Truck steering redundancy control method, system

Abstract

The application discloses a truck steering redundancy control method and system. The method is applied to a steering redundancy control system, the steering redundancy control system comprises a first execution end and a second execution end, the first execution end is connected with a vehicle CAN bus, the second execution end is connected with a VDCU whole vehicle control unit, and the method comprises the following steps: receiving a first control instruction of the VDCU, executing low-voltage steering control by an EHPS controller of the first execution end, and the first control instruction comprises an instruction signal of an ADCU intelligent driving control unit and the VDCU; and / or receiving a second control instruction of the VDCU, executing high-voltage steering control by a high-voltage controller of the second execution end, and the second control instruction outputs a corresponding current instruction according to a vehicle speed. The application provides a new redundancy control, and the safety of vehicle intelligent driving can be improved. The application is suitable for new energy heavy trucks.

Description

Technical Field

[0001] This application relates to the fields of automotive intelligence and autonomous driving technology, and in particular to a truck steering redundancy control method and system. Background Technology

[0002] Electro-hydraulic power steering (EHPS) is a system that uses a vehicle speed sensor to transmit vehicle speed to electronic components or the ECU. This controls the electro-hydraulic conversion device to change the power steering assist characteristics. The assist decreases as vehicle speed increases, thus increasing road feel at high speeds and achieving a good balance between easy steering at low speeds and road feel at high speeds.

[0003] In new energy heavy-duty trucks, the electro-hydraulic power steering system mostly uses hydraulic power steering or electro-hydraulic power steering. Its structure lacks redundant electronic control functions, resulting in a low level of functional safety. Furthermore, it cannot adequately meet the requirements for Level 4 autonomous driving of the entire vehicle. Summary of the Invention

[0004] This application provides a truck steering redundancy control method and system to provide redundant steering control and improve the safety of vehicles, especially heavy trucks, during steering.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a truck steering redundancy control method, wherein the method is applied to a steering redundancy control system, the steering redundancy control system including a first actuator and a second actuator, the first actuator being connected to a vehicle CAN bus, and the second actuator being connected to a VDCU vehicle control unit, the method comprising:

[0007] Upon receiving the first control command from the VDCU, the EHPS controller at the first execution end performs low-pressure steering control. The first control command includes the command signals from the ADCU intelligent driving control unit and the VDCU.

[0008] And / or,

[0009] The system receives a second control command from the VDCU and executes high-voltage steering control at the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed.

[0010] In some embodiments, the steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module.

[0011] The hardware backup redundancy module is configured to use a first battery and a second battery as dual power supply backups for the power supply end, a first ADCU and a second ADCU as dual command backups for the command end, the main and auxiliary control ends in the EHPS controller as dual steering control ends for the steering control end, the first execution end as the main power of the steering execution end and the second execution end as the auxiliary power of the steering execution end, and the main power and auxiliary power of the steering execution end as assist redundancy.

[0012] The signal backup redundancy module is configured to use the vehicle speed sensor and the VDCU to collect vehicle speed signals as dual backups and input them into the EHPS controller; and to receive the vehicle speed signal from the vehicle speed sensor and the torque and angle signals from the torque and angle sensor through the first actuator.

[0013] The network link backup redundancy module is configured such that the main link uses the first ADCU to access the main control terminal of the EHPS controller via the CAN network, and the secondary link uses the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network, in order to back up the network links.

[0014] In some embodiments, the method further includes:

[0015] When the network link backup redundancy module is working normally, the main link is working;

[0016] When the main link fails, the second ADCU inputs a signal to the secondary control terminal of the EHPS controller via the CAN network, so that the secondary control terminal of the EHPS controller sends instruction information to the main control terminal of the EHPS controller.

[0017] In some embodiments, the method further includes:

[0018] When the steering control terminal is working normally, the master control terminal in the EHPS controller acts as the master command, compares the signals of the master and slave control terminals and then issues the command, which is executed synchronously on the master and slave control terminals.

[0019] When either the master or slave controller in the EHPS controller is damaged, the undamaged one becomes the master command.

[0020] In some embodiments, the method further includes:

[0021] When the steering actuator is working normally, the first actuator and the second actuator work synchronously.

[0022] When the first actuator fails, the second actuator instantly increases its output power to the maximum to ensure short-term boost function;

[0023] When the second actuator fails, the first actuator continues to perform the auxiliary output.

[0024] In some embodiments, the steering redundancy control system further includes a low-voltage steering motor that uses dual windings as a backup.

[0025] When the steering low-voltage motor is working normally, the motor's two windings are controlled by the main and auxiliary control terminals in the EHPS controller respectively;

[0026] When one of the low-voltage steering motors fails, the undamaged winding continues to operate, while the corresponding main or auxiliary controller of the EHPS controller stops working.

