Control method and device of electric power steering system, vehicle and storage medium

Abstract

This application relates to the field of vehicle technology, and particularly to a control method, device, vehicle, and storage medium for an electric power steering system. The method includes: detecting and monitoring the actual state of the electric power steering system; determining at least one jump condition and its corresponding priority for the electric power steering system based on the monitored actual state, and detecting whether the electric power steering system satisfies at least one jump condition according to the corresponding priority; matching a jump strategy based on the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy. This solves the problem that related technologies lack reasonable jump logic, making it impossible to avoid bugs during product operation. By setting reasonable jump logic and jump priorities, reliable operation of the LKA system is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method and device of an electric power steering system, a vehicle and a storage medium. BACKGROUND

[0002] According to relevant investigation data, more than 39% of accidental traffic accidents in Europe, the United States and China are caused by lane deviation. High traffic accident sending probability is an important reason for the emergence of LKA (Lane Keeping Assist system).

[0003] As an executor of LKA, the EPS (Electronic Power Steering, electric power steering system) needs to develop a corresponding state machine to cooperate with the LKA high-level function of the upper machine FCM (Front Camera Module, front high-definition camera) to realize handshake, command execution, jump and function exit.

[0004] However, the related art does not set a reasonable jump logic, which cannot avoid the generation of product function runtime bugs. SUMMARY

[0005] The present application provides a control method and device of an electric power steering system, a vehicle and a storage medium to solve the problem that the related art does not set a reasonable jump logic, which cannot avoid the generation of product function runtime bugs, and sets a reasonable jump logic and sets a jump priority to realize reliable operation of the LKA system function.

[0006] The first aspect of the present application provides a control method of an electric power steering system, comprising the following steps: detecting and monitoring the actual state of the electric power steering system; determining at least one jump condition and the corresponding priority of the electric power steering system according to the monitored actual state, and detecting whether the electric power steering system meets the at least one jump condition according to the corresponding priority; and matching a jump strategy according to the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy.

[0007] Optionally, in some embodiments, the actual state is a system function opening state, a system inhibition state, a system initialization completion state, a system non-request state or a system activation state.

[0008] Optionally, in some embodiments, the determining the at least one jump condition and the corresponding priority of the electric power steering system according to the actual state comprises: in a case that the actual state is the system function on state, the at least one jump condition comprises a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; and the second jump condition is that the electric power steering system has a recoverable fault or condition or a message fault affecting the LKA system.

[0009] Optionally, in some embodiments, the determining the at least one jump condition and the corresponding priority of the electric power steering system according to the actual state comprises: in a case that the actual state is the system function on state, the at least one jump condition comprises a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; and the second jump condition is that the electric power steering system has a recoverable fault or condition or a message fault affecting the LKA system.

[0010] Optionally, in some embodiments, the determining the at least one jump condition and the corresponding priority of the electric power steering system according to the actual state comprises: in a case that the actual state is the system function on state, the at least one jump condition comprises a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; and the second jump condition is that the electric power steering system has a recoverable fault or condition or a message fault affecting the LKA system.

[0011] Optionally, in some embodiments, the determining the at least one jump condition and the corresponding priority of the electric power steering system according to the monitored actual state comprises: when the actual state is the system activation state, the at least one jump condition comprises the first jump condition, the sixth jump condition and the seventh jump condition, and the corresponding priority is that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition, wherein the sixth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system function or the electric power steering system does not meet the LKA system torque request condition or the message fault, and the seventh jump condition is that the LKA system requests to exit the condition and the electric power steering system meets the condition of executing the LKA system torque request and the message is fault-free and the electric power steering system has no fault or condition affecting the LKA system function.

