tolerance mechanism and safety level of the vehicle control unit are improved, thereby ensuring the normal and safe driving of the vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly relates to a redundant control method, device, vehicle and medium for a vehicle EPS controller. Background Art

[0002] With the rapid development of vehicle electronic technology and the increasing demand for autonomous driving, during the use of vehicles, it is becoming increasingly important to improve the safety level of vehicle steering control systems. Therefore, in order to meet the development of a new steering control system, namely the steer-by-wire system, it is necessary to further improve the safety level and failure redundancy ability of EPS (Electric Power Steering) controllers and ECUs (Electronic Control Unit), so as to improve the safety level of vehicle steering control and enable it to meet the driving safety level of L3 and above.

[0003] In related technologies, most use dual-redundant steering controllers, such as the fit10 controller of the steering system, to achieve vehicle steering control.

[0004] However, the functional safety level of dual-redundant controllers is relatively low and cannot meet the driving safety level of L3 and above. Moreover, their failure redundancy ability is poor. When a certain control module fails, it is easy to affect the output assistance of the other module, which may lead to safety problems in vehicle autonomous driving and urgently needs to be solved.

[0005] Application Content

[0006] In view of this, the present application aims to propose a redundant control method for a vehicle EPS controller. This method solves the problems in related technologies that the functional safety level of the control unit in the form of dual redundancy is relatively low and the failure redundancy ability is poor, which is likely to affect the normal output of the controller assistance. By adopting a control unit in the form of multi-redundancy, the failure tolerance mechanism and safety level of the vehicle control unit are improved, thereby ensuring the normal and safe driving of the vehicle.

[0007] To achieve the above object, the technical solution of the present application is realized as follows:

[0008] A redundant control method for a vehicle EPS controller, the EPS controller includes a first control unit, a second control unit and a redundant control unit, wherein the method includes the following steps:

[0009] Obtain the current working state of the first control unit and the current working state of the second control unit;

[0010] Based on the current working state of the first control unit and the current working state of the second control unit, determine whether the current vehicle meets the preset redundant control conditions; and

[0011] If the current vehicle meets the preset redundancy control condition, determine the assist output value of the redundancy control unit according to the current working state of the first control unit and the current working state of the second control unit, and control the redundancy control unit to assist the steering system of the current vehicle based on the assist output value of the redundancy control unit.

[0012] Further, determining whether the current vehicle meets the preset redundancy control condition based on the current working state of the first control unit and the current working state of the second control unit includes:

[0013] Based on the current working state of the first control unit, determine whether the assist output value of the first control unit is less than a first preset threshold;

[0014] And / or, based on the current working state of the second control unit, determine whether the assist output value of the second control unit is less than a second preset threshold;

[0015] If the assist output value of the first control unit is less than the first preset threshold, and / or the assist output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundancy control condition.

[0016] Further, determining the assist output value of the redundancy control unit according to the current working state of the first control unit and the current working state of the second control unit includes:

[0017] If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is not less than the second preset threshold, determine a first result of the assist output value of the redundancy control unit according to the total required assist value of the steering system and the assist output value of the second control unit;

[0018] If the assist output value of the first control unit is not less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a second result of the assist output value of the redundancy control unit according to the total required assist value of the steering system and the assist output value of the first control unit;

[0019] If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a third result of the assist output value of the redundancy control unit according to the total required assist value of the steering system.

[0020] Further, after determining that the assist output value of the first control unit is less than the first preset threshold, controlling the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit includes:

[0021] While disconnecting the first-phase protection switch and the first three-phase drive circuit corresponding to the first control unit, controlling the second-phase protection switch and the second three-phase drive circuit corresponding to the redundant control unit to close;

[0022] Based on the first result, controlling the redundant control unit to replace the first control unit to assist the steering system of the current vehicle.

[0023] Further, after determining that the assist output value of the second control unit is less than the second preset threshold, controlling the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit includes:

[0024] While disconnecting the third-phase protection switch and the third three-phase drive circuit corresponding to the second control unit, controlling the fourth-phase protection switch and the fourth three-phase drive circuit corresponding to the redundant control unit to close;

[0025] Based on the second result, controlling the redundant control unit to replace the second control unit to assist the steering system of the current vehicle.