[0027] In some embodiments, receiving a first control command from the VDCU vehicle control unit and executing low-pressure steering control at the EHPS controller on the first execution end includes:

[0028] It receives the first control command from the VDCU vehicle control unit, as well as the vehicle speed signal collected by the vehicle speed sensor, and the torque and angle signals collected by the torque and angle sensors.

[0029] The main and auxiliary control terminals in the EHPS controller at the first execution end verify the instructions in the first ADCU and output the assist current to drive the steering low-voltage motor.

[0030] Upon receiving the second control command from the VDCU, the high-voltage controller at the second execution terminal performs high-voltage steering control. The second control command outputs a corresponding current command based on the vehicle speed, including:

[0031] The system receives a second control command from the VDCU based on the vehicle speed. The high-voltage controller at the second execution end outputs a high-voltage steering control current to drive the high-voltage steering motor to change its speed output. The high-voltage steering motor drives the steering oil pump to provide power assist.

[0032] Secondly, embodiments of this application also provide a truck steering redundancy control device, which is applied to a steering redundancy control system. The steering redundancy control system includes a first actuator and a second actuator. The first actuator is connected to the vehicle CAN bus, and the second actuator is connected to the VDCU vehicle control unit. The device includes:

[0033] The first receiving and executing module is used to receive the first control command of the VDCU and execute low-pressure steering control at the EHPS controller at the first executing end. The first control command includes the command signal of the ADCU intelligent driving control unit and the VDCU.

[0034] The second receiving and executing module is used to receive the second control command of the VDCU, and execute high-voltage steering control on the high-voltage controller at the second execution end. The second control command outputs a corresponding current command according to the vehicle speed.

[0035] Thirdly, embodiments of this application also provide a steering redundancy control system, wherein the system includes:

[0036] The VDCU (Vehicle Control Unit) is connected to the vehicle's CAN bus.

[0037] The first ADCU and the second ADCU, which are connected to the vehicle's CAN bus, serve as dual backups for the command end.

[0038] A first actuator and a second actuator are connected. The first actuator is connected to the vehicle's CAN bus, and the second actuator is connected to the VDCU (Vehicle Control Unit).

[0039] The system receives a first control command from the VDCU vehicle control unit and performs low-pressure steering control at the EHPS controller at the first execution end. The first control command includes command signals from the ADCU intelligent driving control unit and the VDCU.

[0040] And / or,

[0041] The system receives a second control command from the VDCU and executes high-voltage steering control at the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed.

[0042] In some embodiments, the system further includes:

[0043] The signal backup end collects vehicle speed signals through the vehicle speed sensor and the VDCU respectively as dual backups, and inputs them into the EHPS controller;

[0044] At the network link end, the main network link uses the first ADCU to access the main control terminal of the EHPS controller via the CAN network, and the secondary network link uses the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network, so as to back up the network link;

[0045] On the power backup side, the first battery and the second battery are connected to the power supply side via the battery controller to serve as a dual power backup.

[0046] Fourthly, embodiments of this application also provide an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the above-described method.

[0047] Fifthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the above-described method.

[0048] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: The first and second execution terminals in the steering redundancy control system, connected to the vehicle CAN bus and the second execution terminal connected to the VDCU vehicle control unit, serve as the hardware carrier for implementing steering redundancy control. The steering redundancy control system receives a first control command from the VDCU and executes low-pressure steering control at the EHPS controller of the first execution terminal according to the first control command. The first control command received at the low-pressure steering control terminal includes command signals from the ADCU intelligent driving control unit and the VDCU command signal, and does not affect the high-pressure steering control. If the low-pressure steering control terminal malfunctions or is damaged, power steering output can continue to be achieved at the high-pressure steering control terminal, unaffected by the low-pressure terminal.

[0049] Furthermore, the steering redundancy control system receives a second control command from the VDCU and executes high-voltage steering control on the high-voltage controller according to the second control command. The second control command received at the high-voltage steering control terminal can output a corresponding current command based on the vehicle speed, and there is a high-low voltage redundancy relationship between the high-voltage steering control terminal and the low-voltage steering control terminal. If the high-voltage steering control terminal is abnormal or damaged, redundancy can be achieved through the low-voltage steering control terminal. Through the redundancy structure, truck steering redundancy control is realized. Attached Figure Description

[0050] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0051] Figure 1 This is a schematic diagram of the hardware system structure of the truck steering redundancy control method in the embodiments of this application;

[0052] Figure 2 This is a flowchart illustrating the truck steering redundancy control method in an embodiment of this application.

[0053] Figure 3 This is a schematic diagram of the truck steering redundancy control device in the embodiments of this application;

[0054] Figure 4 This is a schematic diagram of the truck steering redundancy control system in an embodiment of this application;

[0055] Figure 5This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0057] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0058] like Figure 1 The diagram shown is a hardware system architecture diagram of the truck steering redundancy control method in an embodiment of this application, including:

[0059] VDCU (Vehicle Control Unit): The vehicle control unit, which collects and transmits vehicle signals.

