A sensor signal confirmation method and device, electronic equipment and storage medium

Abstract

The application provides a sensor signal confirmation method and device, electronic equipment and medium, and relates to the technical field of sensors. The method comprises: acquiring a first signal value and a second signal value detected by a first detection chip of a sensor, and acquiring a third signal value and a fourth signal value detected by a second detection chip of the sensor; calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value; calculating the difference between the first torque value and the second torque value to obtain a torque value difference; and confirming that the signal of the sensor is abnormal when the absolute value of the torque value difference is greater than a preset judgment value. The application can avoid potential safety risks caused by the signal reversal of the standby group detection chip, and improve the safety of user driving.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and in particular to a sensor signal confirmation method, apparatus, electronic device, and storage medium. Background Technology

[0002] The working principle of Electric Power Steering (EPS) is that the core component of EPS, the torque sensor, outputs the driver's hand force signal; the electronic control unit (ECU) analyzes and processes the driver's hand force signal and inputs a suitable current to the power steering motor; after the current is processed by other mechanisms of the steering gear, a steering force in the same direction as the driver's hand force is obtained, thus realizing electric power steering.

[0003] Mainstream torque sensors include two-channel PWM signal sensors (Pulse Width Modulation), three-channel PWM signal sensors, and four-channel SPC signal sensors (Short PWM Code).

[0004] Torque sensors may output signals in the opposite direction to the actual hand force due to complex factors in welding, calibration, assembly and other processes. For the problem of reverse assistance, the existing technology has relatively mature signal confirmation methods for two-way PWM signal sensors and three-way PWM signal sensors, but it cannot eliminate the potential risks of four-way SPC signal sensors. Summary of the Invention

[0005] Embodiments of the present invention provide a sensor signal verification method, apparatus, electronic device, and storage medium. The sensor signal verification method can detect potential risks of four-channel SPC signal sensors.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] In a first aspect, a sensor signal confirmation method is provided, characterized by comprising:

[0008] Acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor;

[0009] A first torque value is calculated based on the first signal value and the second signal value, and a second torque value is calculated based on the third signal value and the fourth signal value;

[0010] Calculate the difference between the first torque value and the second torque value to obtain the torque value difference;

[0011] If the absolute value of the torque difference is greater than a preset judgment value, the sensor signal is confirmed to be abnormal.

[0012] Optionally, the steps of calculating the first torque value based on the first signal value and the second signal value, and calculating the second torque value based on the third signal value and the fourth signal value, include:

[0013] The first torque value is calculated based on the first signal value, the second signal value, and the torque value calculation formula;

[0014] The second torque value is calculated based on the third signal value, the fourth signal value, and the torque value calculation formula.

[0015] Optionally, the steps of calculating the first torque value based on the first signal value and the second signal value, and calculating the second torque value based on the third signal value and the fourth signal value, include:

[0016] The first torque value is calculated based on the first signal value, the second signal value, and the torque value calculation formula;

[0017] The second torque value is calculated based on the third signal value, the fourth signal value, and the torque value calculation formula.

[0018] Optionally, before the steps of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor, and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor, the method further includes:

[0019] The servo motor is controlled to apply the torque value to be measured; the torque value to be measured includes the negative maximum hand force threshold and the positive maximum hand force threshold.

[0020] Optionally, the range of the preset judgment value is 0 to 0.5 Nm.

[0021] Optionally, the steps of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor, and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor, include:

[0022] Acquire the first signal value, the second signal value, the third signal value, and the fourth signal value under at least two different measured torque values;

[0023] The measured torque value and the signal value are used to establish a visual inspection table.

[0024] Optionally, after confirming the sensor signal abnormality when the absolute value of the torque difference is greater than a preset judgment value, the method further includes:

[0025] Issue an alarm message.

[0026] Optionally, the sensor includes a torque sensor with four SPC signals.

[0027] Secondly, embodiments of this application provide a sensor signal confirmation device, comprising:

[0028] The module for applying the torque value to be measured is used to apply the torque value to be measured.

[0029] The signal value acquisition module is used to acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and to acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor.

[0030] A torque value calculation module is used to calculate a first torque value based on the first signal value and the second signal value, and to calculate a second torque value based on the third signal value and the fourth signal value;

[0031] The torque value difference calculation module is used to calculate the difference between the first torque value and the second torque value to obtain the torque value difference.

[0032] The sensor anomaly confirmation module is used to confirm that the sensor signal is abnormal when the absolute value of the torque value difference is greater than a preset judgment value.