[0012] Optionally, in some embodiments, the matching a jump strategy according to the at least one jump condition and controlling the electric power steering system to jump according to the jump strategy further comprises: when the at least one jump condition is the first jump condition, controlling the electric power steering system to jump to the system completion initialization state; when the at least one jump condition is the second jump condition, controlling the electric power steering system to jump to the system suppression state; when the at least one jump condition is the third jump condition, controlling the electric power steering system to jump to the system non-request state; when the at least one jump condition is the fourth jump condition, controlling the electric power steering system to jump to the system suppression state; when the at least one jump condition is the fifth jump condition, controlling the electric power steering system to jump to the system activation state; when the at least one jump condition is the sixth jump condition, controlling the electric power steering system to jump to the system suppression state; and when the at least one jump condition is the seventh jump condition, controlling the electric power steering system to jump to the system non-request state.

[0013] The second aspect embodiment of the present application provides a control device of an electric power steering system, comprising: a detection and monitoring module for detecting and monitoring an actual state of the electric power steering system; a determination module for determining at least one jump condition and a corresponding priority of the electric power steering system according to the actual state, and detecting whether the electric power steering system meets the at least one jump condition according to the corresponding priority; and a control module for matching a jump strategy according to the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy.

[0014] Optionally, in some embodiments, the actual state is a system function on state, a system inhibit state, a system initialization complete state, a system no request state, or a system active state.

[0015] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system function on state, the at least one jump condition comprises a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system, and the second jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system or a message fault.

[0016] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system inhibit state, the at least one jump condition comprises the first jump condition and a third jump condition, and the corresponding priority is that the first jump condition is superior to the third jump condition, wherein the third jump condition is that the message is fault-free and the electric power steering system is free of faults or conditions affecting the LKA system function.

[0017] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system no request state, the at least one jump condition comprises the first jump condition, a fourth jump condition, and a fifth jump condition, and the corresponding priority is that the first jump condition is superior to the fourth jump condition, and the fourth jump condition is superior to the fifth jump condition, wherein the fourth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system, or the message fault or the LKA request fault condition, and the fifth jump condition is that the LKA system requests an entry condition, and the electric power steering system meets a condition for executing the LKA system torque request, and the message is fault-free and the electric power steering system is free of faults or conditions affecting the LKA system.

[0018] Optionally, in some embodiments, when the actual state is the system active state, the at least one jump condition includes the first jump condition, a sixth jump condition and a seventh jump condition, and the corresponding priority is that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition, wherein the sixth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system function or the electric power steering system does not meet the LKA system torque request condition or the message fault, and the seventh jump condition is that the LKA system requests to exit the condition and the electric power steering system meets the condition of executing the LKA system torque request and the message is fault-free and the electric power steering system has no fault or condition affecting the LKA system function.

[0019] Optionally, in some embodiments, the control module further includes: a first jump state for controlling the electric power steering system to jump to the system initialization completion state when the at least one jump condition is a first jump condition; a second jump state for controlling the electric power steering system to jump to the system suppression state when the at least one jump condition is a second jump condition; a third jump state for controlling the electric power steering system to jump to the system non-request state when the at least one jump condition is a third jump condition; a fourth jump state for controlling the electric power steering system to jump to the system suppression state when the at least one jump condition is a fourth jump condition; a fifth jump state for controlling the electric power steering system to jump to the system active state when the at least one jump condition is a fifth jump condition; a sixth jump state for controlling the electric power steering system to jump to the system suppression state when the at least one jump condition is a sixth jump condition; and a seventh jump state for controlling the electric power steering system to jump to the system non-request state when the at least one jump condition is a seventh jump condition.

[0020] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the control method of the electric power steering system as described in the above embodiments.

[0021] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program executable by a processor to implement the control method of the electric power steering system as described in the above embodiments.

[0022] Therefore, by detecting and monitoring the actual state of the electric power steering system, determining at least one jump condition and corresponding priority of the electric power steering system according to the monitored actual state, detecting whether the electric power steering system meets the at least one jump condition according to the corresponding priority, matching a jump strategy according to the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy, the reasonable jump logic is set, the generation of product function runtime Bug is avoided, and the reasonable jump logic and the set jump priority are used to realize the reliable operation of the LKA system function.

[0023] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0025] Figure 1 A flow chart of a control method of an electric power steering system according to an embodiment of the application is provided.

[0026] Figure 2 A principle schematic diagram of a control method of an electric power steering system according to an embodiment of the application is provided.