[0026] Further, after determining that the assist output value of the first control unit is less than the first preset threshold and determining that the assist output value of the second control unit is less than the second preset threshold, controlling the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit includes:

[0027] While disconnecting the first-phase protection switch, the first three-phase drive circuit, the third-phase protection switch and the third three-phase drive circuit, controlling the second-phase protection switch, the second three-phase drive circuit, the fourth-phase protection switch and the fourth three-phase drive circuit to close;

[0028] Based on the third result, controlling the redundant control unit to replace the first control unit and the second control unit to assist the steering system of the current vehicle.

[0029] The redundancy control method of the vehicle EPS controller according to the embodiment of the present application obtains the current working states of the first control unit and the second control unit, and based on the current working states of the first control unit and the second control unit, when the current vehicle meets the preset redundancy control conditions, determines the boost output value of the redundancy control unit according to the current working states of the first control unit and the second control unit, and controls the redundancy control unit to boost the steering system of the current vehicle based on the boost output value of the redundancy control unit. Thus, the problems in the related art that the functional safety level of the control unit in the dual redundancy form is relatively low and the failure redundancy ability is poor, which are likely to affect the normal output of the controller boost, are solved. By adopting a control unit in the multi-redundancy form, the failure tolerance mechanism and safety level of the vehicle control unit are improved, and further the normal and safe driving of the vehicle is ensured.

[0030] Another object of the present application is to propose a redundancy control device for a vehicle EPS controller. This device solves the problems in the related art that the functional safety level of the control unit in the dual redundancy form is relatively low and the failure redundancy ability is poor, which are likely to affect the normal output of the controller boost. By adopting a control unit in the multi-redundancy form, the failure tolerance mechanism and safety level of the vehicle control unit are improved, and further the normal and safe driving of the vehicle is ensured.

[0031] To achieve the above object, the technical solution of the present application is implemented as follows:

[0032] A redundancy control device for a vehicle EPS controller, the EPS controller includes a first control unit, a second control unit and a redundancy control unit, and includes:

[0033] An acquisition module for acquiring the current working state of the first control unit and the current working state of the second control unit;

[0034] A judgment module for judging whether the current vehicle meets the preset redundancy control conditions based on the current working state of the first control unit and the current working state of the second control unit; and

[0035] A control module for, if the current vehicle meets the preset redundancy control conditions, determining the boost output value of the redundancy control unit according to the current working state of the first control unit and the current working state of the second control unit, and controlling the redundancy control unit to boost the steering system of the current vehicle based on the boost output value of the redundancy control unit.

[0036] Further, the judgment module is specifically used for:

[0037] Based on the current working state of the first control unit, judging whether the boost output value of the first control unit is less than a first preset threshold;

[0038] And / or, based on the current working state of the second control unit, determine whether the assist output value of the second control unit is less than a second preset threshold;

[0039] If the assist output value of the first control unit is less than the first preset threshold, and / or the assist output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundancy control condition.

[0040] Further, the control module is specifically configured to:

[0041] If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is not less than the second preset threshold, determine a first result of the assist output value of the redundancy control unit according to the total required assist value of the steering system and the assist output value of the second control unit;

[0042] If the assist output value of the first control unit is not less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a second result of the assist output value of the redundancy control unit according to the total required assist value of the steering system and the assist output value of the first control unit;

[0043] If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a third result of the assist output value of the redundancy control unit according to the total required assist value of the steering system.

[0044] Further, the control module is specifically configured to:

[0045] While disconnecting the first-phase protection switch and the first three-phase drive circuit corresponding to the first control unit, control the second-phase protection switch and the second three-phase drive circuit corresponding to the redundancy control unit to close;

[0046] Based on the first result, control the redundancy control unit to replace the first control unit to assist the steering system of the current vehicle.

