Corner control method and device of full-redundant EPS controller and vehicle

Abstract

This application provides a steering angle control method for a fully redundant EPS controller. The method includes: obtaining a first steering wheel angle and a first driving level corresponding to the first steering wheel angle of the first EPS controller based on the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle, and the second TAS initial steering angle obtained by the second EPS controller; obtaining a second steering wheel angle and a second driving level corresponding to the second steering wheel angle of the second EPS controller based on the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle, and the third TAS initial steering angle obtained by the first EPS controller; controlling the first EPS controller to perform steering angle control based on the first steering wheel angle and the first driving level; and controlling the second EPS controller to perform steering angle control based on the second steering wheel angle and the second driving level. This solves the problem that the EPSB cannot obtain the SAS and TAS steering angle signals, and improves the safety of the entire vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly, to a steering angle control method and device of a full-redundancy EPS controller and a vehicle. BACKGROUND

[0002] With the development of the automotive industry towards intelligentization, autonomous vehicles have become a hot topic in the field of vehicle engineering. In order to further improve the stability and safety of the vehicle, various systems or components of the vehicle gradually adopt partial redundancy or full redundancy solutions.

[0003] In the related art, for an EPS (Electric Power Steering) using a full-redundancy solution, the controller can be divided into EPSA and EPSB. Firstly, EPSA is connected to the PTCAN (Power Train CAN) network and can directly obtain the steering angle signal sent by the steering angle sensor SAS (Steering Angle Sensor) to the PTCAN network; EPSB is connected to the RECAN (Redundancy CAN) network, and there is no SAS steering angle signal on this CAN network, so EPSB cannot directly obtain the steering wheel steering angle signal. Secondly, the torque and angle sensor TAS (Torque and Angle Sensor) used by the EPS is usually 4+2, i.e. 4 torque signals and 2 steering angle signals, and the steering angle signal is connected to EPSA, so EPSA can directly obtain the TAS steering angle signal, and EPSB cannot directly obtain the TAS steering angle signal.

[0004] However, EPSB cannot obtain the SAS steering angle signal and the TAS steering angle signal, which is not conducive to the stability and safety of the vehicle and needs to be solved urgently. SUMMARY

[0005] The present application provides a steering angle control method and device of a full-redundancy EPS controller and a vehicle. The method enables EPSB to obtain the SAS steering angle signal through internal communication, and replaces the torque and angle sensor TAS at the EPS end with a 4+4 torque and angle sensor TAS, so that EPSB can directly obtain the TAS steering angle signal, solves the problem that EPSB cannot obtain the SAS steering angle signal and the TAS steering angle signal, enables EPSB to also obtain the current steering angle of the steering wheel, and normally executes the steering angle instruction of the ADAS (Advanced Driving Assistant System) controller, further improving the stability and safety of the vehicle.

[0006] In a first aspect, a steering angle control method of a full-redundant EPS controller is provided, which includes: obtaining an initial steering wheel angle sensor SAS angle, a first initial torque angle sensor first TAS angle, and a relative angle obtained by a motor position sensor; obtaining a first steering wheel angle of the first EPS controller and a first driving level corresponding to the first steering wheel angle according to the initial SAS angle, the first initial TAS angle, the relative angle, and a second initial TAS angle obtained by the second EPS controller; obtaining a second steering wheel angle of the second EPS controller and a second driving level corresponding to the second steering wheel angle according to the initial SAS angle, the first initial TAS angle, the relative angle, and a third initial TAS angle obtained by the first EPS controller; controlling the first EPS controller to perform steering angle control based on the first steering wheel angle and the first driving level, and controlling the second EPS controller to perform steering angle control based on the second steering wheel angle and the second driving level.

[0007] By the above technical solution, the problem that the EPS B cannot obtain the SAS angle signal and the TAS angle signal is solved, so that the EPS B can also obtain the current steering wheel angle and normally execute the steering angle instruction of the ADAS controller, and the stability and safety of the vehicle are further improved.

[0008] In combination with the first aspect, in some possible implementation manners, the obtaining of the first steering wheel angle of the first EPS controller and the first driving level corresponding to the first steering wheel angle according to the initial SAS angle, the first initial TAS angle, the relative angle, and the second initial TAS angle obtained by the second EPS controller includes:

[0009] obtaining a first SAS detection angle according to the initial SAS angle and the relative angle, obtaining a first TAS detection angle according to the first initial TAS angle and the relative angle, and obtaining a second TAS detection angle according to the second initial TAS angle and the relative angle;

[0010] obtaining the first steering wheel angle of the first EPS controller and the first driving level corresponding to the first steering wheel angle according to the first SAS detection angle, the first TAS detection angle, and the second TAS detection angle.

[0011] In combination with the first aspect, in some possible implementation manners, the obtaining of the first steering wheel angle of the first EPS controller and the first driving level corresponding to the first steering wheel angle according to the first SAS detection angle, the first TAS detection angle, and the second TAS detection angle includes:

[0012] determining whether an absolute value of a difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a first preset threshold value;

[0013] If the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to the first preset threshold value, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, it is determined whether an absolute value of a difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to a second preset threshold value;

[0014] If the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the second preset threshold value, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, it is determined whether an absolute value of a difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a third preset threshold value;

[0015] If the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold value, the second TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level.

[0016] With reference to the first aspect, in some possible implementation manners, after determining whether the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold value, the method further includes:

[0017] If the difference between the second TAS detected steering angle and the first SAS detected steering angle is greater than the third preset threshold value, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level.

[0018] With reference to the first aspect, in some possible implementation manners, the second steering wheel steering angle of the second EPS controller and the second driving level corresponding to the second steering wheel steering angle are obtained according to the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle and a third TAS initial steering angle obtained by the first EPS controller, and the method includes:

[0019] a second SAS detected steering angle is obtained according to the SAS initial steering angle and the relative steering angle, a third TAS detected steering angle is obtained according to the first TAS initial steering angle and the relative steering angle, and a fourth TAS detected steering angle is obtained according to the third TAS initial steering angle and the relative steering angle;

[0020] The second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle.

[0021] With reference to the first aspect, in some possible implementation manners, the second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle, and the method further includes:

[0022] determining whether an absolute value of a difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to a fourth preset threshold value;

[0023] if the absolute value of the difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to the fourth preset threshold value, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L3 level, otherwise, it is determined whether an absolute value of a difference between the third TAS detection angle and the second SAS detection angle is less than or equal to a fifth preset threshold value;

[0024] if the absolute value of the difference between the third TAS detection angle and the second SAS detection angle is less than or equal to the fifth preset threshold value, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as the L3 level, otherwise, it is determined whether an absolute value of a difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to a sixth preset threshold value;

[0025] if the absolute value of the difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to the sixth preset threshold value, the fourth TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as the L3 level, otherwise, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L2 level.

