Vehicle electric power steering control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a vehicle electric power steering control method and device, electronic equipment and storage medium. The method comprises: determining a component type of a target component in a target vehicle; wherein the target component is used to represent a component of the target vehicle that appears steering abnormality, and the component type comprises a redundant component and a non-redundant component; determining a target electric power steering control mode adapted to the component type from candidate electric power steering control modes according to the component type of the target component; and performing electric power steering control on the target vehicle through the target electric power steering control mode. By using the present scheme, the electric power steering system comprises a redundant component and a non-redundant component, and the setting of the non-redundant component effectively reduces the manufacturing cost of the whole vehicle. Different electric power steering control modes are used according to the component type of the target component, so that different wheel speeds are generated for the wheels to realize differential steering, thereby reducing the probability of traffic accidents.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle electric power steering control method, device, electronic device and storage medium. Background Technology

[0002] Redundant electric power steering systems, through the combination of multiple redundancy schemes such as sensors, controllers, and power steering motors, achieve an extremely low failure probability of the steering system. In addition to ensuring that the car can achieve a variety of high-level autonomous driving functions, its high safety also reduces the risk of vehicle accidents.

[0003] Currently, to ensure high vehicle safety and low failure risk, electric power steering systems employ a fully redundant design. This redundancy is achieved by designing at least two copies of both the hardware and software of electronic components. In the event of a malfunction in one electronic component, a backup is used to maintain steering operation. Both the hardware and software design incur higher design and unit costs, directly increasing the overall vehicle manufacturing cost.

[0004] Therefore, how to reduce the overall vehicle manufacturing cost while ensuring safe vehicle operation is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides a method, device, electronic device, and storage medium for controlling electric power steering in vehicles, so as to reduce the overall vehicle manufacturing cost while ensuring safe vehicle operation.

[0006] In a first aspect, embodiments of the present invention provide a vehicle electric power steering control method, comprising:

[0007] Determine the component type of the target component in the target vehicle; wherein the target component is used to characterize the component in which the target vehicle exhibits steering abnormality, and the component type includes redundant components and non-redundant components;

[0008] Based on the component type of the target component, a target electric power steering control method that is compatible with the component type is determined from the candidate electric power steering control methods; wherein, different electric power steering control methods result in different steering control processing methods for the target vehicle;

[0009] The target vehicle is electrically powered by the target electric power steering control method.

[0010] Secondly, embodiments of the present invention also provide a vehicle electric power steering control device, comprising:

[0011] A component type determination module is used to determine the component type of a target component in a target vehicle; wherein, the target component is used to characterize the component in which the target vehicle exhibits steering abnormality, and the component type includes redundant components and non-redundant components;

[0012] The steering control method determination module is used to determine a target electric power steering control method that is compatible with the component type from candidate electric power steering control methods based on the component type of the target component; wherein, different electric power steering control methods result in different steering control processing methods for the target vehicle;

[0013] The steering control module is used to perform electric power steering control on the target vehicle through the target electric power steering control method.

[0014] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0015] One or more processors;

[0016] Storage device for storing one or more programs;

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle electric power steering control method according to any embodiment of the present invention.

[0018] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle electric power steering control method described in any embodiment of the present invention.

[0019] This invention provides a vehicle electric power steering control method, device, electronic device, and storage medium. The method involves determining the component type of a target component in a target vehicle; wherein the target component characterizes the component in which the target vehicle experiences steering anomalies, and the component type includes redundant components and non-redundant components; based on the component type of the target component, a target electric power steering control method adapted to the component type is determined from candidate electric power steering control methods; wherein different electric power steering control methods handle the steering of the target vehicle differently; and electric power steering control of the target vehicle is performed using the target electric power steering control method. Using the technical solution of this invention, the electric power steering system includes redundant and non-redundant components, and the inclusion of non-redundant components effectively reduces the cost of vehicle manufacturing. When the electric power steering system fails and cannot perform steering, different electric power steering control methods are used based on the component type of the abnormal target component to control the drive system and braking system to generate different wheel speeds, thereby achieving differential steering, enabling the target vehicle to safely pull over or drive safely within a certain distance, reducing the risk of vehicle accidents. Attached Figure Description

[0020] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings. The drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Figure 1 This is a flowchart of a vehicle electric power steering control method provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of a vehicle electric power steering control structure provided in an embodiment of the present invention;

[0023] Figure 3 This is a flowchart illustrating another vehicle electric power steering control method provided in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of a domain controller structure provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of a vehicle electric power steering control device provided in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0028] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations (or steps) may be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operation is completed, but may also have additional steps not included in the figures. The process may correspond to a method, function, procedure, subroutine, subroutine, etc.