[0027] Figure 3 A block schematic diagram of a control device of an electric power steering system according to an embodiment of the application is provided.

[0028] Figure 4 A structural schematic diagram of a vehicle according to an embodiment of the application is provided. DETAILED DESCRIPTION

[0029] The embodiments of the application are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application.

[0030] Before introducing the control method of the electric power steering system according to the embodiments of the application, the LKA system is introduced.

[0031] The LKA system can be divided into three parts: the perception layer, the decision layer, and the execution layer. The perception layer is used to collect lane line information and surrounding vehicle information. The perception layer, also known as the sensing layer, collects environmental data through radar and vision sensors and is the foundation for the realization of various driver assistance functions. The decision layer is used to determine whether lateral control is needed and calculates the torque or steering angle output to the execution layer. The execution layer is the EPS (Electric Power Steering) system. The EPS system uses a virtual driver steering torque instead of the driver steering torque monitored by the torque sensor to complete lane keeping assist driving.

[0032] In the current mainstream technical solutions, the perception layer is mostly composed of visual sensors FCM (front high-definition camera) and radar sensors FRM (front radar). The decision layer is usually integrated into the ECU (electronic controller) of the FCM (front high-definition camera). According to this mainstream technical route, the FCM is usually called the host computer, and the EPS is called the actuator.

[0033] To address the issue of insufficient jump logic in related technologies, which leads to bugs during product operation, this application provides a control method for an electric power steering system. This method detects and monitors the actual state of the electric power steering system, determines at least one jump condition and its corresponding priority based on the monitored state, checks whether the electric power steering system meets at least one jump condition according to the priority, matches a jump strategy based on the condition, and controls the electric power steering system to jump according to the strategy. Therefore, this method solves the problem of insufficient jump logic in related technologies, which prevents bugs during product operation, by establishing reasonable jump logic and setting jump priorities to ensure reliable operation of the LKA system.

[0034] Specifically, Figure 1 This is a flowchart illustrating a control method for an electric power steering system provided in an embodiment of this application.

[0035] like Figure 1 As shown, the control method of the electric power steering system includes the following steps:

[0036] In step S101, the actual state of the electric power steering system is detected and monitored.

[0037] Optionally, in some embodiments, the actual state is a system function enabled state, a system suppressed state, a system completed initialization state, a system not requested state, or a system activated state.

[0038] Specifically, such as Figure 2As shown, in the LKA system, the interaction between the EPS system and the host computer FCM has 5 working states. This application embodiment needs to detect and monitor the actual state of the electric power steering system in order to design and develop corresponding jump conditions based on these 5 working states.

[0039] In step S102, at least one jump condition and corresponding priority of the electric power steering system are determined according to the actual monitoring status, and the electric power steering system is checked to see if it meets at least one jump condition according to the corresponding priority.

[0040] It is understood that the embodiments of this application need to determine the jump conditions of the electric power steering system based on the actual monitoring status and define the priority in order to complete the system self-test, handshake with the host computer, system standby, command execution, function suppression, function exit, etc.

[0041] Specifically, in this application embodiment, seven jump conditions can be developed through five actual states, and priority definitions can be completed.

[0042] Optionally, in some embodiments, determining at least one jump condition and corresponding priority of the electric power steering system based on the actual monitored state includes: when the actual state is the system function is enabled, at least one jump condition includes: a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; the second jump condition is that the electric power steering system has a recoverable fault or condition or message fault affecting the LKA system.

[0043] Among them, the unrecoverable fault or condition affecting the LKA system in the electric power steering system can be at least one of the following: torque sensor fault, hardware fault, electrical fault, software protection fault, and unrecoverable angle sensor fault; the recoverable fault or condition or message fault affecting the LKA system in the electric power steering system can be at least one of the following: over-temperature, over-voltage, under-voltage fault, recoverable angle sensor fault, uncalibrated angle center position, CAN BUS Off, and receiving three consecutive frames of torque request exceeding the limit.