[0033] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the methods in the first aspect.

[0034] Fourthly, embodiments of this application provide a readable storage medium on which a program is stored, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0035] This application provides a sensor signal confirmation method, including: acquiring a first signal value and a second signal value detected by a first detection chip of the sensor, and acquiring a third signal value and a fourth signal value detected by a second detection chip of the sensor; calculating a first torque value based on the first signal value and the second signal value, and calculating a second torque value based on the third signal value and the fourth signal value; calculating the difference between the first torque value and the second torque value to obtain a torque value difference; and confirming that the sensor signal is abnormal if the absolute value of the torque value difference is greater than a preset judgment value. Thus, when the torque value difference is abnormally large due to the reversal of signals from either the first or second detection chip of the sensor, and the absolute value of the torque value difference is greater than the judgment value, it can confirm that the sensor is abnormal, thereby alerting the user to check or repair the sensor, avoiding potential safety risks caused by the reversal of signals from the backup detection chip, and improving the user's driving safety. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a graph showing the change in duty cycle signal of two PWM signals of a sensor provided in an embodiment of the present invention;

[0038] Figure 2 This is a flowchart illustrating a sensor signal confirmation method provided in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of a sensor signal confirmation device provided in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0043] Additionally, it should be noted that when describing the elements and embodiments thereof in this application, the articles “a,” “an,” “the,” and “the” are intended to indicate the presence of one or more elements; unless otherwise stated, “multiple” means two or more; the terms “comprising,” “including,” “containing,” and “having” are intended to be inclusive and indicate that additional elements may exist besides those listed; the terms “first,” “second,” “third,” “fourth,” etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or order of formation.

[0044] Currently, the mainstream torque sensors include two signal formats: PWM (Pulse Width Modulation) and SPC (Short PWM Code). With the development of autonomous driving technology, torque sensors are also being updated in terms of safety redundancy measures. Specifically, multiple signal outputs are used to measure the driver's hand force, such as two PWM signals (T1, T2), three PWM signals (T1, T2, T3), and four heterogeneous redundant SPC signals (T1, T2 / T3, T4), etc.

[0045] Among them, reference Figure 1 The detection principle of the two PWM signal sensors is that they output complementary duty cycle signals for the same torque value. The duty cycle is the ratio of the high-level time to the entire period within a pulse cycle. The sum of the duty cycles of T1 and T2 is 100%. According to the Hall effect principle, the two chips face opposite directions; when one chip is facing forward, the other is facing backward. Therefore, the result of simultaneously detecting the same torque value is: as the torque increases, one signal increases while the other signal decreases. Figure 1 The graph shows the change in duty cycle signals of the two PWM signal sensor inputs to the EPS controller. Figure 1In this context, TS1 represents the duty cycle of T1, and TS2 represents the duty cycle of T2. As the driver's hand force increases, TS1 gradually increases, and TS2 gradually decreases. When the driver's hand force is 0, TS1 equals TS2 and TS2 equals 50%.

[0046] The three-channel PWM signal sensor employs redundancy detection measures as follows: if either T1 or T2 fails, T3 can be directly switched over, or the T3 signal can be inverted and used as a replacement. Specifically, T1 and T2 are alternating signals, one increasing and the other decreasing. T3 is identical to one of these signals. If the faulty signal is the same as T3, T3 can be directly switched over; if the faulty signal is the opposite of T3, T3 is inverted and used as a replacement, ensuring that one signal increases and the other decreases. In addition, this type of sensor also has an algorithmic redundancy type, which operates according to a slope different from the output curves of T1 and T2. That is, T3 outputs a corresponding duty cycle signal according to a specific algorithm and a specific slope.

[0047] The sensor with four heterogeneous redundant SPC signals contains two sets of independent detection chips. The two sets of chips have usage priorities. Only when one set of chips fails will the other set of chips be activated to ensure that the sensor works normally.

[0048] During the EPS (Electric Power Supply) testing and trial production phase, torque sensors may cause the output signal direction to be opposite to the actual hand force direction due to complex factors arising from welding, calibration, and assembly processes. This results in the EPS assembly exhibiting reverse force application. EPS assemblies with torque sensors exhibiting abnormal assembly signals can often be eliminated during the testing and trial production phase because the reverse force application is readily apparent.

[0049] Even if the torque sensor with two PWM signals is installed on a real vehicle, the vehicle's dashboard will report an error when the vehicle starts, so it will not cause harm to the driver.