[0029] The acquisition, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national laws and regulations.

[0030] Figure 1 This is a flowchart illustrating a vehicle electric power steering control method provided in this embodiment of the invention. This embodiment is applicable to situations where the electric power steering system of a vehicle is controlled. The method in this embodiment can be executed by a vehicle electric power steering control device, which can be implemented in hardware and / or software. This device can be configured in a server for vehicle electric power steering control.

[0031] Currently, to ensure high vehicle safety and low failure risk, steering systems employ a "full redundancy" design. This redundancy is achieved by creating at least two copies of both the hardware and software of electronic components. For example, a redundant steering torque and angle sensor is upgraded from two torque and one angle signal outputs to four torque and two angle signal outputs; a redundant electric power steering system controller completely replicates another hardware structure based on the existing power and signal control; and a redundant power steering motor is upgraded from a three-phase winding to a six-phase dual-winding motor. This redundant design of the electric power steering system, employing non-homogeneous redundancy to ensure vehicle functional safety requirements, incurs high design and unit costs in both hardware and software, directly increasing the overall vehicle manufacturing cost. Therefore, this invention provides a vehicle electric power steering control method to reduce overall vehicle manufacturing costs while ensuring safe driving. This method specifically includes the following steps:

[0032] S110. Determine the component type of the target component in the target vehicle.

[0033] The target component is used to characterize the part of the target vehicle that exhibits steering abnormalities. The component types include redundant components and non-redundant components. A redundant component can refer to a specific backup component. For example, see... Figure 2 The redundant components include, but are not limited to, torque angle sensors. The torque angle sensor 1 contains a backup component, torque angle sensor 2, so that when torque angle sensor 1 malfunctions, torque angle sensor 2 can be used to handle the malfunction in a timely manner.

[0034] See Figure 2 The redundant components include a torque angle sensor, a vehicle speed sensor, a CAN bus, a power supply, and a main chip. Main chip 1 is the primary controller, responsible for all steering system functions; main chip 2 is the auxiliary controller, responsible for monitoring the operating status of main chip 1. The two main chips exchange information in real time. When main chip 1 fails, main chip 2 immediately takes over all control functions, ensuring the normal operation of the electric power steering system controller. The torque angle sensor provides four torque signals and two absolute angle signals. The four torque signals are paired, and the two pairs of torque signals are cross-checked. The two absolute angle signals are cross-checked with the angle position signal output by the motor to ensure the safety of the torque and angle signals.

[0035] Non-redundant components include the pre-drive, bridge drive circuit, motor, and motor sensor. Both main chips are connected to the non-redundant components and monitor the operating status of the pre-drive and bridge drive circuit in real time. If any abnormality occurs, the main chips will issue an alarm message. The motor can be a permanent magnet synchronous three-phase winding AC brushless motor, responsible for providing steering assist torque.

[0036] As an optional but non-limiting implementation, determining the component type of the target component in the target vehicle includes, but is not limited to, steps A1-A2:

[0037] Step A1: Obtain the target attribute information of the target vehicle.

[0038] Step A2: Based on the target attribute information, determine the target component of the target vehicle that exhibits abnormal steering, and determine the component type of the target component.

[0039] The target attribute information can refer to information measuring the state of the target vehicle during steering. This target attribute information includes, but is not limited to, torque and steering angle signals, vehicle speed, wheel speed, and engine speed signals on the vehicle's CAN bus. If the target attribute information of the target vehicle is abnormal, the target component causing the abnormal steering can be identified as a redundant component. This abnormal redundant component can be at least one redundant component among the torque angle sensor, vehicle speed sensor, and CAN bus. If the target attribute information of the target vehicle is not abnormal, but the electric power steering system fails and cannot perform steering, the abnormal target component is classified as a non-redundant component. This abnormal non-redundant component can be at least one of the pre-drive, axle drive circuit, motor, and motor sensor.

[0040] S120. Based on the component type of the target component, determine the target electric power steering control method that is compatible with the component type from the candidate electric power steering control methods.