[0044] Specifically, in combination Figure 2As shown in the embodiment of this application, when the actual state is the Power up init function enabled, when determining the first jump condition T1 and the second jump condition T2, the first jump condition T1 has a higher priority than the second jump condition T2. ​​When T1 and T2 need to be satisfied simultaneously, T1 > T2 > Init. The first jump condition T1 is that the EPS has an unrecoverable fault or condition that affects the LKA function; the second jump condition T2 is that the EPS has a recoverable fault or condition or message fault that affects the LKA function.

[0045] Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system suppression state, at least one jump condition includes: a first jump condition and a third jump condition, and the corresponding priority is that the first jump condition is superior to the third jump condition, wherein the third jump condition is that the message is fault-free and the electric power steering system has no fault or condition that affects the LKA system function.

[0046] Specifically, such as Figure 2 As shown, when the actual state is a temporarily suppressed system state, the jump conditions are determined to be the first jump condition T1 and the third jump condition T3, and T1 has a higher priority than T3. That is, when the actual state is a suppressed system state, the jump conditions are determined to be the first jump condition T1, which is that the EPS has an unrecoverable fault or condition that affects the LKA function; and the third jump condition T3, which is that the message is fault-free and the EPS has no fault or condition that affects the LKA function. The first jump condition T1 is superior to the third jump condition T3.

[0047] For example, when the actual state is the system suppression state, if both T1 and T3 are satisfied, T1 is used as the jump condition; if only T3 is satisfied, T3 is used as the jump condition.

[0048] Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system-not-requested state, include at least one jump condition including: a first jump condition, a fourth jump condition, and a fifth jump condition, with the corresponding priority being that the first jump condition is superior to the fourth jump condition, and the fourth jump condition is superior to the fifth jump condition. The fourth jump condition is that the electric power steering system has a recoverable fault or condition or message fault or LKA request fault condition that affects the LKA system. The fifth jump condition is that the LKA system requests entry condition and the electric power steering system meets the condition of executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition that affects the LKA system.

[0049] The conditions under which the electric power steering system can meet the torque request of the LKA system include one or more of the following: the vehicle speed is not exceeded, the driver does not intervene and the driver does not take his hands off the wheel, and the torque request in the frame after requesting to enter the LKA function is not exceeded.

[0050] Specifically, such as Figure 2 As shown, when the actual state is "no request" and the system is not requesting, the jump conditions are determined as the first jump condition T1, the fourth jump condition T4, and the fifth jump condition T5, with T1 being superior to T4 and T4 being superior to T5. That is, when the actual state is "no request", the jump conditions are determined as follows: the first jump condition T1 is that the EPS has an unrecoverable fault or condition affecting the LKA function; the fourth jump condition T4 is that the EPS has a recoverable fault or condition affecting the LKA function, or a message fault, or an LKA request fault condition; the fifth jump condition T5 is that the LKA request enters and the EPS meets the condition for executing the LKA torque request, and the message is fault-free and the EPS has no fault or condition affecting the LKA function, with the first jump condition being superior to the fourth jump condition and the fourth jump condition being superior to the fifth jump condition.

[0051] For example, when the actual state is a system-unrequested state, if T1, T4, and T5 are all satisfied, then T1 will be used as the jump condition according to priority; if T4 and T5 are satisfied, then T4 will be used as the jump condition; if only T5 is satisfied, then T5 will be used as the jump condition.

[0052] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system active state, at least one jump condition includes: a first jump condition, a sixth jump condition, and a seventh jump condition, with the corresponding priority being that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition. The sixth jump condition is that the electric power steering system has a recoverable fault or condition that affects the LKA system function, or the electric power steering system does not meet the LKA system torque request condition or message fault. The seventh jump condition is that the LKA system requests to exit and the electric power steering system meets the condition for executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition that affects the LKA system function.

[0053] The conditions under which the electric power steering system does not meet the torque request of the LKA system may include one or more of the following: vehicle speed exceeding the limit, driver intervention, driver taking hands off the wheel, and torque request exceeding the limit in the frame after requesting to enter the LKA function.