[0050] Similarly, due to the aforementioned complex factors, the torque sensor of the three PWM signals causes the signal output direction of T3 to be opposite to that of T1 and T2 within the algorithm logic. Therefore, in the EPS structure assembly, this manifests as reverse power assist. Since the actual vehicle detects all three signals simultaneously, an error will be reported when the vehicle starts if the signal is abnormal, thus preventing harm to the driver.

[0051] The torque sensor with four-channel SPC signals poses a potential risk. This risk lies in the fact that the sensor uses two independent chips to output the actual hand force signal. If the currently used chip set is functioning correctly, but the backup chip set has a reversed output signal, it will cause the EPS (Electric Power Steering) to reverse. This error will not be detected when the vehicle starts. If, during high-speed driving, a switch is required due to a failure in the first chip set, and the backup chip sets output a reversed signal, it will pose a serious threat to driving safety and endanger the driver's life. Current technology, during the testing and prototyping phase, can only detect if the currently used chip set has a reversed output signal problem, but cannot detect if the backup chip set has the same problem, posing a potential risk during vehicle operation.

[0052] Based on this, embodiments of this application provide a sensor signal confirmation method, referring to... Figure 2 ,include:

[0053] S101. Acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor.

[0054] The sensor signal verification method provided in this application can be applied to electronic control units (ECUs).

[0055] In this embodiment, the sensor includes a torque sensor, which is a sensor with four SPC signals.

[0056] Before the sensor detects the chip, the torque value to be measured needs to be input to the input shaft. This can be achieved through a servo motor, which can be configured to output torque. The range of the torque value to be measured is determined based on the actual EPS system and the driver's hand force. For example, with the actual hand force direction as clockwise positive and counterclockwise negative, the range of the torque value is from the negative maximum hand force threshold to the positive maximum hand force threshold. In some embodiments, the range of the torque value to be measured can be -7Nm to 7Nm; in other embodiments, the range can be -6Nm to 6Nm.

[0057] In this embodiment of the application, applying the torque value to be measured includes:

[0058] Sub-step 1: Control the motor to continuously increase the applied torque value from the negative maximum hand force threshold to the positive maximum hand force threshold; this can detect whether the signal values ​​of all torques are normal.

[0059] Alternatively, in sub-step 2, the motor is controlled to apply several preset torque values ​​to be measured. These preset torque values ​​generally include a negative maximum hand force threshold and a positive maximum hand force threshold, which can detect whether the sensor is abnormal under extreme conditions. For example, if the range of the torque value to be measured is -7Nm to 7Nm, -7Nm, -3Nm, 0Nm, 3Nm, and 7Nm can be selected. The detection of the preset torque values ​​is more accurate and the detection time is shorter, which can improve the detection efficiency.

[0060] The four-channel SPC signal sensor includes two sets of independent detection chips: one set is the current detection chip, and the other is the backup detection chip. In the event of a failure of the current detection chip, the backup detection chip will start outputting a hand force signal.

[0061] In this embodiment, the first detection chip can be the current detection chip, and the corresponding second detection chip is a backup detection chip; or, the first detection chip can be a backup detection chip, and the corresponding second detection chip is the current detection chip. This embodiment does not limit the specific detection chip.

[0062] and Figure 1 Similar to the PWM signal, the first signal value T1 and the second signal T2 detected by the first detection chip are complementary. As the torque increases, one signal value increases while the other signal value decreases. In some embodiments, as the torque increases, the first signal value increases and the second signal value decreases; in other embodiments, as the torque increases, the first signal value decreases and the second signal value increases. Which signal increases depends on the actual requirements. The following example illustrates the normal scenario where the first signal value increases and the second signal value decreases as the torque increases.

[0063] The third signal value T3 and the fourth signal value T4 detected by the second detection chip are also complementary. As the torque increases, one signal value increases while the other signal value decreases. Generally, the third signal value corresponds to the first signal value, and the fourth signal value corresponds to the second signal value.

[0064] If, as torque increases, the first signal value increases and the second signal value decreases (which is normal), then an increase in the third signal value and a decrease in the fourth signal value indicates that the second detection chip has not reversed; conversely, a decrease in the third signal value and an increase in the fourth signal value indicates that the second detection chip has reversed.

[0065] In some embodiments, the sensor signal value is a 12-bit binary number, represented in decimal, with a signal range of 0 to 4096. The sum of T1 and T2 equals 4096, and the sum of T3 and T4 equals 4096. When the input torque value is 0, the output values ​​of T1, T2, T3, and T4 are 2048. When the input torque value is negative, if the sensor is functioning normally, T1 and T3 are less than 2048, and T2 and T4 are greater than 2048. If the signal value of one of the sensor's detection chips is reversed, for example, the signal value of the second detection chip is reversed, T3 is greater than 2048, and T4 is less than 2048.