[0060] ADCU (Automated Driving Control Unit)_01: Intelligent driving control unit, outputs steering execution commands.

[0061] ADCU (Automated Driving Control Unit)_02: Intelligent driving control unit, outputs steering execution commands.

[0062] The high-pressure actuator includes a high-pressure controller: which controls the output torque of the steering high-pressure motor; a steering high-pressure motor: the power source for the oil pump, which outputs torque to drive the oil pump; and a steering oil pump: which provides hydraulic power to push the steering gear.

[0063] The low-voltage actuator includes the EHPS (Electronic Control Steering System) controller: a steering controller that outputs assist current; and the low-voltage steering motor: a drive for the steering input shaft that provides assistance.

[0064] Battery controller: Distributes power and ensures power supply. It includes: Battery 1: provides low-voltage power supply; Battery 2: provides low-voltage power supply.

[0065] Torque and angle sensor: provides torque and angle signals.

[0066] Vehicle speed sensor: Provides vehicle speed signal.

[0067] Steering gear: Performs steering transmission.

[0068] The aforementioned hardware structure includes, but is not limited to, hardware redundancy backup, signal backup, and network link backup.

[0069] This application provides a truck steering redundancy control method, such as... Figure 2 The diagram shows a flowchart of a truck steering redundancy control method in an embodiment of this application. The method includes at least the following steps S210 to S220:

[0070] Step S210: Receive the first control command from the VDCU and execute low-pressure steering control at the EHPS controller at the first execution end. The first control command includes the command signals from the ADCU intelligent driving control unit and the VDCU.

[0071] Steering control includes both low-pressure and high-pressure actuators.

[0072] At the low-voltage actuator, such as Figure 1 The diagram mainly includes an EHPS steering controller for outputting assist current; it also includes a low-voltage steering motor for driving the steering input shaft to provide assistance. The EHPS controller at the first actuator performs low-voltage steering control. Since the first control command of the VDCU may include commands from both the ADCU (Autonomous Driving Control Unit) and the VDCU (Vehicle Control Unit), it is necessary to verify the commands from both to determine the output command.

[0073] For example, after initiating Level 4 autonomous driving, the ADCU (Advanced Driver Controller Unit) makes decisions and outputs corresponding autonomous driving control commands based on the sensing results from the positioning and perception module. Simultaneously, the VDCU (Vehicle Control Unit) also sends the collected VDCU signals to the EHPS (Electronic Health System) controller.

[0074] Furthermore, the inputs to the EHPS controller also include data from the torque angle sensor and the vehicle speed sensor. Finally, the EHPS controller generates the final steering control command to control the low-voltage steering motor to provide the corresponding speed to drive the steering gear.

[0075] Step S220: Receive the second control command from the VDCU, and execute high-voltage steering control on the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed.

[0076] At the high-voltage actuator, such as Figure 1 The main components shown include a high-voltage controller for controlling the output torque of the steering high-voltage motor; the steering high-voltage motor for serving as a power source for the oil pump, outputting torque to drive the oil pump; and the steering oil pump for providing hydraulic power assist to drive the steering gear.

[0077] For example, at the high-voltage execution end, the VDCU vehicle control unit outputs different current commands according to the vehicle speed, and then the high-voltage controller executes the current output according to the commands to ensure high voltage during steering. The motor outputs variable speed; this strategy mainly considers that different vehicle speeds require different power, and adjusts the motor speed according to demand to reduce overall vehicle power consumption.

[0078] Unlike related technologies, electro-hydraulic power steering systems lack redundant electronic control functions. Using the method described above, the steering actuator utilizes the high-pressure booster as the primary force and the low-pressure booster as the auxiliary force, while simultaneously creating system redundancy between high and low pressure. This enables the electro-hydraulic power steering system of the entire vehicle, especially new energy heavy-duty trucks, to possess steering redundancy control capabilities. Furthermore, the signals in the electro-hydraulic power steering system are backed up. Specifically, the vehicle speed signal, collected by the vehicle speed sensor and the drive axle-end signal from the VDCU, is provided to the EHPS controller as a dual backup, ensuring the accuracy of external input results.

[0079] Unlike related technologies, the electro-hydraulic power steering system used in new energy heavy-duty trucks cannot adequately meet the requirements of Level 4 autonomous driving. The method described above, which uses network link backup, improves the intelligent driving safety of new energy heavy-duty trucks. This allows both the main and auxiliary links to be connected to the main and auxiliary control terminals of the EHPS controller via the CAN network, thus providing link backup.