[0054] Specifically, such as Figure 2As shown, when the actual state is the 'request honored' system active state, the jump conditions are determined as the first jump condition T1, the sixth jump condition T6, and the seventh jump condition T7, with the corresponding priority being T1 being superior to T6, and T6 being superior to T7. That is, when the actual state is the system active state, the jump conditions are determined as follows: the first jump condition T1 is that the EPS has an unrecoverable fault or condition affecting the LKA function; the sixth jump condition T6 is that the EPS does not have a recoverable fault or condition affecting the LKA function, or the EPS meets the condition for executing the LKA torque request, or the message is faulty; the seventh jump condition T7 is that the LKA request exit condition and the EPS meets the condition for executing the LKA torque request and the message is fault-free and the EPS has no fault or condition affecting the LKA function, and the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition.

[0055] For example, when the actual state is the system active state, if T1, T6 and T7 are satisfied at the same time, then T1 is used as the jump condition according to the priority order; if T6 and T7 are satisfied at the same time, then T6 is used as the jump condition according to the priority order; if only T7 is satisfied, then T7 is used as the jump condition.

[0056] In step S103, a jump strategy is matched according to at least one jump condition, and the electric power steering system is controlled to jump according to the jump strategy.

[0057] Specifically, such as Figure 2 As shown, in this embodiment of the application, the corresponding jump action needs to be executed according to the jump condition, and the jump strategy needs to be matched according to the jump condition, so as to control the electric power steering system to jump according to the jump strategy.

[0058] Optionally, in some embodiments, matching a jump strategy according to at least one jump condition and controlling the electric power steering system to jump according to the jump strategy further includes: when at least one jump condition is a first jump condition, controlling the electric power steering system to jump to the system initialization state; when at least one jump condition is a second jump condition, controlling the electric power steering system to jump to the system suppression state; when at least one jump condition is a third jump condition, controlling the electric power steering system to jump to the system unrequested state; when at least one jump condition is a fourth jump condition, controlling the electric power steering system to jump to the system suppression state; when at least one jump condition is a fifth jump condition, controlling the electric power steering system to jump to the system activation state; when at least one jump condition is a sixth jump condition, controlling the electric power steering system to jump to the system suppression state; and when at least one jump condition is a seventh jump condition, controlling the electric power steering system to jump to the system unrequested state.

[0059] Specifically, such as Figure 2As shown, when the determined condition is the first jump condition, the electric power steering system is controlled to jump to the system initialization completed state; when the determined condition is the second jump condition, the electric power steering system is controlled to jump to the system suppression state; when the determined condition is the third jump condition, the electric power steering system is controlled to jump to the system not requested state; when the determined condition is the fourth jump condition, the electric power steering system is controlled to jump to the system suppression state; when the determined condition is the fifth jump condition, the electric power steering system is controlled to jump to the system activation state; when the determined condition is the sixth jump condition, the electric power steering system is controlled to jump to the system suppression state; and when the determined condition is the seventh jump condition, the electric power steering system is controlled to jump to the system not requested state.

[0060] Therefore, EPS uses seven conditional logic processing and judgments to achieve synchronization with the host computer, ensuring normal LKA function under various working conditions and avoiding software bugs such as invalid function jumps and abnormal function exits. At the same time, priority settings can effectively ensure the safe operation of LKA functions.

[0061] In actual execution, if the jump conditions and corresponding jump condition priorities are met, after the LKA system function is enabled (Power up init), and there are no faults or conditions affecting EPS assistance, EPS is set to no request state.

[0062] When the vehicle speed is ≥60km / h and the vehicle deviates from one lane line, the Lane Keeping Assist (LKA) is activated. When the EPS state machine transitions to the active state, the EPS is set to the request honored state.

[0063] When the vehicle speed decreases from above 60km / h to below 58km / h, the Lane Keeping Assist (LKA) enters a restricted state. When the EPS state machine transitions to the no request state, the EPS is set to the no request state.

[0064] When the EPS detects a recoverable fault in itself or the host computer, the Lane Keeping Assist (LKA) enters a restricted state. When the EPS state machine jumps to the temporary state, the EPS is set to the temporary state.