[0066] When the input torque value is positive, if the sensor is normal, T1 and T3 are greater than 2048, and T2 and T4 are less than 2048; if the signal value of one of the sensor's detection chips is reversed, for example, the signal value of the first detection chip is reversed, T1 is less than 2048, and T2 is greater than 2048.

[0067] S102. Calculate a first torque value based on the first signal value and the second signal value, and calculate a second torque value based on the third signal value and the fourth signal value.

[0068] The first torque value detected by the first detection chip is the main road hand force value T. main The second torque value detected by the second detection chip is the sub-path hand force value T. sub For example.

[0069] The formula for calculating the main road hand strength value is:

[0070]

[0071] The formula for calculating the hand strength of the child is:

[0072]

[0073] Where m is the conversion coefficient. Since T1, T2, T3 and T4 are all numerical values, m is needed to convert the numerical values ​​into torque values ​​in order to calculate the hand force value. The specific value of m is determined according to the actual sensor.

[0074] S103. Calculate the difference between the first torque value and the second torque value to obtain the torque difference. The torque difference is denoted by N, and the formula for calculating the torque difference is:

[0075] N = T main -T sub

[0076] When the sensor signal is normal, the first torque value detected by the first detection chip is equal to the torque value to be measured within the allowable error range, and the second torque value detected by the second detection chip is equal to the torque value to be measured within the allowable error range. Considering factors such as error, the difference between the first torque value and the second torque value is small, and the maximum allowable difference is generally taken as the preset judgment value.

[0077] When the signal value of one of the sensor's detection chips is reversed, for example, the second detection chip is reversed, the calculated second torque value is reversed from the first torque value. For example, if the first torque value is positive, the second torque value is negative; if the first torque value is negative, the second torque value is positive. The difference in torque values ​​is approximately twice the measured torque value, which is a large difference.

[0078] It should be noted that the two sets of chips have priorities. During the experimental phase, if the signal of the currently detecting chip is reversed, the currently detecting chip will switch to the backup detecting chip. The reversed signal of the backup detecting chip can also be detected. Even if no warning is issued during the experimental phase, there will be obvious abnormalities during vehicle startup. For example, if the motor assists to the right when turning the steering wheel to the left, the steering wheel will pull, alerting the driver to the vehicle abnormality and preventing injury to the driver.

[0079] S104. If the absolute value of the torque difference is greater than the preset judgment value, confirm that the sensor signal is abnormal.

[0080] The specific value of the preset judgment value is determined based on the actual sensor. The preset judgment value can determine whether the signal value of one of the sensor's detection chips is reversed, and it can also determine whether the force values ​​detected by the two detection chips of the sensor differ significantly.

[0081] For example, when the input torque range is -7Nm to 7Nm, the preset judgment value ε can be equal to 0.5Nm. In this case, when the difference between the main road hand force value detected by the first detection chip and the auxiliary road hand force value detected by the second detection chip is greater than 0.5Nm, the sensor may not have a signal reversal problem. However, if the error between the hand force values ​​detected by the first detection chip and the second detection chip is greater than 0.5Nm, it indicates that at least one of the detection chips has a large error and cannot be used normally.

[0082] Once an abnormal sensor signal is detected, a red indicator light can be turned on to warn of the abnormality.

[0083] It should be noted that the sensor is considered qualified if the absolute value of the torque difference is less than or equal to the preset judgment value.

[0084] The above method can be understood as a logical algorithm formula:

[0085]

[0086] When this formula holds, confirm that the sensor is qualified. When this formula does not hold, confirm that the sensor is abnormal.

[0087] The embodiment of the present application provides a method for confirming a sensor signal, including: Step S101, obtaining a first signal value and a second signal value detected by a first detection chip of the sensor, and obtaining a third signal value and a fourth signal value detected by a second detection chip of the sensor; Step S102, calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value; Step S103, calculating the difference between the first torque value and the second torque value to obtain a torque value difference; Step S104, when the absolute value of the hand force value difference is greater than a preset judgment value, confirm that the sensor signal is abnormal. In this way, when the torque value difference is abnormally large when one of the signals of the first detection chip and the second detection chip of the sensor is reversed, and the absolute value of the torque value difference is greater than the judgment value, it can be confirmed that the sensor is abnormal, thereby warning the user to check or repair the sensor, avoiding potential safety risks caused by the signal reversal of the spare group detection chip, and improving the safety of the user's driving.