[0080] Furthermore, the hardware architecture used in the above method employs a VDCU (Vehicle Control Unit) to collect and transmit vehicle signals. ADCU_01 outputs steering execution commands, while ADCU_02 serves as a backup, also outputting steering execution commands. The command end is dual-backuped by ADCU_01 and ADCU_02. During normal operation, the main link operates. When the main link fails, ADCU_02 inputs signals to the EHPS controller's secondary controller via the CAN network. The EHPS controller's secondary controller then sends the command information to the EHPS controller's primary controller, and both continue to execute the commands.

[0081] The high-pressure actuator includes a high-pressure controller that controls the output torque of the steering high-pressure motor; the steering high-pressure motor that is the power source for the oil pump and outputs torque to drive the oil pump; and the steering oil pump that provides hydraulic power to push the steering gear.

[0082] The low-voltage actuator includes an EHPS (Electronic Control Steering System) controller: a steering controller that outputs assist current; and a low-voltage steering motor: driving the steering input shaft to provide assistance. The steering control is backed up by the primary and secondary controllers within the EHPS controller.

[0083] A battery controller is used to distribute power and ensure power supply.

[0084] In one embodiment of this application, the steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. The hardware backup redundancy module is configured to use a first battery and a second battery as dual power supply backups, a first ADCU and a second ADCU as dual command backups, the main and auxiliary control terminals in the EHPS controller as dual steering control backups, the first actuator as the main steering actuator and the second actuator as the auxiliary steering actuator, and the main steering actuator and auxiliary steering actuator as assist redundancy. The signal backup redundancy module is configured to use a vehicle speed sensor and the VDCU to collect vehicle speed signals as dual backups and input them to the EHPS controller; and to receive the vehicle speed signal from the vehicle speed sensor and the torque and angle signals from the torque and angle sensor through the first actuator. The network link backup redundancy module is configured to use the first ADCU to access the main control terminal of the EHPS controller via a CAN network for the main link, and use the second ADCU to access the auxiliary control terminal of the EHPS controller via a CAN network for the auxiliary link, thereby backing up the network link.

[0085] In practical implementation, the steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. That is, the steering redundancy control system provides redundant components, including but not limited to the EHPS controller, motor, torque and angle sensors, as well as a redundant control network architecture and a redundant control mechanism.

[0086] The hardware backup redundancy module is specifically configured as follows:

[0087] A first and a second battery are used as dual power source backups for the power supply side, and a first and a second ADCU are used as dual command source backups. The power supply side is backed up by the first and second batteries. The first battery supplies power to the main and auxiliary terminals of the EHPS controller through a battery controller, while the second battery is also connected to the battery controller. If the first battery malfunctions, the power supply will switch to the second battery.

[0088] The EHPS controller employs a dual backup of the primary and secondary control terminals as the steering control terminals. The first actuator serves as the primary power source for steering, while the second actuator serves as the secondary power source, with both providing auxiliary power for redundancy. The steering control terminal is backed up by the primary and secondary controllers within the EHPS controller. During normal operation, the primary controller acts as the master command, comparing the primary and secondary control signals and issuing commands, which are then executed synchronously. If either the primary or secondary EHPS controller fails, the other becomes the master command, continuing to drive the motor.

[0089] The signal backup redundancy module is specifically configured as follows:

[0090] The vehicle speed signal is collected by both the vehicle speed sensor and the VDCU as dual backups and input to the EHPS controller. The first actuator receives the vehicle speed signal from the vehicle speed sensor and the torque and angle signals from the torque and angle sensors. Specifically, the vehicle speed signal, collected by the vehicle speed sensor and the VDCU from the drive axle end, is provided to the EHPS controller as dual backups. Simultaneously, the torque and angle signals are integrated into a 2+2 signal source (including two torque signals and two angle signals) by the torque and angle sensors.

[0091] The network link backup redundancy module is specifically configured as follows:

[0092] The main link uses the first ADCU to access the main control terminal of the EHPS controller via a CAN network, and the secondary link uses the second ADCU to access the secondary control terminal of the EHPS controller via a CAN network, thus providing network link backup. In the main link, the first ADCU accesses the main control terminal of the EHPS controller via a CAN bus network, and in the secondary link, the second ADCU accesses the secondary control terminal of the EHPS controller via a CAN bus network, forming link backup.

[0093] During normal operation, the main link is active. When the main link fails, the second ADCU sends a signal to the EHPS controller's secondary control terminal via the CAN bus network. The EHPS controller's secondary control terminal then sends the command information to the EHPS controller's primary control terminal, and both parties continue to execute the commands.

[0094] In one embodiment of this application, the method further includes: when the network link backup redundancy module is working normally, the main link is working; when the main link is damaged, the second ADCU inputs a signal to the secondary control terminal of the EHPS controller through the CAN network, so that the secondary control terminal of the EHPS controller sends instruction information to the main control terminal of the EHPS controller.