[0065] When the EPS detects an unrecoverable fault in itself or the host computer, the Lane Keeping Assist (LKA) will temporarily disengage. When the EPS state machine jumps to the permanent state, the EPS will be set to the permanent state.

[0066] The control method for the electric power steering system proposed in this application involves detecting the actual state of the electric power steering system, determining at least one jump condition and its corresponding priority based on the actual state, checking whether the electric power steering system meets at least one jump condition according to the corresponding priority, matching a jump strategy based on the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy. This solves the problem in related technologies where reasonable jump logic is not set, making it impossible to avoid bugs during product operation. By setting reasonable jump logic and jump priorities, the reliable operation of the LKA system is achieved.

[0067] Next, the control device for the electric power steering system according to the embodiments of this application is described with reference to the accompanying drawings.

[0068] Figure 3 This is a block diagram of the control device of the electric power steering system according to an embodiment of this application.

[0069] like Figure 3 As shown, the control device 10 of the electric power steering system includes: a detection module 100, a determination module 200, and a control module 300.

[0070] The detection module 100 is used to detect the actual state of the electric power steering system.

[0071] The determination module 200 is used to determine at least one jump condition and corresponding priority of the electric power steering system according to the actual state, and to detect whether the electric power steering system meets at least one jump condition according to the corresponding priority.

[0072] The control module 300 is used to match a jump strategy according to at least one jump condition, and control the electric power steering system to jump according to the jump strategy.

[0073] Optionally, in some embodiments, the actual state is a system function enabled state, a system suppressed state, a system completed initialization state, a system not requested state, or a system activated state.

[0074] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system function enabled state, at least one jump condition includes: a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that there is an unrecoverable fault or condition in the electric power steering system that affects the LKA system; the second jump condition is that there is a recoverable fault or condition or message fault in the electric power steering system that affects the LKA system.

[0075] Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system suppression state, determine at least one jump condition including: a first jump condition and a third jump condition, with the first jump condition having a higher priority than the third jump condition, wherein the third jump condition is a message without fault and the electric power steering system has no fault or condition affecting the LKA system function.

[0076] Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system-not-requested state, include at least one jump condition including: a first jump condition, a fourth jump condition, and a fifth jump condition, with the corresponding priority being that the first jump condition is superior to the fourth jump condition, and the fourth jump condition is superior to the fifth jump condition. The fourth jump condition is that the electric power steering system has a recoverable fault or condition or message fault or LKA request fault condition that affects the LKA system. The fifth jump condition is that the LKA system requests entry condition and the electric power steering system meets the condition of executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition that affects the LKA system.

[0077] Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system active state, at least one jump condition includes: a first jump condition, a sixth jump condition, and a seventh jump condition, with the corresponding priority being that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition. The sixth jump condition is that the electric power steering system has a recoverable fault or condition that affects the LKA system function, or the electric power steering system does not meet the LKA system torque request condition or message fault. The seventh jump condition is that the LKA system requests to exit and the electric power steering system meets the condition for executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition that affects the LKA system function.

[0078] Optionally, in some embodiments, the control module further includes: a first jump state, a second jump state, a third jump state, a fourth jump state, a fifth jump state, a sixth jump state, and a seventh jump state.

[0079] The first jump state is used to control the electric power steering system to jump to the system initialization completed state when at least one jump condition is the first jump condition.

[0080] The second jump state is used to control the electric power steering system to jump to the system suppression state when at least one jump condition is the second jump condition.

[0081] The third jump state is used to control the electric power steering system to jump to the system not requested state when at least one jump condition is the third jump condition.

[0082] The fourth jump state is used to control the electric power steering system to jump to the system suppression state when at least one jump condition is the fourth jump condition.

[0083] The fifth jump state is used to control the electric power steering system to jump to the system activation state when at least one jump condition is the fifth jump condition.

[0084] The sixth jump state is used to control the electric power steering system to jump to the system suppression state when at least one jump condition is the sixth jump condition.