[0088] Optionally, Step S102, calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value, includes:

[0089] S1021, calculating a first torque value according to the first signal value, the second signal value and the torque value calculation formula.

[0090] S1031, calculating a second hand force value according to the third signal value, the fourth signal value and the second torque value calculation formula.

[0091] In the embodiment of the present application, the first path signal value and the second path signal value detected by the detection chip are complementary. As the torque increases, one signal value increases and the other signal value decreases. The calculation formula for the torque value is:

[0092]

[0093] Where, T is the calculation result of the torque value, m is the conversion coefficient, T1 is the signal value of the first path, and T2 is the signal value of the second path.

[0094] In the embodiment of the present application, the value of m is not limited, and it is specifically determined according to the actual sensor.

[0095] In some embodiments, the sensor is a PWM sensor, and the conversion coefficient m can range from 7 / 100 (Nm / %) to 14 / 50 (Nm / %). For example, the conversion coefficient value is 14 / 75 (Nm / %). For instance, if T1 is 60.5% and T2 is 40%, the torque value calculated according to the above formula is 1.91 Nm, indicating that the steering wheel is turned to the right. As another example, if T1 is 40% and T2 is 60.5%, the torque value calculated according to the above formula is -1.91 Nm, indicating that the steering wheel is turned to the left.

[0096] For the first torque value detected by the first detection chip, T1 is the first signal value and T2 is the second signal value; for the second torque value detected by the second detection chip, T1 is the third signal value and T2 is the fourth signal value.

[0097] Taking the normal scenario where the first signal value increases and the second signal value decreases as torque increases, with m being a positive conversion coefficient, this includes the following three cases:

[0098] First, when the torque value to be measured is 0, T1 is usually calibrated to be 2048 and T2 is 2048, and the calculated torque value is 0.

[0099] Second, when the measured torque value is negative, T1 is less than 2048, T2 is greater than 2048, and the calculated torque value is less than 0.

[0100] Third, when the measured torque value is positive, T1 is greater than 2048, T2 is less than 2048, and the calculated torque value is greater than 0.

[0101] If the first and second signal values ​​detected by the detection chip are reversed, there are three possible scenarios:

[0102] First, with the torque value to be measured being 0, calibrate T1 to 2048 and T2 to 2048, and the calculated first torque value is equal to 0.

[0103] Second, when the measured torque value is negative, T1 is greater than 2048 and T2 is less than 2048, so the calculated torque value is greater than 0.

[0104] Third, when the measured torque value is positive, T1 is less than 2048, T2 is greater than 2048, and the calculated torque value is less than 0.

[0105] The first torque value is the main road hand force value T main For example, the formula for calculating the first torque value is:

[0106]

[0107] The second torque value is the hand force value T of the sub-path.sub For example, the formula for calculating the second torque value is:

[0108]

[0109] In this embodiment, step S102, calculating a first torque value based on the first signal value and the second signal value, and calculating a second torque value based on the third signal value and the fourth signal value, includes: S1021, calculating the first torque value based on the first signal value, the second signal value, and a torque value calculation formula; S1022, calculating the second hand force value based on the third signal value, the fourth signal value, and the second torque value calculation formula. This embodiment provides a specific method for obtaining torque value differences, which can confirm a problem when one of the signals from the first detection chip and the second detection chip of the sensor is reversed, thereby alerting the user to repair the sensor and avoiding potential safety risks caused by the reverse signal of the backup detection chip, thus improving the safety of the user's driving.

[0110] Optionally, before step S101, obtaining the first signal value and the second signal value detected by the first detection chip of the sensor, and obtaining the third signal value and the fourth signal value detected by the second detection chip of the sensor, the sensor signal confirmation method further includes:

[0111] The servo motor is controlled to apply the torque value to be measured; the torque value to be measured includes the negative maximum hand force threshold and the positive maximum hand force threshold.

[0112] The servo motor can be set to output a certain amount of torque.

[0113] The range of the torque value to be measured is from the negative maximum hand force threshold to the positive maximum hand force threshold.

[0114] The negative maximum hand force threshold and the positive maximum hand force threshold are determined based on the actual EPS system.

[0115] Specifically, the EPS system calculates the corresponding assist current for each hand force value within the range. The EPS system outputs the assist current to the motor, which then operates according to the assist current, thereby assisting the steering through the mechanical structure. The negative maximum hand force threshold and the positive maximum hand force threshold are determined by the EPS system.