[0026] With reference to the first aspect, in some possible implementation manners, when the first steering wheel angle and the first driving level corresponding to the first steering wheel angle are obtained according to the first SAS detection angle, the first TAS detection angle and the second TAS detection angle, the method further includes:

[0027] if the first TAS detection angle and the second TAS detection angle are both valid signals, and the first SAS detection angle is an invalid signal, it is determined whether an absolute value of a difference between the first TAS detection angle and the second TAS detection angle is less than or equal to a seventh preset threshold value;

[0028] if an absolute value of a difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a seventh preset threshold value, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level;

[0029] if the first TAS detected steering angle and the first SAS detected steering angle are both the valid signals, and the second TAS detected steering angle is the invalid signal, whether an absolute value of a difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to an eighth preset threshold value is judged;

[0030] if the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the eighth preset threshold value, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level;

[0031] if the second TAS detected steering angle and the first SAS detected steering angle are both the valid signals, and the first TAS detected steering angle is the invalid signal, whether an absolute value of a difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a ninth preset threshold value is judged;

[0032] if the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the ninth preset threshold value, the second TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, the second TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level;

[0033] if only one of the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle is valid, the valid detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level;

[0034] if the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle are all invalid, a steering angle invalid signal is sent.

[0035] With reference to the first aspect, in some possible implementation manners, when the second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle, the method further includes:

[0036] If the third TAS detection angle and the fourth TAS detection angle are both valid signals, and the second SAS detection angle is an invalid signal, it is determined whether an absolute value of a difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to a tenth preset threshold value;

[0037] If the absolute value of the difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to the tenth preset threshold value, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L3 level, otherwise, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L2 level;

[0038] If the third TAS detection angle and the second SAS detection angle are both valid signals, and the fourth TAS detection angle is an invalid signal, it is determined whether an absolute value of a difference between the third TAS detection angle and the second SAS detection angle is less than or equal to an eleventh preset threshold value;

[0039] If the absolute value of the difference between the third TAS detection angle and the second SAS detection angle is less than or equal to the eleventh preset threshold value, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L3 level, otherwise, the third TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L2 level;

[0040] If the fourth TAS detection angle and the second SAS detection angle are both valid signals, and the third TAS detection angle is an invalid signal, it is determined whether an absolute value of a difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to a twelfth preset threshold value;

[0041] If the absolute value of the difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to the twelfth preset threshold value, the fourth TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L3 level, otherwise, the fourth TAS detection angle is taken as the second steering wheel angle, and the second driving level is determined as an L2 level;

[0042] If only one of the second SAS detected steering angle, the third TAS detected steering angle and the fourth TAS detected steering angle is valid, the valid detected steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L2 level.

[0043] If none of the second SAS detected steering angle, the third TAS detected steering angle and the fourth TAS detected steering angle is valid, a steering angle invalid signal is sent.

[0044] In a second aspect, a steering angle control device of a full-redundant EPS controller is provided, which includes: an acquisition module configured to acquire a steering wheel steering angle sensor SAS initial steering angle, a first torque steering angle sensor first TAS initial steering angle and a relative steering angle obtained by a motor position sensor; a first generation module configured to obtain a first steering wheel steering angle of the first EPS controller and a first driving level corresponding to the first steering wheel steering angle according to the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle and a second TAS initial steering angle obtained by the second EPS controller; a second generation module configured to obtain a second steering wheel steering angle of the second EPS controller and a second driving level corresponding to the second steering wheel steering angle according to the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle and a third TAS initial steering angle obtained by the first EPS controller; and a control module configured to control the first EPS controller to perform steering angle control based on the first steering wheel steering angle and the first driving level, and control the second EPS controller to perform steering angle control based on the second steering wheel steering angle and the second driving level.

[0045] In combination with the second aspect, in some possible implementation manners, the first generation module includes:

[0046] a first generation unit configured to obtain a first SAS detected steering angle according to the SAS initial steering angle and the relative steering angle, obtain a first TAS detected steering angle according to the first TAS initial steering angle and the relative steering angle, and obtain a second TAS detected steering angle according to the second TAS initial steering angle and the relative steering angle;

[0047] a second generation unit configured to obtain the first steering wheel steering angle and the first driving level corresponding to the first steering wheel steering angle according to the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle.

[0048] In combination with the second aspect, in some possible implementation manners, the second generation unit includes:

[0049] The first determining subunit is configured to determine whether an absolute value of a difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a first preset threshold value.

[0050] The first generating subunit is configured to, when the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to the first preset threshold value, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level; otherwise, determine whether an absolute value of a difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to a second preset threshold value.

[0051] The second generating subunit is configured to, when the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the second preset threshold value, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level; otherwise, determine whether an absolute value of a difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a third preset threshold value.

[0052] The third generating subunit is configured to, when the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold value, take the second TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level.

[0053] With reference to the second aspect, in some possible implementation manners, after determining whether the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold value, the second generating subunit further includes:

[0054] The fourth generating subunit is configured to, when the difference between the second TAS detected steering angle and the first SAS detected steering angle is greater than the third preset threshold value, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level.

[0055] With reference to the second aspect, in some possible implementation manners, the second generating module includes:

[0056] The third generating unit is configured to obtain a second SAS detected steering angle according to the SAS initial steering angle and the relative steering angle, obtain a third TAS detected steering angle according to the first TAS initial steering angle and the relative steering angle, and obtain a fourth TAS detected steering angle according to the third TAS initial steering angle and the relative steering angle.

[0057] a fourth generating unit, configured to obtain the second steering wheel angle and the second driving level corresponding to the second steering wheel angle according to the second SAS detected angle, the third TAS detected angle and the fourth TAS detected angle.