[0085] The seventh jump state is used to control the electric power steering system to jump to the system-not-requested state when at least one jump condition is the seventh jump condition.

[0086] It should be noted that the foregoing explanation of the control method embodiment for the electric power steering system also applies to the control device of the electric power steering system in this embodiment, and will not be repeated here.

[0087] The control device for the electric power steering system proposed in this application detects the actual state of the electric power steering system, determines at least one jump condition and its corresponding priority based on the actual state, checks whether the electric power steering system meets at least one jump condition according to the corresponding priority, matches a jump strategy based on the at least one jump condition, and controls the electric power steering system to jump according to the jump strategy. This solves the problem in related technologies where reasonable jump logic is not set, making it impossible to avoid bugs during product operation. By setting reasonable jump logic and jump priorities, reliable operation of the LKA system is achieved.

[0088] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0089] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0090] When the processor 402 executes the program, it implements the control method of the electric power steering system provided in the above embodiments.

[0091] Furthermore, the vehicle also includes:

[0092] Communication interface 403 is used for communication between memory 401 and processor 402.

[0093] The memory 401 is used to store computer programs that can run on the processor 402.

[0094] The memory 401 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0095] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0096] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0097] Processor 402 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0098] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control method of the electric power steering system described above.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0100] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0103] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for an electric power steering system, characterized in that, Includes the following steps: Detect and monitor the actual status of the electric power steering system; Based on the actual state being monitored, at least one jump condition and corresponding priority of the electric power steering system are determined, and the electric power steering system is checked according to the corresponding priority to see if it meets the at least one jump condition. as well as A jump strategy is matched according to the at least one jump condition, and the electric power steering system is controlled to jump according to the jump strategy. The actual state is the system function on state, the system inhibited state, the system completed initialization state, the system not requested state, or the system activated state. The step of determining at least one jump condition and corresponding priority of the electric power steering system based on the monitored actual state includes: when the actual state is the system function is enabled, the at least one jump condition includes: a first jump condition and a second jump condition, and the corresponding priority is that the first jump condition is superior to the second jump condition, wherein the first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; the second jump condition is that the electric power steering system has a recoverable fault or condition or message fault affecting the LKA system. Among them, the electric power steering system has at least one of the following unrecoverable faults or conditions that affect the LKA system: torque sensor failure, hardware failure, electrical failure, software protection failure, and angle sensor unrecoverable fault; the electric power steering system has at least one of the following recoverable faults or conditions or message faults that affect the LKA system: over-temperature, over-voltage, under-voltage, angle sensor recoverable fault, angle center position not calibrated, CAN BUS Off, and receiving three consecutive frames of torque request exceeding the limit. The step of determining at least one jump condition and corresponding priority of the electric power steering system based on the monitored actual state includes: when the actual state is the system suppression state, the at least one jump condition includes: a first jump condition and a third jump condition, and the corresponding priority is that the first jump condition is superior to the third jump condition, wherein the third jump condition is that the message is fault-free and the electric power steering system has no faults or conditions that affect the LKA system function. The step of determining at least one jump condition and corresponding priority of the electric power steering system based on the monitored actual state includes: when the actual state is the system not requested state, the at least one jump condition includes: a first jump condition, a fourth jump condition, and a fifth jump condition, and the corresponding priority is that the first jump condition is superior to the fourth jump condition, and the fourth jump condition is superior to the fifth jump condition, wherein the fourth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system, or a message fault or LKA request fault condition, and the fifth jump condition is that the LKA system requests entry condition and the electric power steering system meets the condition of executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition affecting the LKA system; The step of determining at least one jump condition and corresponding priority of the electric power steering system based on the monitored actual state includes: when the actual state is the system active state, the at least one jump condition includes: a first jump condition, a sixth jump condition, and a seventh jump condition, and the corresponding priority is that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition. The sixth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system function, or the electric power steering system does not meet the LKA system torque request condition, or the message is faulty. The seventh jump condition is that the LKA system requests an exit condition, the electric power steering system meets the condition for executing the LKA system torque request, the message is fault-free, and the electric power steering system has no faults or conditions affecting the LKA system function.