[0095] Based on the aforementioned hardware backup redundancy module, signal backup redundancy module, and network link backup redundancy module in the steering redundancy control system, steering redundancy control is performed. When the network link backup redundancy module is working normally, the primary link operates. When the primary link fails, the second ADCU sends a signal to the secondary control terminal of the EHPS controller via the CAN network, thereby controlling the secondary control terminal of the EHPS controller to send instruction information to the primary control terminal of the EHPS controller. This ensures that instructions can continue to be executed even if the primary link fails.

[0096] In one embodiment of this application, the method further includes: when the steering control terminal is working normally, the master control terminal in the EHPS controller acts as the master command, compares the signals of the master and slave control terminals and then issues a command, which is executed synchronously on the master and slave control terminals; when either the master control terminal or the slave control terminal in the EHPS controller is damaged, the undamaged one acts as the master command.

[0097] The aforementioned steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. When the steering control terminal is working normally, the master control terminal in the EHPS controller acts as the master command, compares the signals from the master and slave control terminals, and then issues a command, which is executed synchronously on both the master and slave control terminals. It should be noted that comparing the signals from the master and slave control terminals determines whether the control signal is accurate; if the comparison is correct, execution is synchronized on both terminals.

[0098] Furthermore, when either the master or slave controller in the EHPS controller fails, the undamaged one takes over as the master command; that is, failure of either one will not affect the execution of the master or slave controller in the EHPS controller. This redundancy design improves the safety of intelligent driving in the vehicle.

[0099] In one embodiment of this application, the method further includes: when the steering actuator is working normally, the first actuator and the second actuator work synchronously; when the first actuator is damaged, the second actuator instantly increases its output power to the maximum to ensure short-term power assist function; when the second actuator is damaged, the first actuator continues to perform power assist output.

[0100] The aforementioned steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. When the steering actuator is working normally, the first actuator and the second actuator work synchronously.

[0101] When the first actuator fails, the second actuator instantly increases its output power to the maximum to ensure the short-term assist function. When working normally, the high and low voltage actuators work synchronously. When the high voltage end fails, the low voltage end instantly increases its output power to the maximum to ensure the short-term assist function.

[0102] Preferably, the first execution terminal outputs different current commands according to the vehicle speed, and the high-voltage controller executes the current output according to the command to ensure that the steering high-voltage motor outputs at different speeds. This strategy mainly considers that different vehicle speeds require different power, and adjusts the motor speed according to the demand in order to reduce the power consumption of the whole vehicle.

[0103] Furthermore, when the second actuator fails, the first actuator continues to perform the boost output. That is, when the low-voltage end fails, the high-voltage end continues to perform the boost output and is not affected by the low-voltage end.

[0104] In one embodiment of this application, the steering redundancy control system further includes a steering low-voltage motor that uses dual windings as backup. When the steering low-voltage motor is working normally, the two windings of the motor are controlled by the main and auxiliary control terminals in the EHPS controller respectively. When one of the windings of the steering low-voltage motor is damaged, the undamaged winding continues to work, and the corresponding main or auxiliary control terminal of the EHPS controller stops working.

[0105] During normal operation, the two windings of the motor are controlled by the main and auxiliary control terminals of the EHPS controller respectively. When one winding fails, the other winding continues to work, and the corresponding main or auxiliary control terminal of the EHPS controller stops working.

[0106] In one embodiment of this application, receiving a first control command from the VDCU vehicle control unit and executing low-pressure steering control at the EHPS controller at the first execution end includes: receiving the first control command from the VDCU vehicle control unit and vehicle speed signals collected by a vehicle speed sensor, torque signals collected by a torque angle sensor, and angle signals; verifying the command in the first ADCU at the main and auxiliary control terminals of the EHPS controller at the first execution end, and outputting an assist current to drive the low-pressure steering motor; receiving a second control command from the VDCU and executing high-pressure steering control at the high-pressure controller at the second execution end, wherein the second control command outputs a corresponding current command according to the vehicle speed, including: receiving the second control command output by the VDCU according to the vehicle speed, and outputting a high-pressure steering control current at the high-pressure controller at the second execution end to drive the high-pressure steering motor to change its speed output, wherein the high-pressure steering motor drives the steering oil pump to provide assistance.

[0107] Low-voltage actuator: The vehicle speed sensor collects the vehicle's speed, and the VDCU simultaneously sends the collected VDCU signal to the main and auxiliary terminals of the EHPS controller. The torque and angle sensors send one independent torque signal and one independent angle signal to the main and auxiliary terminals of the EHPS controller, respectively. The first battery supplies power to the main and auxiliary terminals of the EHPS controller through the battery controller. The second battery is also connected to the battery controller; if the first battery malfunctions, power will switch to the second battery. The first ADCU issues a command, triggering internal verification signals in the main and auxiliary EHPS controllers, and simultaneously outputs assist current to ensure synchronous motor operation.