[0047] Further, the control module is specifically configured to:

[0048] While disconnecting the third-phase protection switch and the third three-phase drive circuit corresponding to the second control unit, control the fourth-phase protection switch and the fourth three-phase drive circuit corresponding to the redundancy control unit to close;

[0049] Based on the second result, control the redundancy control unit to replace the second control unit to assist the steering system of the current vehicle.

[0050] Further, the control module is specifically configured to:

[0051] While disconnecting the first-phase protection switch, the first three-phase drive circuit, the third-phase protection switch, and the third three-phase drive circuit, control the second-phase protection switch, the second three-phase drive circuit, the fourth-phase protection switch, and the fourth three-phase drive circuit to close;

[0052] Based on the third result, control the redundant control unit to assist the steering system of the current vehicle instead of the first control unit and the second control unit.

[0053] The redundant control device of the vehicle EPS controller and the above-mentioned redundant control method of the vehicle EPS controller have the same advantages as those in the prior art, which will not be elaborated here.

[0054] Another object of the present application is to propose a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the program to implement the redundant control method of the vehicle EPS controller as described in the above embodiment.

[0055] Another object of the present application is to propose a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor to be used to implement the redundant control method of the vehicle EPS controller as described in the above embodiment.

[0056] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. Description of the Drawings

[0057] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0058] Figure 1 is a flowchart of the redundant control method of the vehicle EPS controller according to the embodiment of the present application;

[0059] Figure 2 is a schematic diagram of the electronic components of the three-redundancy architecture EPS controller according to an embodiment of the present application;

[0060] Figure 3 is a schematic diagram of the electronic architecture during normal operation according to an embodiment of the present application;

[0061] Figure 4Schematic diagram of the working logic when the controller 1 of an embodiment of the present application fails;

[0062] Figure 5 Schematic diagram of the working logic when the controller 2 of an embodiment of the present application fails;

[0063] Figure 6 Schematic diagram of the working logic when both the controller 1 and the controller 2 of an embodiment of the present application fail;

[0064] Figure 7 Block diagram of the redundancy control device of the vehicle EPS controller according to an embodiment of the present application;

[0065] Figure 8 Schematic diagram of the structure of the vehicle provided by an embodiment of the present application. Detailed implementation manners

[0066] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0067] The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0068] Figure 1 is a flowchart of the redundancy control method of the vehicle EPS controller according to an embodiment of the present application.

[0069] As Figure 1 shown, for the redundancy control method of the vehicle EPS controller according to an embodiment of the present application, where the EPS controller includes a first control unit, a second control unit, and a redundancy control unit, the method includes the following steps:

[0070] Step S101, obtain the current working state of the first control unit and the current working state of the second control unit.

[0071] Specifically, as Figure 2 shown, the electronic components of the three-redundancy architecture EPS controller according to an embodiment of the present application include 3 control units, a dual-winding motor, 2 torque sensors, 4 three-phase drive circuits, and a customer interface.

[0072] Among them, the 3 control units are respectively a first control unit, a second control unit, and a redundancy control unit, that is Figure 2Controllers 1, 2, and 3, among which data information is exchanged in real time through a CAN-FD (Controller Area Network with Flexible Data rate) communication protocol bus. Among them, the redundant control unit is dual-core, namely core 1 and core 2; the two torque sensors are sensor 1 and sensor 2 respectively. The first control unit is connected to sensor 1 and is used to process the information data of sensor 1. The second control unit is connected to sensor 2 and is used to process the information data of sensor 2. The redundant control unit is a backup control unit and is respectively connected to sensor 1 and sensor 2. When the first control unit or the second control unit fails, the redundant control unit reads the sensing data of the first control unit or the second control unit and replaces the first control unit or the second control unit to output corresponding assistance for the vehicle steering system; the four three-phase drive circuits are the first three-phase drive circuit (bridge 1), the second three-phase drive circuit (bridge 3), the third three-phase drive circuit (bridge 2), and the fourth three-phase drive circuit (bridge 4). Bridge 3 is controlled by core 1, and bridge 4 is controlled by core 2; the customer interface consists of CAN communication and power input.