[0058] With reference to the second aspect, in some possible implementation manners, the fourth generating unit comprises:

[0059] a second judging sub-unit, configured to judge whether an absolute value of a difference between the third TAS detected angle and the fourth TAS detected angle is less than or equal to a fourth preset threshold value;

[0060] a fifth generating sub-unit, configured to, when the absolute value of the difference between the third TAS detected angle and the fourth TAS detected angle is less than or equal to the fourth preset threshold value, take the third TAS detected angle as the second steering wheel angle and determine that the second driving level is L3 level, or judge whether an absolute value of a difference between the third TAS detected angle and the second SAS detected angle is less than or equal to a fifth preset threshold value;

[0061] a sixth generating sub-unit, configured to, when the absolute value of the difference between the third TAS detected angle and the second SAS detected angle is less than or equal to the fifth preset threshold value, take the third TAS detected angle as the second steering wheel angle and determine that the second driving level is L3 level, or judge whether an absolute value of a difference between the fourth TAS detected angle and the second SAS detected angle is less than or equal to a sixth preset threshold value;

[0062] a seventh generating sub-unit, configured to, when the absolute value of the difference between the fourth TAS detected angle and the second SAS detected angle is less than or equal to the sixth preset threshold value, take the fourth TAS detected angle as the second steering wheel angle and determine that the second driving level is L3 level, or take the third TAS detected angle as the second steering wheel angle and determine that the second driving level is L2 level.

[0063] With reference to the second aspect, in some possible implementation manners, when the first steering wheel angle and the first driving level corresponding to the first steering wheel angle are obtained according to the first SAS detected angle, the first TAS detected angle and the second TAS detected angle, the second generating unit further comprises:

[0064] a third judging sub-unit, configured to, when the first TAS detected angle and the second TAS detected angle are both valid signals and the first SAS detected angle is an invalid signal, judge whether an absolute value of a difference between the first TAS detected angle and the second TAS detected angle is less than or equal to a seventh preset threshold value;

[0065] an eighth generating subunit configured to: when an absolute value of a difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a seventh preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level; otherwise, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level;

[0066] a fourth judging subunit configured to: when the first TAS detected steering angle and the first SAS detected steering angle are both the valid signal, and the second TAS detected steering angle is the invalid signal, judge whether an absolute value of a difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to an eighth preset threshold;

[0067] a ninth generating subunit configured to: when the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the eighth preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level; otherwise, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level;

[0068] a fifth judging subunit configured to: when the second TAS detected steering angle and the first SAS detected steering angle are both the valid signal, and the first TAS detected steering angle is the invalid signal, judge whether an absolute value of a difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a ninth preset threshold;

[0069] a tenth generating subunit configured to: when the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the ninth preset threshold, take the second TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L3 level; otherwise, take the second TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level;

[0070] an eleventh generating subunit configured to: when only one of the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle is valid, take the valid detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level;

[0071] a twelfth generating subunit configured to: when the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle are all invalid, send a steering angle invalid signal.

[0072] With reference to the second aspect, in some possible implementations, the fourth generating unit further includes:

[0073] The sixth judging sub-unit is configured to, when the third TAS detection angle and the fourth TAS detection angle are both valid signals and the second SAS detection angle is an invalid signal, judge whether an absolute value of a difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to a tenth preset threshold value.

[0074] The thirteenth generating sub-unit is configured to, when the absolute value of the difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to the tenth preset threshold value, take the third TAS detection angle as the second steering wheel angle and determine that the second driving level is an L3 level, or otherwise, take the third TAS detection angle as the second steering wheel angle and determine that the second driving level is an L2 level.

[0075] The seventh judging sub-unit is configured to, when the third TAS detection angle and the second SAS detection angle are both valid signals and the fourth TAS detection angle is an invalid signal, judge whether an absolute value of a difference between the third TAS detection angle and the second SAS detection angle is less than or equal to an eleventh preset threshold value.

[0076] The fourteenth generating sub-unit is configured to, when the absolute value of the difference between the third TAS detection angle and the second SAS detection angle is less than or equal to the eleventh preset threshold value, take the third TAS detection angle as the second steering wheel angle and determine that the second driving level is an L3 level, or otherwise, take the third TAS detection angle as the second steering wheel angle and determine that the second driving level is an L2 level.

[0077] The eighth judging sub-unit is configured to, when the fourth TAS detection angle and the second SAS detection angle are both valid signals and the third TAS detection angle is an invalid signal, judge whether an absolute value of a difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to a twelfth preset threshold value.

[0078] The fifteenth generating sub-unit is configured to, when the absolute value of the difference between the fourth TAS detection angle and the second SAS detection angle is less than or equal to the twelfth preset threshold value, take the fourth TAS detection angle as the second steering wheel angle and determine that the second driving level is an L3 level, or otherwise, take the fourth TAS detection angle as the second steering wheel angle and determine that the second driving level is an L2 level.

[0079] the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle are all invalid, the angle invalid signal is sent.

[0080] the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle are all invalid, the angle invalid signal is sent. BRIEF DESCRIPTION OF DRAWINGS

[0081] Figure 1 a flow chart of the angle control method of the full-redundancy EPS controller according to the embodiments of the present application;

[0082] Figure 2 a principle schematic diagram of the angle control method of the full-redundancy EPS controller according to the embodiments of the present application;

[0083] Figure 3 a schematic diagram of the verification process according to the embodiments of the present application;

[0084] Figure 4 a block schematic diagram of the angle control device of the full-redundancy EPS controller according to the embodiments of the present application;

[0085] Figure 5 a structural schematic diagram of the vehicle according to the embodiments of the present application. DETAILED DESCRIPTION

[0086] The technical solutions in the present application will be described clearly and exhaustively below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: the "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0087] Hereinafter, the terms "first" and "second" are only used for description purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features.

[0088] An electric power steering system, when executing a steering angle instruction of an advanced driving assistant system (ADAS) controller, first needs to know a current steering wheel steering angle value, and then determines a steering wheel target steering speed and a steering wheel rotation direction according to a steering angle direction in the controller instruction and a difference between the steering angle value and the current steering wheel steering angle value, and then executes a dynamic instruction of the controller. Therefore, the EPS needs to obtain a steering wheel steering angle in a power-on initialization stage, calculate an initial steering angle, and then calculate a current steering wheel steering angle according to the initial steering angle and a relative steering angle calculated by a motor position sensor.

[0089] In the conventional technology, for an EPS using a full redundancy scheme, a controller of the EPS can be divided into an EPS A and an EPS B. The EPS A is connected with a PTCAN network and can directly obtain a SAS steering angle signal on the PTCAN network. The EPS B cannot directly obtain the SAS steering angle signal from a RECAN network.

[0090] In the conventional technology, a torque and angle sensor TAS used by the EPS is 4+2, that is, 4 torque signals and 2 steering angle signals. The steering angle signal is connected with the EPS A, so that the EPS A can directly obtain a TAS steering angle signal. The EPS B cannot directly obtain the TAS steering angle signal.