[0108] High-voltage actuator: The VDCU controller outputs different current commands based on vehicle speed, and the high-voltage controller executes the current output according to the commands to ensure variable speed output of the steering high-voltage motor. This strategy primarily considers the different power requirements at different vehicle speeds, adjusting the motor speed as needed to reduce overall vehicle power consumption.

[0109] It is understandable that the high-voltage motor drives the steering pump to provide power assistance.

[0110] This application embodiment also provides a truck steering redundancy control device 300, such as Figure 3 The diagram provided illustrates the structure of a truck steering redundancy control device 300 according to an embodiment of this application. The truck steering redundancy control device 300 includes at least: a first receiving and executing module 310 and a second receiving and executing module 320, wherein:

[0111] In one embodiment of this application, the first receiving and executing module 310 is specifically used to: receive a first control command from the VDCU, and execute low-pressure steering control at the EHPS controller at the first execution end. The first control command includes the ADCU intelligent driving control unit and the command signal of the VDCU.

[0112] Steering control includes both low-pressure and high-pressure actuators.

[0113] At the low-pressure execution end, such as Figure 1 The diagram mainly includes an EHPS steering controller for outputting assist current; it also includes a low-voltage steering motor for driving the steering input shaft to provide assist. The EHPS controller at the first actuator performs low-voltage steering control. Since the first control command of the VDCU may include commands from both the ADCU (Autonomous Driving Control Unit) and the VDCU (Vehicle Control Unit), the output command needs to be determined after verifying both commands.

[0114] For example, after initiating Level 4 autonomous driving, the ADCU (Advanced Driver Controller Unit) makes decisions and outputs corresponding autonomous driving control commands based on the sensing results from the positioning and perception module. Simultaneously, the VDCU (Vehicle Control Unit) also sends the collected VDCU signals to the EHPS (Electronic Health System) controller.

[0115] Furthermore, the inputs to the EHPS controller also include data from the torque angle sensor and the vehicle speed sensor. Finally, the EHPS controller generates the final steering control command to control the low-voltage steering motor to provide the corresponding speed to drive the steering gear.

[0116] In one embodiment of this application, the second receiving and executing module 320 is specifically used to: receive the second control command of the VDCU, execute high-voltage steering control at the high-voltage controller of the second execution end, and output a corresponding current command according to the vehicle speed.

[0117] At the high-voltage actuator, such as Figure 1 The main components shown include a high-voltage controller for controlling the output torque of the steering high-voltage motor; the steering high-voltage motor for serving as a power source for the oil pump, outputting torque to drive the oil pump; and the steering oil pump for providing hydraulic power assist to drive the steering gear.

[0118] For example, at the high-voltage execution end, the VDCU vehicle control unit outputs different current commands according to the vehicle speed, and then the high-voltage controller executes the current output according to the commands to ensure high voltage during steering. The motor outputs variable speed; this strategy mainly considers that different vehicle speeds require different power, and adjusts the motor speed according to demand to reduce overall vehicle power consumption.

[0119] It is understood that the above-mentioned truck steering redundancy control device can realize each step of the truck steering redundancy control method provided in the foregoing embodiments. The relevant explanations of the truck steering redundancy control method are applicable to the truck steering redundancy control device, and will not be repeated here.

[0120] Please refer to Figure 4 This application provides a steering redundancy control system 400, wherein the system includes:

[0121] The VDCU vehicle control unit 410 is connected to the vehicle's CAN bus.

[0122] The first ADCU420 and the second ADCU430, which are connected to the vehicle's CAN bus, use the first ADCU and the second ADCU as dual backups for the command end.

[0123] A first actuator 440 and a second actuator 450 are connected, wherein the first actuator 440 is connected to the vehicle CAN bus, and the second actuator 450 is connected to the VDCU vehicle control unit 410.

[0124] The system receives a first control command from the VDCU vehicle control unit 410 and performs low-pressure steering control at the EHPS controller of the first execution terminal 440. The first control command includes the command signals of the ADCU intelligent driving control unit and the VDCU.

[0125] And / or,

[0126] Upon receiving the second control command from the VDCU410, the high-voltage controller at the second execution terminal 450 performs high-voltage steering control, and the second control command outputs a corresponding current command based on the vehicle speed.

[0127] Please continue to refer to this. Figure 4 The VDCU (Vehicle Control Unit) 410, connected to the vehicle's CAN bus, is used to collect and transmit vehicle signals. The first ADCU 420 and the second ADCU 430, also connected to the vehicle's CAN bus, serve as dual backups for the command input. The first ADCU 420 and the second ADCU 430 are used to output steering execution commands.