[0073] Specifically, in the embodiment of the present application, to ensure the normal operation of the electronic component functions of the three-redundancy architecture EPS controller, it is first necessary to obtain the current working status of the first control unit and the current working status of the second control unit, so as to determine the specific control unit to be used according to the current working status of the first control unit and the current working status of the second control unit to help the vehicle steering system achieve normal assistance output.

[0074] Step S102, based on the current working status of the first control unit and the current working status of the second control unit, determine whether the current vehicle meets the preset redundant control conditions.

[0075] Further, in some embodiments, based on the current working status of the first control unit and the current working status of the second control unit, determining whether the current vehicle meets the preset redundant control conditions includes: based on the current working status of the first control unit, determining whether the assistance output value of the first control unit is less than the first preset threshold; and / or, based on the current working status of the second control unit, determining whether the assistance output value of the second control unit is less than the second preset threshold; if the assistance output value of the first control unit is less than the first preset threshold, and / or the assistance output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundant control conditions.

[0076] Among them, the first preset threshold and the second preset threshold can be assistance thresholds set by those skilled in the art according to the actual needs of the vehicle, or assistance thresholds obtained through multiple computer simulations, and no specific limitation is made here.

[0077] Specifically, based on the current working states of the first control unit and the second control unit obtained according to the embodiments of the present application, the current assist output values of the first control unit and the second control unit are respectively judged, and then whether the current vehicle meets the preset redundancy control conditions is determined according to the current assist output values of the first control unit and the second control unit.

[0078] Specifically, as Figure 3 shown, in the embodiments of the present application, if the current working states of both the first control unit and the second control unit are normal working states, the assist output value of the first control unit and the assist output value of the second control unit are respectively greater than or equal to the first preset threshold and the second preset threshold. At this time, since both the first control unit and the second control unit can normally output assistance to the vehicle, for example, each outputs 50% of the assistance to the vehicle, there is no need to use the redundancy control unit to replace the first control unit or the second control unit to output assistance. At this time, it can be judged that the current vehicle does not meet the preset redundancy control conditions.

[0079] Further, as Figures 4 to 6 shown, if any one or all of the control units in the first control unit and / or the second control unit of the embodiments of the present application fail, the assist values output by the first control unit and / or the second control unit are respectively less than the first preset threshold and the second preset threshold. At this time, since there is a situation where the first control unit and / or the second control unit cannot normally output assistance to the vehicle, the redundancy control unit needs to replace the faulty first control unit and / or the second control unit to output assistance to the steering system of the vehicle. Thus, it can be judged that the current vehicle meets the preset redundancy control conditions.

[0080] Step S103, if the current vehicle meets the preset redundancy control conditions, determine the assist output value of the redundancy control unit according to the current working states of the first control unit and the second control unit, and control the redundancy control unit to assist the steering system of the current vehicle based on the assist output value of the redundancy control unit.

[0081] Specifically, in the embodiments of the present application, if the current vehicle meets the preset redundancy control conditions, determine the assist output value of the redundancy control unit according to the current working states of the first control unit and the second control unit, and further enable the redundancy control unit to assist the steering system of the vehicle according to the assist output values of the first control unit and the second control unit.

[0082] Further, in some embodiments, determining the assist output value of the redundant control unit according to the current working state of the first control unit and the current working state of the second control unit includes: if the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is not less than the second preset threshold, determining a first result of the assist output value of the redundant control unit according to the total required assist value of the steering system and the assist output value of the second control unit; if the assist output value of the first control unit is not less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determining a second result of the assist output value of the redundant control unit according to the total required assist value of the steering system and the assist output value of the first control unit; if the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determining a third result of the assist output value of the redundant control unit according to the total required assist value of the steering system.

[0083] Specifically, in the embodiments of the present application, if the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is not less than the second preset threshold, it can be determined at this time that the first control unit fails. Then, the assist output value of the redundant control unit is determined according to the total required assist value of the steering system and the assist output value of the second control unit that does not fail, so as to obtain the first result of the assist output value of the redundant control unit. For example, if the total required assist value of the vehicle steering system is 100% and the assist output value of the second control unit is 50%, the assist output value of the redundant control unit can be obtained as 50% at this time.