[0041] Different electric power steering control methods result in different steering control processing methods for the target vehicle; different types of target components require different electric power steering control methods.

[0042] As an optional but non-limiting implementation, determining the target electric power steering control method that matches the component type from candidate electric power steering control methods based on the component type of the target component includes, but is not limited to, steps B1-B2:

[0043] Step B1: Determine candidate electric power steering control methods for electric power steering control of the target vehicle.

[0044] Step B2: Based on the component type of the target component, select the appropriate target electric power steering control method from the candidate electric power steering control methods.

[0045] The candidate electric power steering control methods include a first electric power steering control method and a second electric power steering control method. Based on the component type of the target component, a target electric power steering control method that matches the component type is selected from the candidate electric power steering system.

[0046] As an optional but non-limiting implementation, selecting a suitable target electric power steering control method from candidate electric power steering control methods based on the component type of the target component includes:

[0047] If the target component is a redundant component, then the first electric power steering control method that is compatible with the redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method.

[0048] The first electric power steering control method refers to using a backup component to perform electric power steering control on the target vehicle in place of the target component. For example, if any abnormality is detected in any target attribute information of the target vehicle, the backup component can be used to perform steering control in place of the abnormal target component.

[0049] In one optional embodiment of the present invention, if any redundant component in the first line of redundant components malfunctions, a redundant component in the second line is used to replace the first line of redundant components for steering control of the target vehicle. For example, if the torque angle sensor 1 in the first line of redundant components fails, the second line of redundant components is used to replace all redundant components in the first line, and the redundant components in the second line are used to perform steering control of the target vehicle. The first line of redundant components includes torque angle sensor 1, vehicle speed sensor 1, and CAN bus 1, and the second line of redundant components includes torque angle sensor 2, vehicle speed sensor 2, and CAN bus 2.

[0050] In another alternative embodiment of the present invention, see Figure 3 If the second redundant component is used to control the steering of the target vehicle and the steering control operation is successfully completed, a yellow warning light will be displayed on the instrument panel. If the second redundant component fails to complete the steering control operation, a limp mode will be used to control the steering of the target vehicle. The limp mode refers to a situation where, when the target vehicle experiences a partial but minor malfunction, the steering system operates with default values ​​for the failed signal parameters for safety reasons. This has a slight impact on system performance but allows the vehicle to perform normal operations.

[0051] In another optional embodiment of the present invention, if the target vehicle cannot be steered in limp mode, a takeover request needs to be sent to the upper domain controller. The upper domain controller will then take over and implement differential steering between the wheels by controlling the braking system and the drive system to complete the steering control of the target vehicle. At the same time, the instrument panel will light up red to issue a warning.

[0052] As an optional but non-limiting implementation, the step of selecting a suitable target electric power steering control method from candidate electric power steering control methods based on the component type of the target component further includes:

[0053] If the target component is a non-redundant component, then the second electric power steering control method adapted to the non-redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method.

[0054] The second electric power steering control method involves a domain controller replacing the target component to control the electric power steering of the target vehicle. When any of the non-redundant target components malfunctions, an alarm message is sent to the domain controller, which then takes over the operation of the target component to complete the steering control of the target vehicle. For example, when a fault occurs in the pre-drive or axle drive circuit, the upper-level domain controller needs to control the braking and drive systems to perform differential steering of the wheels, thereby enabling the target vehicle to safely pull over or travel safely within a certain distance, while the instrument panel displays a red warning light for timely alert.

[0055] In this context, a domain controller can refer to the division of automotive electronics functions into several domains, such as the powertrain domain, body electronics domain, and driver assistance domain. It then utilizes the majority of functions originally belonging to individual electronic control units within a relatively centralized control domain, powered by a multi-core CPU / GPU chip, to replace the traditional distributed architecture. For example, see... Figure 4 The target vehicle's steering system, drive system, and braking system are all within the same domain control system architecture and integrated at the vehicle level. If any of the steering system, drive system, or braking system malfunctions, resources can be allocated through the domain controller to achieve cross-system redundancy.

[0056] As an optional but non-limiting implementation, the step of selecting a suitable target electric power steering control method from candidate electric power steering control methods based on the component type of the target component further includes:

[0057] If the target component is detected to be a redundant component, and the spare component of the target component is abnormal, then the second electric power steering control method among the candidate electric power steering control methods is selected as the target electric power steering control method.