2. The method according to claim 1, characterized in that, Matching a jump strategy according to the at least one jump condition, and controlling the electric power steering system to jump according to the jump strategy, further includes: When at least one of the jump conditions is the first jump condition, the electric power steering system is controlled to jump to the system initialization completed state; When the at least one jump condition is the second jump condition, the electric power steering system is controlled to jump to the system suppression state; When at least one jump condition is a third jump condition, the electric power steering system is controlled to jump to the system not requested state; When at least one jump condition is the fourth jump condition, the electric power steering system is controlled to jump to the system suppression state. When at least one of the jump conditions is the fifth jump condition, the electric power steering system is controlled to jump to the system activation state; When at least one of the jump conditions is the sixth jump condition, the electric power steering system is controlled to jump to the system suppression state; When at least one of the jump conditions is the seventh jump condition, the electric power steering system is controlled to jump to the system not requested state.

3. A control device for an electric power steering system, characterized in that, include: The detection and monitoring module is used to detect and monitor the actual status of the electric power steering system; The determination module is used to determine at least one jump condition and corresponding priority of the electric power steering system based on the monitored actual state, and to detect whether the electric power steering system meets the at least one jump condition according to the corresponding priority. as well as A control module is configured to match a jump strategy according to the at least one jump condition, and control the electric power steering system to jump according to the jump strategy; The actual state is either the system function enabled state, the system suppressed state, the system initialization completed state, the system not requested state, or the system activated state. The determining module is further configured to, when the actual state is the system function enabled state, determine that the at least one jump condition includes: a first jump condition and a second jump condition, with the corresponding priority being that the first jump condition is superior to the second jump condition. The first jump condition is that the electric power steering system has an unrecoverable fault or condition affecting the LKA system; the second jump condition is that the electric power steering system has a recoverable fault or condition or message fault affecting the LKA system. Among them, the electric power steering system has at least one of the following unrecoverable faults or conditions that affect the LKA system: torque sensor failure, hardware failure, electrical failure, software protection failure, and angle sensor unrecoverable fault; the electric power steering system has at least one of the following recoverable faults or conditions or message faults that affect the LKA system: over-temperature, over-voltage, under-voltage, angle sensor recoverable fault, angle center position not calibrated, CAN BUS Off, and receiving three consecutive frames of torque request exceeding the limit. The determining module is further configured to, when the actual state is the system suppression state, include at least one jump condition as follows: a first jump condition and a third jump condition, and the corresponding priority is that the first jump condition is superior to the third jump condition, wherein the third jump condition is that the message is fault-free and the electric power steering system has no faults or conditions that affect the function of the LKA system. The determining module is further configured to, when the actual state is the system not requested state, include at least one jump condition: a first jump condition, a fourth jump condition, and a fifth jump condition, and the corresponding priority is that the first jump condition is superior to the fourth jump condition, and the fourth jump condition is superior to the fifth jump condition, wherein the fourth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system, or a message fault or LKA request fault condition, and the fifth jump condition is that the LKA system requests entry condition and the electric power steering system meets the condition of executing the LKA system torque request, and the message is fault-free and the electric power steering system has no fault or condition affecting the LKA system; The determining module is further configured to, when the actual state is the system active state, include at least one jump condition: a first jump condition, a sixth jump condition, and a seventh jump condition, with the corresponding priority being that the first jump condition is superior to the sixth jump condition, and the sixth jump condition is superior to the seventh jump condition. The sixth jump condition is that the electric power steering system has a recoverable fault or condition affecting the LKA system function, or that the electric power steering system does not meet the LKA system torque request condition, or that the message is faulty. The seventh jump condition is that the LKA system requests an exit condition, the electric power steering system meets the condition for executing the LKA system torque request, the message is fault-free, and the electric power steering system has no faults or conditions affecting the LKA system function.

4. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the control method for the electric power steering system as described in any one of claims 1-2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the control method for the electric power steering system as described in any one of claims 1-2.

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