[0084] Further, if the assist output value of the first control unit in the embodiments of the present application is not less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, it can be determined at this time that the second control unit fails. Then, the assist output value of the redundant control unit is determined according to the total required assist value of the steering system and the assist output value of the first control unit that does not fail, so as to obtain the second result of the assist output value of the redundant control unit. For example, if the total required assist value of the vehicle steering system is 100% and the assist output value of the first control unit is 50%, the assist output value of the redundant control unit can be obtained as 50% at this time.

[0085] Further, if the assist output value of the first control unit in the embodiment of the present application is less than the first preset threshold, and the assist output value of the second control unit is less than the second preset threshold, it can be determined at this time that both the first control unit and the second control unit have failed. Then, the assist output value of the redundant control unit is determined according to the total required assist value of the steering system, so as to obtain the third result of the assist output value of the redundant control unit. For example, the total required assist value of the vehicle steering system is 100%. Since both the first control unit and the second control unit have failed and cannot assist the vehicle's steering system, the assist output value of the redundant control unit can be obtained as 100% at this time.

[0086] Further, in some embodiments, after determining that the assist output value of the first control unit is less than the first preset threshold, the redundant control unit is controlled to assist the steering system of the current vehicle based on the assist output value of the redundant control unit, including: while disconnecting the first phase protection switch corresponding to the first control unit and the first three-phase drive circuit, controlling the second phase protection switch corresponding to the redundant control unit and the second three-phase drive circuit to close; based on the first result, controlling the redundant control unit to replace the first control unit to assist the steering system of the current vehicle.

[0087] Specifically, as Figure 4 shown, in the embodiment of the present application, after determining that the assist output value of the first control unit is less than the first preset threshold, that is, the first control unit has failed, first, according to the fault information of the first control unit, the first phase protection switch corresponding to the first control unit is disconnected and the connection between the first three-phase drive circuit and the motor is disconnected, and the PMIC1 function and the first three-phase drive circuit are turned off, so that the first control unit is in an inoperative state; secondly, while the first control unit fails, the redundant control unit obtains the fault information of the first control unit through CAN-FD communication, and at the same time turns on the second phase protection switch corresponding to the redundant control unit and starts the second three-phase drive circuit of the redundant control unit; finally, according to the first result of the assist output value of the redundant control unit, the redundant control unit is controlled to replace the first control unit to assist the steering system of the current vehicle, so that after the first control unit initially fails, the EPS steering system of the vehicle can still maintain 100% assist output.

[0088] Further, in some embodiments, after determining that the assist output value of the second control unit is less than the second preset threshold, the redundant control unit is controlled to assist the steering system of the current vehicle based on the assist output value of the redundant control unit, including: while disconnecting the third phase protection switch corresponding to the second control unit and the third three-phase drive circuit, controlling the fourth phase protection switch corresponding to the redundant control unit and the fourth three-phase drive circuit to close; based on the second result, controlling the redundant control unit to replace the second control unit to assist the steering system of the current vehicle.

[0089] Specifically, as Figure 5 shown, in the embodiment of the present application, after determining that the assist output value of the second control unit is less than the second preset threshold, that is, after the second control unit fails, first, according to the fault information of the second control unit, the third-phase protection switch corresponding to the second control unit is disconnected and the connection between the third three-phase drive circuit and the motor is disconnected, and the PMIC2 function and the third three-phase drive circuit are turned off, so that the second control unit is in an inoperative state; secondly, at the same time when the second control unit fails, the redundant control unit obtains the fault information of the second control unit through CAN-FD communication, and at the same time turns on the fourth-phase protection switch corresponding to the redundant control unit and starts the fourth three-phase drive circuit of the redundant control unit; finally, according to the second result of the assist output value of the redundant control unit, the redundant control unit is controlled to replace the second control unit to assist the steering system of the current vehicle, so that after the second control unit initially fails, the EPS steering system of the vehicle can still maintain 100% assist output.