[0091] The embodiment of the present application enables the EPS B to obtain the SAS steering angle signal through internal communication, and replaces the torque and angle sensor TAS at the EPS end with a 4+4 torque and angle sensor TAS, so that the EPS B can directly obtain the TAS steering angle signal, solves the problem that the EPS B cannot obtain the SAS steering angle signal and the TAS steering angle signal, enables the EPS B to also obtain a current steering wheel steering angle, and normally executes a steering angle instruction of an ADAS controller, and further improves stability and safety of the whole vehicle.

[0092] Figure 1 is a schematic flowchart of a steering angle control method of a full redundancy EPS controller provided by the embodiment of the present application. The vehicle includes a first EPS controller and a second EPS controller which communicate with each other.

[0093] As shown in the example of Figure 1 , the method includes the following steps:

[0094] In step S101, an initial steering angle of a steering wheel steering angle sensor SAS, an initial steering angle of a first torque and angle sensor, and a relative steering angle obtained by a motor position sensor are obtained.

[0095] It should be noted that for the EPS using the full redundancy scheme, the controller can be divided into EPSA and EPSB, EPSA obtains the steering angle signal sent by the steering wheel angle sensor SAS from the PT CAN network in the power-on initialization stage, and the present embodiment can send it to EPSB through internal communication, and replace the 4+2 torque angle sensor TAS of the EPS end with a 4+4 torque angle sensor TAS, i.e. 4-way torque signal and 4-way angle signal; the angle signal is connected with EPSA and EPSB respectively, so that EPSB can directly obtain the TAS angle signal.

[0096] The first controller can be EPSA, and the second controller can be EPSB.

[0097] Specifically, (1) after the whole vehicle KL15 is powered on, the steering wheel angle sensor SAS can obtain the correct steering wheel angle and send it to the PT CAN network, and EPSA can obtain the SAS angle signal from the PT CAN network;

[0098] (2) the EPS assembly is provided with a 4+4 torque angle sensor TAS, and after the whole vehicle KL15 is powered on, EPSA and EPSB can respectively request the TAS sensor to send the TAS angle signal, so as to obtain the correct TAS angle signal;

[0099] (3) internal communication can be performed between EPSA and EPSB, and EPSA can send the SAS angle received from the PT CAN network and the calculated TAS detection angle (Own) to EPSB through internal communication for use; EPSB can send the calculated TAS detection angle (Own) to EPSA through internal communication for use.

[0100] In step S102, the first steering wheel angle of the first EPS controller and the first driving level corresponding to the first steering wheel angle are obtained according to the initial SAS angle, the first initial TAS angle, the relative angle and the second initial TAS angle obtained by the second EPS controller.

[0101] The relative angle can be calculated by the motor position sensor, the first steering wheel angle can be the angle of EPSA, and the driving level can be L2 level or L3 level, which is determined according to the safety level of the steering wheel angle and is not limited here.

[0102] It can be understood that the EPSA calculates the SAS initial rotation angle according to the SAS rotation angle signal received from the PT CAN network, obtains the first TAS initial rotation angle from the TAS sensor, and obtains the first steering wheel rotation angle of the first EPS controller and the first driving level corresponding to the first steering wheel rotation angle according to the SAS initial rotation angle, the first TAS initial rotation angle, the relative rotation angle, and the second TAS initial rotation angle obtained by the second EPS controller.

[0103] Optionally, in some embodiments, obtaining the first steering wheel rotation angle of the first EPS controller and the first driving level corresponding to the first steering wheel rotation angle according to the SAS initial rotation angle, the first TAS initial rotation angle, the relative rotation angle, and the second TAS initial rotation angle obtained by the second EPS controller comprises: obtaining a first SAS detection rotation angle according to the SAS initial rotation angle and the relative rotation angle, and obtaining a first TAS detection rotation angle according to the first TAS initial rotation angle and the relative rotation angle, and obtaining a second TAS detection rotation angle according to the second TAS initial rotation angle and the relative rotation angle; obtaining the first steering wheel rotation angle and the first driving level corresponding to the first steering wheel rotation angle according to the first SAS detection rotation angle, the first TAS detection rotation angle, and the second TAS detection rotation angle.

[0104] Specifically, as shown in Figure 2 After the whole vehicle KL15 is powered on, the steering wheel rotation angle sensor SAS can obtain the correct steering wheel rotation angle and send it to the PT CAN network, the EPSA can obtain the rotation angle signal from the PT CAN network, calculate the SAS initial rotation angle, and calculate the first SAS detection rotation angle according to the SAS initial rotation angle and the relative rotation angle calculated by the motor position sensor. This rotation angle signal can reach the ASIL (Automotive Safety Integration Level, Automotive Safety Integration Level) ASILB level.

[0105] After the whole vehicle KL15 is powered on, the EPSA can obtain the correct TAS rotation angle signal by requesting the TAS sensor to send the rotation angle signal, calculate the first TAS initial rotation angle, i.e., the TAS initial rotation angle (Own), according to the Offset value stored in the EPS NVM, and calculate the first TAS detection rotation angle (Own) according to the TAS initial rotation angle (Own) and the relative rotation angle calculated by the motor position sensor. This rotation angle signal can reach the ASILB level.

[0106] The EPSA can obtain the second TAS initial rotation angle (Other) obtained by the second EPS controller, and calculate the second TAS detection rotation angle (Other) from the second TAS initial rotation angle (Other) and the relative rotation angle calculated by the motor position sensor.

[0107] After the first TAS detects the steering angle (Own), the EPSA can send the steering angle signal to the EPSB through internal communication, and the EPSB can calculate the third TAS initial steering angle (Other) according to the steering angle signal.

[0108] It should be noted that before the vehicle is delivered, the steering angle in the torque steering sensor TAS needs to be calibrated. First, the steering wheel is turned to the mechanical neutral position, then the EPSA requests the torque steering sensor TAS-A to send the TAS steering angle, for example, the TAS-A sends 1 deg, the EPSA sets the Offset to -1 deg and saves it in the NVM, ensuring that every time the power is turned on, the TAS-A sends 1 deg, corresponding to the steering wheel 0 deg; the EPSB requests the torque steering sensor TAS-B to send the TAS steering angle, for example, the TAS-B sends 1.2 deg, the EPSB sets the Offset to -1.2 deg and saves it in the NVM, ensuring that every time the power is turned on, the TAS-B sends 1.2 deg, corresponding to the steering wheel 0 deg.