[0058] If the abnormal target component is a redundant component, and the backup component of the redundant component also malfunctions, a fault message is sent to the domain controller and a takeover request is sent. For example, when main chip 1 and main chip 2 experience multiple failures, and the upper-level domain controller detects a fault in the steering system, it needs to control the braking system and drive system to perform differential steering of the wheels, issuing a warning via a red light on the instrument panel.

[0059] In one optional embodiment of the present invention, main chip 1 and main chip 2 have real-time communication function. If main chip 2 fails before main chip 1 and does not affect the normal control operation of main chip 1, but needs to send an alarm message to the upper-level domain controller, the domain controller takes over and controls the braking system and drive system to realize the differential steering function of the wheels, complete the steering control of the target vehicle, and at the same time, the instrument panel lights up a yellow light to give a warning.

[0060] S130. Perform electric power steering control on the target vehicle using the target electric power steering control method.

[0061] When the electric power steering system malfunctions, a target electric power steering control method is determined based on the type of the malfunctioning component. The target vehicle is then controlled to perform electric power steering using this method. For redundant components malfunctioning, a backup component can be used to control the electric power steering. For non-redundant components malfunctioning, fault information is provided to the upper-level domain controller. Based on the current fault information, the domain controller coordinates with the braking and drive systems to implement wheel-side differential steering, ensuring the target vehicle can pull over or travel safely within a certain distance for nearby repair and troubleshooting.

[0062] This invention provides a method for controlling electric power steering in a vehicle. The method involves determining the component type of a target component in a target vehicle. The target component characterizes the component in which the vehicle exhibits steering anomalies, and the component type includes redundant and non-redundant components. Based on the component type, a target electric power steering control method matching the component type is determined from candidate electric power steering control methods. Different electric power steering control methods result in different steering control processing methods for the target vehicle. Electric power steering control is then applied to the target vehicle using the target electric power steering control method. In this invention, the electric power steering system includes redundant and non-redundant components, and the inclusion of non-redundant components effectively reduces the cost of vehicle manufacturing. When the electric power steering system fails and cannot perform steering, different electric power steering control methods are used based on the component type of the abnormal target component. This controls the drive system and braking system to generate different wheel speeds, thereby achieving differential steering. This allows the target vehicle to safely pull over or travel safely within a certain distance, reducing the risk of vehicle accidents.

[0063] Figure 5 This is a schematic diagram of a vehicle electric power steering control device provided in an embodiment of the present invention. The device includes: a component type determination module 510, a steering control mode determination module 520, and a steering control module 530; wherein,

[0064] The component type determination module 510 is used to determine the component type of a target component in a target vehicle; wherein the target component is used to characterize the component in which the target vehicle exhibits steering abnormality, and the component type includes redundant components and non-redundant components;

[0065] The steering control mode determination module 520 is used to determine a target electric power steering control mode that is compatible with the component type from the candidate electric power steering control modes based on the component type of the target component; wherein, different electric power steering control modes have different steering control processing methods for the target vehicle.

[0066] The steering control module 530 is used to perform electric power steering control on the target vehicle through the target electric power steering control method.

[0067] Based on the above embodiments, optionally, the component type determination module includes:

[0068] Obtain target attribute information of the target vehicle, which is used to measure the state of the target vehicle when it turns.

[0069] Based on the target attribute information, the target component causing the abnormal steering of the target vehicle is determined, and the component type of the target component is determined.

[0070] Based on the above embodiments, optionally, the steering control mode determination module includes:

[0071] Determine candidate electric power steering control methods for electric power steering control of the target vehicle; wherein, the candidate electric power steering control methods include a first electric power steering control method and a second electric power steering control method;

[0072] Based on the component type of the target component, a suitable target electric power steering control method is selected from the candidate electric power steering control methods.

[0073] Optionally, based on the above embodiments, the steering control mode determination module further includes:

[0074] If the target component is a redundant component, then the first electric power steering control method that is compatible with the redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method.

[0075] The first electric power steering control method represents the use of a spare component to replace the target component for electric power steering control of the target vehicle.

[0076] Optionally, based on the above embodiments, the steering control mode determination module further includes:

[0077] If the target component is a non-redundant component, then the second electric power steering control method adapted to the non-redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method.

[0078] The second electric power steering control method is characterized by using a domain controller to replace the target component in performing electric power steering control on the target vehicle.