[0090] Further, in some embodiments, after determining that the assist output value of the first control unit is less than the first preset threshold and determining that the assist output value of the second control unit is less than the second preset threshold, controlling the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit includes: disconnecting the first-phase protection switch, the first three-phase drive circuit, the third-phase protection switch and the third three-phase drive circuit, and at the same time controlling the second-phase protection switch, the second three-phase drive circuit, the fourth-phase protection switch and the fourth three-phase drive circuit to close; based on the third result, controlling the redundant control unit to replace the first control unit and the second control unit to assist the steering system of the current vehicle.

[0091] Specifically, as Figure 6As shown, in the embodiment of the present application, after determining that the assist output value of the first control unit is less than the first preset threshold and determining that the assist output value of the second control unit is less than the second preset threshold, that is, after both the first control unit and the second control unit fail, first, according to the fault information of the first control unit and the second control unit, disconnect the connection between the first-phase protection switch and the first three-phase drive circuit corresponding to the first control unit and the motor, and the connection between the third-phase protection switch and the third three-phase drive circuit corresponding to the second control unit and the motor, and turn off PMIC1, PMIC2, the first three-phase drive circuit, and the third three-phase drive circuit, so that both the first control unit and the second control unit are in a non-operating state; secondly, when the first control unit and the second control unit fail, the redundant control unit obtains the fault information of the first control unit and the second control unit through CAN-FD communication, and at the same time turns on the second-phase protection switch and the fourth-phase protection switch corresponding to the redundant control unit, and starts the second three-phase drive circuit and the fourth three-phase drive circuit of the redundant control unit; finally, control the redundant control unit to replace the first control unit and the second control unit to assist the steering system of the current vehicle according to the third result of the assist output value of the redundant control unit, so that after the first control unit and the second control unit initially fail, the EPS steering system of the vehicle can still maintain 100% assist output.

[0092] The redundant control method of the vehicle EPS controller in the embodiment of the present application obtains the current working states of the first control unit and the second control unit, and based on the current working states of the first control unit and the second control unit, determines the assist output value of the redundant control unit according to the current working states of the first control unit and the second control unit when the current vehicle meets the preset redundant control conditions, and controls the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit. Thereby, it solves the problems in the related art that the functional safety level of the control unit in the dual-redundancy form is relatively low, the failure redundancy ability is poor, and thus it is easy to affect the normal output of the controller assist. By adopting a multi-redundancy form of the control unit, the failure tolerance mechanism and safety level of the vehicle control unit are improved, and thus the normal and safe driving of the vehicle is ensured.

[0093] Further, as Figure 7 shown, the embodiment of the present application also discloses a redundant control device 10 of a vehicle EPS controller. The EPS controller includes a first control unit, a second control unit, and a redundant control unit, and it includes: an acquisition module 100, a judgment module 200, and a control module 300.

[0094] Specifically, as Figure 7 shown, the acquisition module 100 is used to acquire the current working state of the first control unit and the current working state of the second control unit;

[0095] A judgment module 200, configured to judge whether a current vehicle meets a preset redundancy control condition based on a current working state of a first control unit and a current working state of a second control unit; and

[0096] A control module 300, configured to, if the current vehicle meets the preset redundancy control condition, determine a boost output value of a redundancy control unit according to the current working state of the first control unit and the current working state of the second control unit, and control the redundancy control unit to boost the steering system of the current vehicle based on the boost output value of the redundancy control unit.

[0097] Further, the judgment module 200 is specifically configured to:

[0098] Judge whether a boost output value of the first control unit is less than a first preset threshold based on the current working state of the first control unit;

[0099] And / or judge whether a boost output value of the second control unit is less than a second preset threshold based on the current working state of the second control unit;

[0100] If the boost output value of the first control unit is less than the first preset threshold, and / or the boost output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundancy control condition.