[0116] In some embodiments, the range of the torque value to be measured can be -7Nm to 7Nm, with a negative maximum hand force threshold of -7Nm and a positive maximum hand force threshold of 7Nm; in other embodiments, the range of the torque value to be measured can be -6Nm to 6Nm, with a negative maximum hand force threshold of -6Nm and a positive maximum hand force threshold of 6Nm.

[0117] In this embodiment, the torque value to be measured includes a negative maximum hand force threshold and a positive maximum hand force threshold. This allows for the detection of whether the sensor signal is abnormal under extreme conditions, avoiding situations where the sensor signal is reversed or has a large error under extreme conditions, thus improving the safety of the user's driving.

[0118] Optionally, the preset judgment value range is 0 to 0.5 Nm.

[0119] The preset judgment value is used to confirm whether the difference in the torque value of the sensor is abnormally large. There are two situations where the torque value of the sensor is abnormally large: first, the signal of one of the detection chips of the sensor is reversed; second, the error of at least one detection chip of the sensor is large.

[0120] When the signal from one of the sensor's detection chips is reversed, the absolute value of the difference in torque values ​​is generally large. For example, when the measured torque value is 7 Nm, the difference in torque values ​​is approximately 14 Nm.

[0121] If the preset judgment value is set too high, such as 1 Nm, and the error of at least one detection chip is large—for example, if the measured torque value is 7 Nm, the first torque value is 6.2 Nm, and the second torque value is 7.1 Nm—then the sensor is essentially malfunctioning due to the large error in the first torque value. To simultaneously determine whether the error between the two detection chips of the sensor is large, the preset judgment value can be set smaller. Specifically, the higher the accuracy requirement of the detection chip, the smaller the preset judgment value can be set.

[0122] Due to the existence of error, the preset judgment value is greater than 0 and less than or equal to 0.5Nm. The preset judgment value can take the values ​​of 0.05Nm, 0.1Nm, 0.2Nm, 0.3Nm, 0.4Nm and 0.5Nm.

[0123] The specific preset judgment value is determined according to the actual detection requirements. The higher the accuracy requirement of the chip to be detected, the smaller the preset judgment value can be set. This application embodiment does not limit this.

[0124] In this embodiment, the preset judgment value ranges from 0 to 0.5 Nm. This not only confirms the problem when one of the signals from the first and second detection chips of the sensor is reversed, but also detects whether at least one detection chip of the sensor has a large error, thus improving detection efficiency.

[0125] Optionally, step S101, acquiring the first signal value and the second signal value detected by the first detection chip of the sensor, and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor, includes:

[0126] The sensor detects the first, second, third, and fourth signal values ​​when at least two different torque values ​​to be measured are obtained.

[0127] Among them, each measured torque value and each signal value are used to establish a visual inspection table.

[0128] In this embodiment, the first signal value T1 and the second signal T2 detected by the first detection chip are complementary; as the torque increases, one signal value increases while the other decreases. Similarly, the third signal value T3 and the fourth signal T4 detected by the second detection chip are complementary; as the torque increases, one signal value increases while the other decreases. Furthermore, the directions of increase and decrease for T1 and T3 are the same. If the above logic is not satisfied, it indicates that the signal of one of the sensor's detection chips is reversed; if the above logic is satisfied, it indicates that the sensor does not exhibit signal reversal in one of its detection chips.

[0129] The sensor represents the measured torque value by outputting a 12-bit binary number. Taking the midpoint zero torque output value of 2048 as a base, and using T1 and T3 increments as an example:

[0130] When the measured torque value is less than 0, the output values ​​of T1 and T3 are less than 2048 and greater than or equal to 0, and the output values ​​of T2 and T4 are greater than 2048 and less than or equal to 4096.

[0131] When the measured torque value is greater than 0, the output values ​​of T1 and T3 are greater than 2048 and less than or equal to 4096, and the output values ​​of T2 and T4 are less than 2048 and greater than or equal to 0.

[0132] This application does not limit the selection of a specific torque value to be measured. The torque value to be measured can be selected according to the actual detection requirements of the sensor. In some embodiments, the torque value to be measured may include multiple values. Taking the maximum hand force threshold of 7 Nm as an example, the hand force value to be measured may include ±7 Nm, ±3 Nm and 0; as another example, the hand force value to be measured may include ±7 Nm, ±3.5 Nm and 0.