[0128] The steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. The hardware backup redundancy module is configured to use a first battery and a second battery as dual power supply backups, a first ADCU420 and a second ADCU430 as dual command backups, the main and auxiliary control terminals in the EHPS controller as dual steering control backups, and the first actuator 440 as the primary steering actuator and the second actuator 450 as the secondary steering actuator, with the primary and secondary steering actuators... As an auxiliary redundancy, the signal backup redundancy module is configured to use the vehicle speed sensor and the VDCU410 to collect vehicle speed signals as dual backups and input them to the EHPS controller; and to receive the vehicle speed signal from the vehicle speed sensor and the torque and angle signals from the torque and angle sensor through the first actuator; the network link backup redundancy module is configured to use the first ADCU to access the main control terminal of the EHPS controller via the CAN network for the main link, and use the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network for the secondary link, so as to back up the network link.

[0129] The ADCU (Advanced Driver Controller Unit) (first ADCU420 and second ADCU430) makes decisions and outputs corresponding autonomous driving control commands based on the sensing results from the positioning and perception module. Simultaneously, the VDCU (Vehicle Control Unit) also sends the collected VDCU signals to the EHPS (Electronic Health System) controller.

[0130] Furthermore, the inputs to the EHPS controller also include data from the torque angle sensor and the vehicle speed sensor. Finally, the EHPS controller generates the final steering control command to control the low-voltage steering motor to provide the corresponding speed to drive the steering gear.

[0131] At the high-voltage execution end, the VDCU vehicle control unit 410 outputs different current commands according to the vehicle speed, and then the high-voltage controller executes the current output according to the command to ensure high voltage for steering. The motor outputs variable speed; this strategy mainly considers that different vehicle speeds require different power, and adjusts the motor speed according to demand to reduce overall vehicle power consumption.

[0132] Preferably, the system further includes: a signal backup terminal, which collects vehicle speed signals through the vehicle speed sensor and the VDCU respectively as dual backups and inputs them into the EHPS controller.

[0133] At the network link end, the main network link uses the first ADCU to access the main control terminal of the EHPS controller via the CAN network, and the secondary network link uses the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network, in order to back up the network link.

[0134] On the power backup side, the first battery and the second battery are connected to the power supply side via the battery controller to serve as a dual power backup.

[0135] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 5 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0136] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0137] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0138] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming a redundant control device for truck steering at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0139] Upon receiving the first control command from the VDCU, the EHPS controller at the first execution end performs low-pressure steering control. The first control command includes the command signals from the ADCU intelligent driving control unit and the VDCU.

[0140] And / or,

[0141] The system receives a second control command from the VDCU and executes high-voltage steering control at the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed.

[0142] The above is as stated in this application. Figure 1 The method for executing the truck steering redundancy control device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0143] The electronic device can also perform Figure 2 A method for executing a truck steering redundancy control device, and realizing the truck steering redundancy control device in... Figure 2 The functions of the embodiments shown are not described in detail here.

[0144] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 2 The method executed by the truck steering redundancy control device in the illustrated embodiment is specifically used to perform:

[0145] Upon receiving the first control command from the VDCU, the EHPS controller at the first execution end performs low-pressure steering control. The first control command includes the command signals from the ADCU intelligent driving control unit and the VDCU.

[0146] And / or,

[0147] The system receives a second control command from the VDCU and executes high-voltage steering control at the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed.

[0148] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0149] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0150] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0151] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0152] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0153] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0154] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0155] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0156] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0157] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A truck steering redundancy control method, wherein, The method, applied to a steering redundancy control system, includes a first actuator and a second actuator. The first actuator is connected to the vehicle's CAN bus, and the second actuator is connected to the VDCU (Vehicle Control Unit). Upon receiving the first control command from the VDCU, the EHPS controller at the first execution end performs low-pressure steering control. The first control command includes the command signals from the ADCU intelligent driving control unit and the VDCU. And / or, The system receives a second control command from the VDCU and performs high-voltage steering control on the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed. The method further includes: When the network link backup redundancy module is working normally, the main link is working; When the main link fails, the second ADCU inputs a signal to the slave control terminal of the EHPS controller via the CAN network, so that the slave control terminal of the EHPS controller sends the instruction information to the main control terminal of the EHPS controller. When the switching execution end is working normally, the first execution end and the second execution end work synchronously. When the first actuator fails, the second actuator instantly increases its output power to the maximum to ensure short-term boost function; When the second actuator fails, the first actuator continues to perform the assist output; The steering redundancy control system includes a hardware backup redundancy module, a signal backup redundancy module, and a network link backup redundancy module. The hardware backup redundancy module is configured to use a first battery and a second battery as dual power supply backups for the power supply end, a first ADCU and a second ADCU as dual command backups for the command end, the main and auxiliary control ends in the EHPS controller as dual steering control ends for the steering control end, the first execution end as the main power of the steering execution end and the second execution end as the auxiliary power of the steering execution end, and the main power and auxiliary power of the steering execution end as assist redundancy. The signal backup redundancy module is configured to use the vehicle speed sensor and the VDCU to collect vehicle speed signals as dual backups and input them into the EHPS controller; and to receive the vehicle speed signal from the vehicle speed sensor and the torque and angle signals from the torque and angle sensor through the first actuator. The network link backup redundancy module is configured such that the main link uses the first ADCU to access the main control terminal of the EHPS controller via the CAN network, and the secondary link uses the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network, in order to back up the network links.