[0101] Further, the control module 300 is specifically configured to:

[0102] If the boost output value of the first control unit is less than the first preset threshold and the boost output value of the second control unit is not less than the second preset threshold, determine a first result of the boost output value of the redundancy control unit according to the total required boost value of the steering system and the boost output value of the second control unit;

[0103] If the boost output value of the first control unit is not less than the first preset threshold and the boost output value of the second control unit is less than the second preset threshold, determine a second result of the boost output value of the redundancy control unit according to the total required boost value of the steering system and the boost output value of the first control unit;

[0104] If the boost output value of the first control unit is less than the first preset threshold and the boost output value of the second control unit is less than the second preset threshold, determine a third result of the boost output value of the redundancy control unit according to the total required boost value of the steering system.

[0105] Further, the control module 300 is specifically configured to:

[0106] While disconnecting a first phase protection switch corresponding to the first control unit and a first three-phase drive circuit, control a second phase protection switch corresponding to the redundancy control unit and a second three-phase drive circuit to close;

[0107] Based on the first result, control the redundant control unit to assist the steering system of the current vehicle instead of the first control unit.

[0108] Furthermore, the control module 300 is specifically configured to:

[0109] While disconnecting the third-phase protection switch and the third three-phase drive circuit corresponding to the second control unit, control the fourth-phase protection switch and the fourth three-phase drive circuit corresponding to the redundant control unit to close;

[0110] Based on the second result, control the redundant control unit to assist the steering system of the current vehicle instead of the second control unit.

[0111] Furthermore, the control module 300 is specifically configured to:

[0112] While disconnecting the first-phase protection switch, the first three-phase drive circuit, the third-phase protection switch and the third three-phase drive circuit, control the second-phase protection switch, the second three-phase drive circuit, the fourth-phase protection switch and the fourth three-phase drive circuit to close;

[0113] Based on the third result, control the redundant control unit to assist the steering system of the current vehicle instead of the first control unit and the second control unit.

[0114] The redundant control device of the vehicle EPS controller according to the embodiment of the present application obtains the current working states of the first control unit and the second control unit, and based on the current working states of the first control unit and the second control unit, when the current vehicle meets the preset redundant control conditions, determines the assistance output value of the redundant control unit according to the current working states of the first control unit and the second control unit, and controls the redundant control unit to assist the steering system of the current vehicle based on the assistance output value of the redundant control unit. Thus, the problems in the related art that the functional safety level of the control unit in the dual-redundancy form is relatively low, the failure redundancy ability is poor, and thus it is easy to affect the normal output of the controller assistance are solved. By adopting a multi-redundancy form of the control unit, the failure tolerance mechanism and safety level of the vehicle control unit are improved, and thus the normal and safe driving of the vehicle is guaranteed.

[0115] Figure 8 The structure diagram of the vehicle provided by the embodiment of the present application. The vehicle may include:

[0116] A memory 801, a processor 802, and a computer program stored on the memory 801 and executable on the processor 802.

[0117] When the processor 802 executes the program, it implements the redundant control method of the vehicle EPS controller provided in the above embodiment.

[0118] Further, the vehicle further includes:

[0119] A communication interface 803 for communication between the memory 801 and the processor 802.

[0120] A memory 801 for storing computer programs that can run on the processor 802.

[0121] The memory 801 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0122] If the memory 801, the processor 802, and the communication interface 803 are implemented independently, the communication interface 803, the memory 801, and the processor 802 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, 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. For the sake of representation, Figure 8 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0123] Optionally, in a specific implementation, if the memory 801, the processor 802, and the communication interface 803 are integrated on a chip, the memory 801, the processor 802, and the communication interface 803 can communicate with each other through an internal interface.

[0124] The processor 802 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0125] The embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the redundant control method of the vehicle EPS controller as described above is implemented.

[0126] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A redundant control method for a vehicle EPS controller, characterized in that The EPS controller includes a first control unit, a second control unit, and a redundant control unit. Wherein, the method includes the following steps: Obtain the current working state of the first control unit and the current working state of the second control unit; Based on the current working state of the first control unit and the current working state of the second control unit, determine whether the current vehicle meets a preset redundant control condition; and If the current vehicle meets the preset redundant control condition, determine the assist output value of the redundant control unit according to the current working state of the first control unit and the current working state of the second control unit, and control the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit.