[0133] In this embodiment, step S101, acquiring the first and second signal values ​​detected by the first detection chip of the sensor, and acquiring the third and fourth signal values ​​detected by the second detection chip of the sensor, includes: acquiring the first, second, third, and fourth signal values ​​detected by the sensor when there are at least two different torque values ​​to be measured; wherein, each torque value to be measured and each signal value is used to establish a visual inspection table. By establishing a visual inspection table, the increase or decrease of each signal value as the torque value changes can be checked, thereby quickly and roughly determining whether there is a signal reversal in one of the detection chips of the sensor.

[0134] After establishing a visual inspection checklist, a sensor output signal value comparison table can also be obtained; if the data in the visual inspection checklist does not match the output signal value comparison table, the sensor is determined to be abnormal.

[0135] The output signal reference table is a table of the range of signal values ​​obtained in the experiment. The output signal table includes the range of each signal value corresponding to the torque value to be measured. The torque value to be measured is set according to actual needs, generally including the negative maximum hand force threshold and the positive maximum hand force threshold, and may also include other torque values ​​to be measured. This application embodiment does not specifically limit this.

[0136] Table 1 shows a comparison table of output values ​​including negative maximum hand force threshold and positive maximum hand force threshold (taking 7 Nm as an example).

[0137] Table 1, Output Value Comparison Table

[0138] -7Nm 7Nm T1 [387、433] [3663、3709] T2 [3663、3709] [387、433] T3 [387、433] [3663、3709] T4 [3663、3709] [387、433]

[0139] The data in the visual inspection checklist does not match the output signal value comparison table. Specifically, this includes situations where at least one data in the visual inspection checklist does not match the signal comparison table. For example, for a measured torque value of -7 Nm, if the signal of T1 is less than 387 or greater than 433, it indicates that the first signal value is abnormal when the measured torque value is -7 Nm, and an error report, inspection, and repair are required.

[0140] In this embodiment, an output signal lookup table is used to determine whether the sensor signal is abnormal. The output signal lookup table can detect problems such as one of the sensor's detection chips having a reversed signal, or both detection chips having a reversed signal, as well as problems with large signal errors. This allows for comprehensive detection of sensor abnormalities, improving the safety of the user's driving.

[0141] Optionally, after step S104, where the absolute value of the torque difference is greater than a preset judgment value, confirming the sensor signal abnormality, the sensor signal confirmation method further includes:

[0142] Issue an alarm message.

[0143] Once an abnormal sensor signal is detected, an alarm can be triggered by illuminating a red warning light to alert the sensor of the abnormality and prevent potential safety hazards.

[0144] In some embodiments, the EPS line equipment is equipped with red, green, and yellow warning lights. A red light is used to warn of serious abnormalities. After determining that the sensor signal is abnormal, the electronic control unit (ECU) can send fault information to the EPS line. When the warning light on the EPS line equipment turns red, it can indicate that the sensor signal is abnormal, thus avoiding potential safety hazards.

[0145] Optionally, the sensor includes a torque sensor with four SPC signals.

[0146] The four-channel SPC signal torque sensor includes four heterogeneous redundant SPC signal torque sensors. The torque sensor contains two independent detection chips, and the two sets of chips have usage priorities. Only when one set of chips fails will the other set of chips be activated to ensure the normal operation of the sensor.

[0147] This invention provides a sensor signal confirmation device, with reference to... Figure 3 As shown, the device includes:

[0148] The signal value acquisition module 301 is used to acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and to acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor.

[0149] The torque value calculation module 302 is used to calculate a first torque value based on a first signal value and a second signal value, and to calculate a second torque value based on a third signal value and a fourth signal value;

[0150] The torque value difference calculation module 303 is used to calculate the difference between the first torque value and the second torque value to obtain the torque value difference.

[0151] The sensor anomaly confirmation module 304 is used to confirm that the sensor signal is abnormal when the absolute value of the torque value difference is greater than a preset judgment value.

[0152] This invention provides a sensor signal confirmation device. When the torque value difference is abnormally large due to the reversal of one of the signals of the first and second detection chips of the sensor, and the absolute value of the torque value difference is greater than the judgment value, it can be confirmed that the sensor is abnormal. This can then alert the user to repair the sensor, avoid potential safety risks caused by the reversal of the signal of the backup detection chip, and improve the safety of the user's driving.

[0153] Optionally, the torque calculation module 302 includes:

[0154] The first torque value calculation submodule is used to calculate the first torque value based on the first signal value, the second signal value, and the torque value calculation formula.

[0155] The second torque value calculation submodule is used to calculate the second torque value based on the third signal value, the fourth signal value, and the torque value calculation formula.