[0079] Based on the above embodiments, optionally, the steering control mode determination module, HIA, includes:

[0080] If the target component is detected to be a redundant component, and the spare component of the target component is abnormal, then the second electric power steering control method among the candidate electric power steering control methods is selected as the target electric power steering control method.

[0081] The vehicle electric power steering control device provided in the embodiments of the present invention can execute the vehicle electric power steering control method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the vehicle electric power steering control method. For details, please refer to the relevant operations of the vehicle electric power steering control method in the foregoing embodiments.

[0082] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0083] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0084] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0085] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle electric power steering control methods.

[0086] In some embodiments, the vehicle electric power steering control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle electric power steering control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle electric power steering control method by any other suitable means (e.g., by means of firmware).

[0087] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0089] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0090] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0091] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0092] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0093] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0094] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling electric power steering in a vehicle, characterized in that, The method includes: Determine the component type of the target component in the target vehicle; wherein the target component is used to characterize the component in which the target vehicle exhibits steering abnormality, and the component type includes redundant components and non-redundant components; Based on the component type of the target component, a target electric power steering control method that is compatible with the component type is determined from the candidate electric power steering control methods; wherein, different electric power steering control methods result in different steering control processing methods for the target vehicle; The target vehicle is electrically powered steering controlled using the target electric power steering control method. Determine candidate electric power steering control methods for electric power steering control of the target vehicle; wherein, the candidate electric power steering control methods include a first electric power steering control method and a second electric power steering control method; Based on the component type of the target component, a suitable target electric power steering control method is selected from the candidate electric power steering control methods; If the target component is a redundant component, then the first electric power steering control method that is compatible with the redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method. The first electric power steering control method represents the electric power steering control of the target vehicle by replacing the target component with a spare component. If the target component is a non-redundant component, then the second electric power steering control method adapted to the non-redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method. The second electric power steering control method is characterized by using a domain controller to replace the target component to perform electric power steering control on the target vehicle. If the target component is detected to be a redundant component, and the spare component of the target component is abnormal, then the second electric power steering control method among the candidate electric power steering control methods is selected as the target electric power steering control method.

2. The method according to claim 1, characterized in that, The determination of the component type of the target component in the target vehicle includes: Obtain target attribute information of the target vehicle, which is used to measure the state of the target vehicle when it turns. Based on the target attribute information, the target component causing the abnormal steering of the target vehicle is determined, and the component type of the target component is determined.

3. A vehicle electric power steering control device, characterized in that, The device includes: A component type determination module is used to determine the component type of a target component in a target vehicle; wherein, the target component is used to characterize the component in which the target vehicle exhibits steering abnormality, and the component type includes redundant components and non-redundant components; The steering control method determination module is used to determine a target electric power steering control method that is compatible with the component type from candidate electric power steering control methods based on the component type of the target component; wherein, different electric power steering control methods result in different steering control processing methods for the target vehicle; The steering control module is used to perform electric power steering control on the target vehicle through the target electric power steering control method; The steering control mode determination module includes: Determine candidate electric power steering control methods for electric power steering control of the target vehicle; wherein, the candidate electric power steering control methods include a first electric power steering control method and a second electric power steering control method; Based on the component type of the target component, a suitable target electric power steering control method is selected from the candidate electric power steering control methods; The steering control mode determination module further includes: If the target component is a redundant component, then the first electric power steering control method that is compatible with the redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method. The first electric power steering control method represents the electric power steering control of the target vehicle by replacing the target component with a spare component. The steering control mode determination module further includes: If the target component is a non-redundant component, then the second electric power steering control method adapted to the non-redundant component is selected from the candidate electric power steering control methods as the target electric power steering control method. The second electric power steering control method is characterized by using a domain controller to replace the target component to perform electric power steering control on the target vehicle. The steering control mode determination module further includes: If the target component is detected to be a redundant component, and the spare component of the target component is abnormal, then the second electric power steering control method among the candidate electric power steering control methods is selected as the target electric power steering control method.

4. The apparatus according to claim 3, characterized in that, The component type determination module includes: Obtain target attribute information of the target vehicle, which is used to measure the state of the target vehicle when it turns. Based on the target attribute information, the target component causing the abnormal steering of the target vehicle is determined, and the component type of the target component is determined.

5. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle electric power steering control method according to any one of claims 1-2.

6. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the vehicle electric power steering control method as described in any one of claims 1-2.

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