2. The method as described in claim 1, wherein, The method further includes: When the steering control terminal is working normally, the master control terminal in the EHPS controller acts as the master command, compares the signals of the master and slave control terminals, and then issues the command, which is executed synchronously on the master and slave control terminals. When either the master or slave controller in the EHPS controller is damaged, the undamaged one becomes the master command.

3. The method as described in claim 1, wherein, The steering redundancy control system also includes a low-voltage steering motor that uses dual windings as a backup. When the steering low-voltage motor is working normally, the motor's two windings are controlled by the main and auxiliary control terminals in the EHPS controller respectively; When one of the low-voltage steering motors fails, the undamaged winding continues to operate, while the corresponding main or auxiliary controller of the EHPS controller stops working.

4. The method as described in claim 1, wherein, Receiving the first control command from the VDCU vehicle control unit, the EHPS controller at the first execution end performs low-pressure steering control, including: It receives the first control command from the VDCU vehicle control unit, as well as the vehicle speed signal collected by the vehicle speed sensor, and the torque and angle signals collected by the torque and angle sensors. The main and auxiliary control terminals in the EHPS controller at the first execution end verify the instructions in the first ADCU and output the assist current to drive the steering low-voltage motor. Upon receiving the second control command from the VDCU, the high-voltage controller at the second execution terminal performs high-voltage steering control. The second control command outputs a corresponding current command based on the vehicle speed, including: The system receives a second control command from the VDCU based on the vehicle speed. The high-voltage controller at the second execution end outputs a high-voltage steering control current to drive the high-voltage steering motor to change its speed output. The high-voltage steering motor drives the steering oil pump to provide power assist.

5. A truck steering redundancy control device, wherein, The device is applied to a steering redundancy control system, which includes a first actuator and a second actuator. The first actuator is connected to the vehicle's CAN bus, and the second actuator is connected to the VDCU (Vehicle Control Unit). The device includes: The first receiving and executing module is used to receive the first control command of the VDCU and execute low-pressure steering control at the EHPS controller at the first execution end. The first control command includes the command signal of the ADCU intelligent driving control unit and the VDCU. The second receiving and executing module is used to receive the second control command of the VDCU, and execute high-voltage steering control on the high-voltage controller at the second execution end. The second control command outputs a corresponding current command according to the vehicle speed. When the network link backup redundancy module is working normally, the main link is working; When the main link fails, the second ADCU inputs a signal to the slave control terminal of the EHPS controller via the CAN network, so that the slave control terminal of the EHPS controller sends the instruction information to the main control terminal of the EHPS controller. When the switching execution end is working normally, the first execution end and the second execution end work synchronously. When the first actuator fails, the second actuator instantly increases its output power to the maximum to ensure short-term boost function; When the second actuator fails, the first actuator continues to perform the auxiliary output.

6. A steering redundancy control system, wherein, The system includes: The VDCU (Vehicle Control Unit) is connected to the vehicle's CAN bus. The first ADCU and the second ADCU, which are connected to the vehicle's CAN bus, serve as dual backups for the command end. A first actuator and a second actuator are connected. The first actuator is connected to the vehicle's CAN bus, and the second actuator is connected to the VDCU (Vehicle Control Unit). The system receives a first control command from the VDCU vehicle control unit and performs low-pressure steering control at the EHPS controller at the first execution end. The first control command includes command signals from the ADCU intelligent driving control unit and the VDCU. And / or, The system receives a second control command from the VDCU and performs high-voltage steering control on the high-voltage controller at the second execution end. The second control command outputs a corresponding current command based on the vehicle speed. When the network link backup redundancy module is working normally, the main link is working; When the main link fails, the second ADCU inputs a signal to the slave control terminal of the EHPS controller via the CAN network, so that the slave control terminal of the EHPS controller sends the instruction information to the main control terminal of the EHPS controller. When the switching execution end is working normally, the first execution end and the second execution end work synchronously. When the first actuator fails, the second actuator instantly increases its output power to the maximum to ensure short-term boost function; When the second actuator fails, the first actuator continues to perform the auxiliary output.

7. The system of claim 6, wherein, The system also includes: The signal backup end collects vehicle speed signals through the vehicle speed sensor and the VDCU respectively as dual backups, and inputs them into the EHPS controller; At the network link end, the main network link uses the first ADCU to access the main control terminal of the EHPS controller via the CAN network, and the secondary network link uses the second ADCU to access the secondary control terminal of the EHPS controller via the CAN network, so as to back up the network link; On the power backup side, the first battery and the second battery are connected to the power supply side via the battery controller to serve as a dual power backup.

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