[0156] Optionally, the sensor signal confirmation device also includes:

[0157] The torque value application module 301 is used to control the servo motor to apply the torque value to be measured; the torque value to be measured includes the negative maximum hand force threshold and the positive maximum hand force threshold.

[0158] Optionally, the preset judgment value range is 0 to 0.5 Nm.

[0159] Optionally, the signal value acquisition module 301 is also used to acquire a first signal value, a second signal value, a third signal value and a fourth signal value detected by the sensor under at least two different torque values ​​to be measured;

[0160] Among them, each measured torque value and each signal value are used to establish a visual inspection table.

[0161] Optionally, the device further includes:

[0162] The alarm issuing module is used to issue alarm information.

[0163] Optionally, the sensor includes a torque sensor with four SPC signals.

[0164] The sensor signal confirmation device provided in this embodiment of the invention corresponds to the beneficial effects of the above method embodiment. For relevant details, please refer to the description of the method embodiment.

[0165] This invention provides an electronic device, with reference to... Figure 4 It includes: a processor 401, a memory 402, and a computer program 4021 stored in the memory and executable on the processor. When the processor 402 executes the computer program 4021, it implements the sensor signal confirmation method of the foregoing embodiment.

[0166] The present invention also provides a readable storage medium that, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to perform the sensor signal verification method of the foregoing embodiments.

[0167] As the storage medium embodiment is basically similar to the method embodiment, it is described in a relatively simple way. For relevant details, please refer to the description of the method embodiment.

[0168] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for confirming sensor signals, characterized in that, include: Acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor; A first torque value is calculated based on the first signal value and the second signal value, and a second torque value is calculated based on the third signal value and the fourth signal value. The first signal value and the second signal value are complementary, the third signal value and the fourth signal value are complementary, and the first signal value and the third signal value increase or decrease in the same direction. Calculate the difference between the first torque value and the second torque value to obtain the torque value difference; If the absolute value of the torque difference is greater than a preset judgment value, the sensor signal is confirmed to be abnormal. The steps of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor, and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor, include: Acquire the first signal value, the second signal value, the third signal value, and the fourth signal value under at least two different measured torque values; The measured torque value and the signal value are used to establish a visual inspection table, which is used to quickly determine whether the sensor has a signal reversal in one of the detection chips.

2. The method according to claim 1, characterized in that, The steps of calculating the first torque value based on the first signal value and the second signal value, and calculating the second torque value based on the third signal value and the fourth signal value, include: The first torque value is calculated based on the first signal value, the second signal value, and the torque value calculation formula; The second torque value is calculated based on the third signal value, the fourth signal value, and the torque value calculation formula.

3. The method according to claim 1, characterized in that, Before the steps of acquiring the first and second signal values ​​detected by the first detection chip of the sensor, and acquiring the third and fourth signal values ​​detected by the second detection chip of the sensor, the method further includes: The servo motor is controlled to apply the torque value to be measured; the torque value to be measured includes the negative maximum hand force threshold and the positive maximum hand force threshold.

4. The method according to claim 1, characterized in that, The range of the preset judgment value is 0~0.5Nm.

5. The method according to claim 1, characterized in that, After confirming the sensor signal abnormality when the absolute value of the torque difference is greater than a preset judgment value, the method further includes: Issue an alarm message.

6. The method according to claim 1, characterized in that, The sensor includes a torque sensor with four SPC signals.

7. A sensor signal confirmation device, characterized in that, include: The signal value acquisition module is used to acquire the first signal value and the second signal value detected by the first detection chip of the sensor, and to acquire the third signal value and the fourth signal value detected by the second detection chip of the sensor. A torque value calculation module is used to calculate a first torque value based on the first signal value and the second signal value, and to calculate a second torque value based on the third signal value and the fourth signal value, wherein the first signal value and the second signal value are complementary, the third signal value and the fourth signal value are complementary, and the first signal value and the third signal value increase or decrease in the same direction; The torque value difference calculation module is used to calculate the difference between the first torque value and the second torque value to obtain the torque value difference. The sensor anomaly confirmation module is used to confirm that the sensor signal is abnormal when the absolute value of the torque value difference is greater than a preset judgment value. The signal value acquisition module is also used to acquire the first signal value, the second signal value, the third signal value and the fourth signal value detected by the sensor under at least two different torque values ​​to be measured; The measured torque values ​​and signal values ​​are used to establish a visual inspection table, which is used to quickly determine whether the sensor has a signal reversal in one of the detection chips.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 6.

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