[0109] Optionally, in some embodiments, the first steering wheel steering angle and the first driving level corresponding to the first steering wheel steering angle are obtained according to the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle, comprising: judging whether the absolute value of the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a first preset threshold; if the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to the first preset threshold, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, judging whether the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to a second preset threshold; if the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the second preset threshold, the first TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, judging whether the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a third preset threshold; if the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold, the second TAS detected steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level.

[0110] The first preset threshold, the second preset threshold and the third preset threshold can be pre-set by the user, can be obtained through a limited number of experiments, or can be obtained through a limited number of computer simulations, and are not limited here. In some embodiments, the first preset threshold, the second preset threshold and the third preset threshold can be the same, and the L3 level can be L3 level.

[0111] Specifically, as Figure 3As shown, when the first SAS detected corner, the first TAS detected corner (Own) and the second TAS detected corner (Other) can be obtained at the same time:

[0112] When the first controller EPSA and the second controller EPSB complete the SAS detected corner, the TAS detected corner (Own) and the TAS detected corner (Other) acquisition, the SAS detected corner, the TAS detected corner (Own) and the TAS detected corner (Other) need to be checked.

[0113] If the first TAS detected corner (Own) and the second TAS detected corner (Other) are checked normally, that is, the difference between the first TAS detected corner (Own) and the second TAS detected corner (Other) is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the check is passed. The first TAS detected corner (Own) is taken as the current steering wheel corner, and the corner signal can reach the ASILD level and can be used for L3 level corner control.

[0114] If the first TAS detected corner (Own) and the second TAS detected corner (Other) are checked abnormally, that is, the difference between the first TAS detected corner (Own) and the second TAS detected corner (Other) is greater than a certain value (Ang_Diff, for example, 5deg), it is determined that the check is not passed. The first TAS detected corner (Own) is checked with the first SAS detected corner. If the first TAS detected corner (Own) and the first SAS detected corner are checked normally, that is, the difference between the first TAS detected corner (Own) and the first SAS detected corner is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the check is passed. The first TAS detected corner (Own) is taken as the current steering wheel corner, and the corner signal can reach the ASILD level and can be used for L3 level corner control.

[0115] If the first TAS detected corner (Own) and the first SAS detected corner are checked abnormally, that is, the difference between the first TAS detected corner (Own) and the first SAS detected corner is greater than a certain value (Ang_Diff, for example, 5deg), it is determined that the check is not passed. The second TAS detected corner (Other) is checked with the first SAS detected corner. If the second TAS detected corner (Other) and the first SAS detected corner are checked normally, that is, the difference between the second TAS detected corner (Other) and the first SAS detected corner is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the check is passed. The second TAS detected corner (Other) is taken as the current steering wheel corner, and the corner signal can reach the ASILD level and can be used for L3 level corner control.

[0116] Optionally, in some embodiments, after judging whether the absolute value of the difference between the second TAS detected corner and the first SAS detected corner is less than or equal to the third preset threshold, further comprising: if the difference between the second TAS detected corner and the first SAS detected corner is greater than the third preset threshold, taking the first TAS detected corner as the first steering wheel corner, and determining that the first driving level is L2 level.

[0117] Specifically, if the second TAS detected corner (Other) and the first SAS detected corner are abnormal, that is, the difference between the second TAS detected corner (Other) and the first SAS detected corner is greater than a certain value (Ang_Diff, for example, 5deg), it is determined that the check fails. The first TAS detected corner (Own) is taken as the current steering wheel corner, and this corner signal can reach the ASILB level and can be used for L2 level corner control.

[0118] Optionally, in some embodiments, when the first steering wheel angle and the first driving level corresponding to the first steering wheel angle are obtained according to the first SAS detected angle, the first TAS detected angle and the second TAS detected angle, the method further comprises: if the first SAS detected angle is an invalid signal, and the first TAS detected angle and the second TAS detected angle are both valid signals, determining whether the absolute value of the difference between the first TAS detected angle and the second TAS detected angle is less than or equal to a seventh preset threshold value; if the absolute value of the difference between the first TAS detected angle and the second TAS detected angle is less than or equal to the seventh preset threshold value, taking the first TAS detected angle as the first steering wheel angle, and determining that the first driving level is L3 level, otherwise, taking the first TAS detected angle as the first steering wheel angle, and determining that the first driving level is L2 level; if the first SAS detected angle and the second TAS detected angle are both valid signals, and the first TAS detected angle is an invalid signal, determining whether the absolute value of the difference between the first SAS detected angle and the first TAS detected angle is less than or equal to an eighth preset threshold value; if the absolute value of the difference between the first SAS detected angle and the first TAS detected angle is less than or equal to the eighth preset threshold value, taking the first TAS detected angle as the first steering wheel angle, and determining that the first driving level is L3 level, otherwise, taking the first TAS detected angle as the first steering wheel angle, and determining that the first driving level is L2 level; if the second TAS detected angle and the first SAS detected angle are both valid signals, and the first TAS detected angle is an invalid signal, determining whether the absolute value of the difference between the second TAS detected angle and the first SAS detected angle is less than or equal to a ninth preset threshold value; if the absolute value of the difference between the second TAS detected angle and the first SAS detected angle is less than or equal to the ninth preset threshold value, taking the second TAS detected angle as the first steering wheel angle, and determining that the first driving level is L3 level, otherwise, taking the second TAS detected angle as the first steering wheel angle, and determining that the first driving level is L2 level; if only one of the first SAS detected angle, the first TAS detected angle and the second TAS detected angle is valid, taking the valid detected angle as the first steering wheel angle, and determining that the first driving level is L2 level; and if the first SAS detected angle, the first TAS detected angle and the second TAS detected angle are all invalid, sending a steering angle invalid signal.