2. The method according to claim 1, characterized in that The determining whether the current vehicle meets the preset redundant control condition based on the current working state of the first control unit and the current working state of the second control unit includes: Based on the current working state of the first control unit, determine whether the assist output value of the first control unit is less than a first preset threshold; And / or, based on the current working state of the second control unit, determine whether the assist output value of the second control unit is less than a second preset threshold; If the assist output value of the first control unit is less than the first preset threshold, and / or the assist output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundant control condition.

3. The method according to claim 2, wherein The determining the assist output value of the redundant control unit according to the current working state of the first control unit and the current working state of the second control unit includes: If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is not less than the second preset threshold, determine a first result of the assist output value of the redundant control unit according to the total required assist value of the steering system and the assist output value of the second control unit; If the assist output value of the first control unit is not less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a second result of the assist output value of the redundant control unit according to the total required assist value of the steering system and the assist output value of the first control unit; If the assist output value of the first control unit is less than the first preset threshold and the assist output value of the second control unit is less than the second preset threshold, determine a third result of the assist output value of the redundant control unit according to the total required assist value of the steering system.

4. The method according to claim 3, wherein After determining that the assist output value of the first control unit is less than the first preset threshold, the controlling the redundant control unit to assist the steering system of the current vehicle based on the assist output value of the redundant control unit includes: While disconnecting the first-phase protection switch and the first three-phase drive circuit corresponding to the first control unit, control the second-phase protection switch and the second three-phase drive circuit corresponding to the redundant control unit to close; Based on the first result, control the redundant control unit to assist the steering system of the current vehicle instead of the first control unit.

5. The method according to claim 3, characterized in that After determining that the assistance output value of the second control unit is less than the second preset threshold, the control of the redundant control unit to assist the steering system of the current vehicle based on the assistance output value of the redundant control unit includes: While disconnecting the third-phase protection switch and the third three-phase drive circuit corresponding to the second control unit, control the fourth-phase protection switch and the fourth three-phase drive circuit corresponding to the redundant control unit to close; Based on the second result, control the redundant control unit to assist the steering system of the current vehicle instead of the second control unit.

6. The method according to claim 3, wherein After determining that the assistance output value of the first control unit is less than the first preset threshold and determining that the assistance output value of the second control unit is less than the second preset threshold, the control of the redundant control unit to assist the steering system of the current vehicle based on the assistance output value of the redundant control unit includes: While disconnecting the first-phase protection switch, the first three-phase drive circuit, the third-phase protection switch and the third three-phase drive circuit, control the second-phase protection switch, the second three-phase drive circuit, the fourth-phase protection switch and the fourth three-phase drive circuit to close; Based on the third result, control the redundant control unit to assist the steering system of the current vehicle instead of the first control unit and the second control unit.

7. A redundant control device for a vehicle EPS controller, characterized in that, The EPS controller includes a first control unit, a second control unit and a redundant control unit, where, including: An acquisition module, configured to acquire the current working state of the first control unit and the current working state of the second control unit; A judgment module, configured to judge whether the current vehicle meets a preset redundant control condition based on the current working state of the first control unit and the current working state of the second control unit; and A control module, configured to if the current vehicle meets the preset redundant control condition, determine the assistance output value of the redundant control unit according to the current working state of the first control unit and the current working state of the second control unit, and control the redundant control unit to assist the steering system of the current vehicle based on the assistance output value of the redundant control unit.

8. The device according to claim 7, wherein The judgment module is specifically configured to: Based on the current working state of the first control unit, judge whether the assistance output value of the first control unit is less than a first preset threshold; And / or, based on the current working state of the second control unit, judge whether the assistance output value of the second control unit is less than a second preset threshold; If the assistance output value of the first control unit is less than the first preset threshold, and / or the assistance output value of the second control unit is less than the second preset threshold, it is determined that the current vehicle meets the preset redundant control condition.

9. A vehicle, characterized in that, Including: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the redundant control method of the vehicle EPS controller according to any one of claims 1-6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the redundant control method of the vehicle EPS controller according to any one of claims 1-6.

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