[0119] It can be understood that in some cases, the SAS detected angle, the TAS detected angle (Own) and the TAS detected angle (Other) cannot all be obtained, and when the first SAS detected angle, the first TAS detected angle (Own) and the second TAS detected angle (Other) cannot all be obtained:

[0120] When only the first SAS detected corner cannot be acquired successfully, the first TAS detected corner (Own) and the second TAS detected corner (Other) are checked, if the first TAS detected corner (Own) and the second TAS detected corner (Other) are checked normally, that is, the difference between the first TAS detected corner (Own) and the second TAS detected corner (Other) is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the check is passed. The first TAS detected corner (Own) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILD level and can be used for L3 level corner control;

[0121] If the first TAS detected corner (Own) and the second TAS detected corner (Other) are checked abnormally, that is, the difference between the first TAS detected corner (Own) and the second TAS detected corner (Other) is greater than a certain value (Ang_Diff, for example, 5deg), it is determined that the check is not passed. The first TAS detected corner (Own) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILB level and can be used for L2 level corner control;

[0122] When only the second TAS detected corner (Other) cannot be acquired successfully, the first TAS detected corner (Own) and the first SAS detected corner are checked, if the first TAS detected corner (Own) and the first SAS detected corner are checked normally, that is, the difference between the first TAS detected corner (Own) and the first SAS detected corner is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the check is passed. The first TAS detected corner (Own) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILD level and can be used for L3 level corner control; if the first TAS detected corner (Own) and the first SAS detected corner are checked abnormally, that is, the difference between the first TAS detected corner (Own) and the first SAS detected corner is greater than a certain value (Ang_Diff, for example, 5deg), it is determined that the check is not passed. The first TAS detected corner (Own) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILB level and can be used for L2 level corner control;

[0123] When only the first TAS detected corner (Own) cannot be successfully acquired, the second TAS detected corner (Other) is checked with the first SAS detected corner. If the second TAS detected corner (Other) is normally checked with the first SAS detected corner, i.e. the second TAS detected corner (Other) is out of tolerance with the first SAS detected corner less than or equal to a certain value (Ang_Diff, for example 5 deg), it is determined that the check is passed. The second TAS detected corner (Other) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILD level and can be used for L3 level corner control; if the second TAS detected corner (Other) is abnormally checked with the first SAS detected corner, i.e. the second TAS detected corner (Other) is out of tolerance with the first SAS detected corner greater than a certain value (Ang_Diff, for example 5 deg), it is determined that the check is not passed. The second TAS detected corner (Other) is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILB level and can be used for L2 level corner control.

[0124] If any two of the first SAS detected corner, the first TAS detected corner (Own) and the second TAS detected corner (Other) cannot be successfully acquired, the successfully acquired corner is taken as the current corner of the first steering wheel, and the corner signal can reach the ASILB level and can be used for L2 level corner control.

[0125] If the first SAS detected corner, the first TAS detected corner (Own) and the second TAS detected corner (Other) cannot be successfully acquired, the first EPS controller will send a corner invalidity to the CAN bus, and at this time the first EPS controller will not be able to respond to the corner control instruction of the ADAS controller.

[0126] In step S103, the second steering wheel corner of the second EPS controller and the second driving level corresponding to the second steering wheel corner are obtained according to the SAS initial corner, the first TAS initial corner, the relative corner and the third TAS initial corner obtained by the first EPS controller.

[0127] The third initial corner can be calculated by the first TAS detected corner sent by the first controller EPSA.

[0128] Optionally, in some embodiments, obtaining the second steering wheel angle of the second EPS controller and the second driving level corresponding to the second steering wheel angle according to the SAS initial angle, the first TAS initial angle, the relative angle and the third TAS initial angle obtained by the first EPS controller comprises: obtaining a second SAS detection angle according to the SAS initial angle and the relative angle, obtaining a third TAS detection angle according to the first TAS initial angle and the relative angle, and obtaining a fourth TAS detection angle according to the third TAS initial angle and the relative angle; and obtaining the second steering wheel angle of the second EPS controller and the second driving level corresponding to the second steering wheel angle according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle.

[0129] Specifically, as shown in Figure 2 the EPS A obtains the angle signal sent by the steering wheel angle sensor SAS from the PT CAN network in the power-on initialization stage, and sends it to the EPS B through internal communication. The EPS B calculates the SAS initial angle according to the received SAS angle signal, calculates the second SAS detection angle according to the SAS initial angle and the relative angle calculated by the motor position sensor, and the angle signal can reach the ASILB level.

[0130] After the whole vehicle KL15 is powered on, the EPS B can obtain the correct TAS angle signal by requesting the TAS sensor to send the angle signal, and calculate the first TAS initial angle (Own) according to the Offset value stored in the EPS NVM, calculate the third TAS detection angle (Own) according to the first TAS initial angle (Own) and the relative angle calculated by the motor position sensor, and the angle signal can reach the ASILB level.

[0131] The EPS B can receive the second TAS detection angle of the first controller EPS A to calculate the third TAS initial angle (Other), and calculate the fourth detection angle (Other) from the third TAS initial angle (Other) and the relative angle calculated by the motor position sensor.

[0132] Optionally, in some embodiments, when the second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detected angle, the third TAS detected angle and the fourth TAS detected angle, the method further comprises: determining whether the absolute value of the difference between the third TAS detected angle and the fourth TAS detected angle is less than or equal to a fourth preset threshold value; if the absolute value of the difference between the third TAS detected angle and the fourth TAS detected angle is less than or equal to the fourth preset threshold value, the third TAS detected angle is taken as the second steering wheel angle, and the second driving level is determined as L3 level, otherwise, determining whether the absolute value of the difference between the third TAS detected angle and the second SAS detected angle is less than or equal to a fifth preset threshold value; if the absolute value of the difference between the third TAS detected angle and the second SAS detected angle is less than or equal to the fifth preset threshold value, the third TAS detected angle is taken as the second steering wheel angle, and the second driving level is determined as L3 level, otherwise, determining whether the absolute value of the difference between the fourth TAS detected angle and the second SAS detected angle is less than or equal to a sixth preset threshold value; if the absolute value of the difference between the fourth TAS detected angle and the second SAS detected angle is less than or equal to the sixth preset threshold value, the fourth TAS detected angle is taken as the second steering wheel angle, and the second driving level is determined as L3 level, otherwise, the third TAS detected angle is taken as the second steering wheel angle, and the second driving level is determined as L2 level.

[0133] Specifically, as shown in FIG. 2, when the second SAS detected angle, the third TAS detected angle (Own) and the fourth TAS detected angle (Other) can be obtained: Figure 3

[0134] When the first controller EPSA and the second controller EPSB complete the acquisition of the SAS detected angle, the TAS detected angle (Own) and the TAS detected angle (Other), the SAS detected angle, the TAS detected angle (Own) and the TAS detected angle (Other) need to be verified.

[0135] If the third TAS detected angle (Own) and the fourth TAS detected angle (Other) are verified normally, that is, the difference between the third TAS detected angle (Own) and the fourth TAS detected angle (Other) is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the verification is passed. The third TAS detected angle (Own) is taken as the current steering wheel angle, and this angle signal can reach the ASILD level and can be used for L3 level angle control.

[0136] ​If the third TAS detected steering angle (Own) and the fourth TAS detected steering angle (Other) are abnormal, i.e. the third TAS detected steering angle (Own) and the fourth TAS detected steering angle (Other) are out of tolerance by more than a certain value (Ang_Diff, for example 5 deg), it is determined that the check fails. The third TAS detected steering angle (Own) is checked with the second SAS detected steering angle, and if the third TAS detected steering angle (Own) and the second SAS detected steering angle are normal, i.e. the third TAS detected steering angle (Own) and the second SAS detected steering angle are out of tolerance by less than or equal to a certain value (Ang_Diff, for example 5 deg), it is determined that the check passes. The third TAS detected steering angle (Own) is taken as the current steering wheel steering angle, and this steering angle signal can reach the ASILD level and can be used for L3 level steering angle control.

[0137] If the third TAS detected steering angle (Own) and the second SAS detected steering angle are abnormal, i.e. the third TAS detected steering angle (Own) and the second SAS detected steering angle are out of tolerance by more than a certain value (Ang_Diff, for example 5 deg), it is determined that the check fails. The fourth TAS detected steering angle (Other) is checked with the second SAS detected steering angle, and if the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are normal, i.e. the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are out of tolerance by less than or equal to a certain value (Ang_Diff, for example 5 deg), it is determined that the check passes. The fourth TAS detected steering angle (Other) is taken as the current steering wheel steering angle, and this steering angle signal can reach the ASILD level and can be used for L3 level steering angle control.

[0138] If the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are abnormal, i.e. the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are out of tolerance by more than a certain value (Ang_Diff, for example 5 deg), it is determined that the check fails. The third TAS detected steering angle (Own) is taken as the current steering wheel steering angle, and this steering angle signal can reach the ASILB level and can be used for L2 level steering angle control.

[0139] Optionally, in some embodiments, the second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detected angle, the third TAS detected angle and the fourth TAS detected angle, and the method further comprises: if the third and fourth TAS detected angles are both valid signals and the second SAS detected angle is an invalid signal, determining whether the absolute value of the difference between the third and fourth TAS detected angles is less than or equal to a tenth preset threshold value; if the absolute value of the difference between the third and fourth TAS detected angles is less than or equal to the tenth preset threshold value, taking the third TAS detected angle as the second steering wheel angle and determining that the second driving level is L3 level, otherwise, taking the third TAS detected angle as the second steering wheel angle and determining that the second driving level is L2 level; if the third TAS detected angle and the second SAS detected angle are both valid signals and the fourth TAS detected angle is an invalid signal, determining whether the absolute value of the difference between the third and second SAS detected angles is less than or equal to an eleventh preset threshold value; if the absolute value of the difference between the third and second SAS detected angles is less than or equal to the eleventh preset threshold value, taking the third TAS detected angle as the second steering wheel angle and determining that the second driving level is L3 level, otherwise, taking the third TAS detected angle as the second steering wheel angle and determining that the second driving level is L2 level; if the fourth TAS detected angle and the second SAS detected angle are both valid signals and the third TAS detected angle is an invalid signal, determining whether the absolute value of the difference between the fourth and second SAS detected angles is less than or equal to a twelfth preset threshold value; if the absolute value of the difference between the fourth and second SAS detected angles is less than or equal to the twelfth preset threshold value, taking the fourth TAS detected angle as the second steering wheel angle and determining that the second driving level is L3 level, otherwise, taking the fourth TAS detected angle as the second steering wheel angle and determining that the second driving level is L2 level; if only one of the second SAS detected angle, the third TAS detected angle and the fourth TAS detected angle is valid, taking the valid detected angle as the second steering wheel angle and determining that the second driving level is L2 level; and if none of the second SAS detected angle, the third TAS detected angle and the fourth TAS detected angle is valid, sending a steering angle invalid signal. Specifically, when only the second SAS detected angle cannot be successfully obtained, the third TAS detected angle (Own) and the fourth TAS detected angle (Other) are checked, and if the third TAS detected angle (Own) and the fourth TAS detected angle (Other) are checked normally, i.e., the difference between the third TAS detected angle (Own) and the fourth TAS detected angle (Other) is less than or equal to a certain value (Ang_Diff, for example, 5deg), it is determined that the checking is passed.The third TAS detected steering angle (Own) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL D level and can be used for L3 level steering angle control.

[0140] If the third TAS detected steering angle (Own) and the fourth TAS detected steering angle (Other) are abnormal, that is, the difference between the third TAS detected steering angle (Own) and the fourth TAS detected steering angle (Other) is greater than a certain value (Ang_Diff, for example, 5 deg), it is determined that the check fails. The third TAS detected steering angle (Own) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL B level and can be used for L2 level steering angle control.

[0141] When only the fourth TAS detected steering angle (Other) cannot be successfully acquired, the third TAS detected steering angle (Own) is checked with the second SAS detected steering angle. If the third TAS detected steering angle (Own) and the second SAS detected steering angle are normal, that is, the difference between the third TAS detected steering angle (Own) and the second SAS detected steering angle is less than or equal to a certain value (Ang_Diff, for example, 5 deg), it is determined that the check passes. The third TAS detected steering angle (Own) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL D level and can be used for L3 level steering angle control. If the third TAS detected steering angle (Own) and the second SAS detected steering angle are abnormal, that is, the difference between the third TAS detected steering angle (Own) and the second SAS detected steering angle is greater than a certain value (Ang_Diff, for example, 5 deg), it is determined that the check fails. The third TAS detected steering angle (Own) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL B level and can be used for L2 level steering angle control.

[0142] When only the third TAS detected steering angle (Own) cannot be successfully acquired, the fourth TAS detected steering angle (Other) is checked with the second SAS detected steering angle. If the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are normal, that is, the difference between the fourth TAS detected steering angle (Other) and the second SAS detected steering angle is less than or equal to a certain value (Ang_Diff, for example, 5 deg), it is determined that the check passes. The fourth TAS detected steering angle (Other) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL D level and can be used for L3 level steering angle control. If the fourth TAS detected steering angle (Other) and the second SAS detected steering angle are abnormal, that is, the difference between the fourth TAS detected steering angle (Other) and the second SAS detected steering angle is greater than a certain value (Ang_Diff, for example, 5 deg), it is determined that the check fails. The fourth TAS detected steering angle (Other) is taken as the current steering angle of the second steering wheel. The steering angle signal can reach the ASIL B level and can be used for L2 level steering angle control.

[0143] If the second SAS detected angle, the third TAS detected angle (Own) and the fourth TAS detected angle (Other) cannot be successfully acquired, the successfully acquired angle is taken as the second steering wheel current angle, and the angle signal can reach the ASILB level and can be used for L2 level angle control.

[0144] If the second SAS detected angle, the third TAS detected angle (Own) and the fourth TAS detected angle (Other) cannot be successfully acquired, the second EPS controller will send an invalid angle to the CAN bus, and at this time the second EPS controller will not respond to the angle control instruction of the ADAS controller.

[0145] In step S104, the first EPS controller is controlled to perform angle control based on the first steering wheel angle and the first driving level, and the second EPS controller is controlled to perform angle control based on the second steering wheel angle and the second driving level.

[0146] Specifically, after obtaining the first steering wheel angle and the first driving level, the first EPS controller can be controlled based on the first steering wheel angle and the first driving level, and after obtaining the second steering wheel angle and the second driving level, the second EPS controller can be controlled based on the second steering wheel angle and the second driving level.

[0147] Therefore, the first EPS controller and the second EPS controller of the embodiment of the application can obtain the SAS initial angle of the steering wheel angle sensor and the first TAS initial angle of the torque sensor, and the first steering wheel angle and the first driving level and the second steering wheel angle and the second driving level are calculated by the first EPS controller and the second EPS controller respectively, and then the first EPS controller is controlled based on the first steering wheel angle and the first driving level, and the second EPS controller is controlled based on the second steering wheel angle and the second driving level, thereby improving the safety and stability of the vehicle.

[0148] In summary, (1) for the EPS using the full redundancy scheme, the controller can be divided into EPSA and EPSB. EPSA obtains the angle signal sent by the steering wheel angle sensor SAS from the PT CAN network in the power-on initialization stage, and sends it to EPSB through internal communication; EPSA and EPSB respectively calculate the SAS initial angle according to the SAS angle signal, and calculate the SAS detected angle according to the SAS initial angle and the relative angle calculated by the motor position sensor, and the angle signal can reach the ASILB level.

[0149] (2) After the whole vehicle KL15 is powered on, EPSA and EPSB can obtain correct TAS rotation angle signals by respectively requesting the TAS sensor to send rotation angle signals, calculate the TAS initial rotation angle (Own) according to the Offset value stored in the EPS NVM, and calculate the TAS detection rotation angle (Own) according to the TAS initial rotation angle (Own) and the relative rotation angle calculated by the motor position sensor. This rotation angle signal can reach the ASILB level.

[0150] After EPSA calculates the TAS detection rotation angle (Own), it sends it to EPSB through internal communication. EPSB calculates the TAS initial rotation angle (Other) according to this rotation angle signal, and calculates the TAS detection rotation angle (Other) according to the TAS initial rotation angle (Other) and the relative rotation angle calculated by the motor position sensor. This rotation angle signal can reach the ASILB level.

[0151] After EPSB calculates the TAS detection rotation angle (Own), it sends it to EPSA through internal communication. EPSA calculates the TAS initial rotation angle (Other) according to this rotation angle signal, and calculates the TAS detection rotation angle (Other) according to the TAS initial rotation angle (Other) and the relative rotation angle calculated by the motor position sensor. This rotation angle signal can reach the ASILB level.

[0152] (3) After the EPS successfully obtains the SAS detection rotation angle, the TAS detection rotation angle (Own), and the TAS detection rotation angle (Other) during the power-on initialization stage, it verifies the SAS detection rotation angle, the TAS detection rotation angle (Own), and the TAS detection rotation angle (Other) to obtain ASILD level rotation angle, which can be used for L3 level rotation angle control. If ASILD level rotation angle cannot be obtained but ASILB level rotation angle can be obtained, it can be used for L2 level rotation angle control. If ASILB level rotation angle cannot be obtained, the EPS will send a rotation angle invalidity to the CAN bus, and at this time the EPS will not be able to respond to the rotation angle control instructions of the ADAS controller.

[0153] According to the corner control method of the full-redundancy EPS controller provided in the embodiment of the present application, the initial steering wheel corner sensor SAS initial corner, the first torque corner sensor TAS initial corner and the relative corner obtained by the motor position sensor are acquired, the first steering wheel corner of the first EPS controller and the first driving level corresponding to the first steering wheel corner are obtained according to the SAS initial corner, the first TAS initial corner, the relative corner and the second TAS initial corner obtained by the second EPS controller, the second steering wheel corner of the second EPS controller and the second driving level corresponding to the second steering wheel corner are obtained according to the SAS initial corner, the first TAS initial corner, the relative corner and the third TAS initial corner obtained by the first EPS controller, the first EPS controller is controlled to perform corner control based on the first steering wheel corner and the first driving level, and the second EPS controller is controlled to perform corner control based on the second steering wheel corner and the second driving level. In this way, the problem that the EPS B cannot acquire the SAS corner signal and the TAS corner signal is solved, the EPS B can also acquire the current steering wheel corner, and the ADAS controller corner instruction can be normally executed, and the stability and safety of the whole vehicle are further improved.

[0154] Figure 4 FIG. 1 is a structural schematic diagram of a corner control device of a full-redundancy EPS controller provided in the embodiment of the present application.

[0155] As shown in FIG. 1, the device 10 can include an acquisition module 100, a first generation module 200, a second generation module 300 and a control module 400. Figure 4

[0156] The acquisition module 100 is configured to acquire the initial steering wheel corner sensor SAS initial corner, the first torque corner sensor TAS initial corner and the relative corner obtained by the motor position sensor.

[0157] The first generation module 200 is configured to obtain the first steering wheel corner of the first EPS controller and the first driving level corresponding to the first steering wheel corner according to the SAS initial corner, the first TAS initial corner, the relative corner and the second TAS initial corner obtained by the second EPS controller.

[0158] The second generation module 300 is configured to obtain the second steering wheel corner of the second EPS controller and the second driving level corresponding to the second steering wheel corner according to the SAS initial corner, the first TAS initial corner, the relative corner and the third TAS initial corner obtained by the first EPS controller.

[0159] The control module 400 is configured to control the first EPS controller to perform corner control based on the first steering wheel corner and the first driving level, and control the second EPS controller to perform corner control based on the second steering wheel corner and the second driving level.​

[0160] With reference to the second aspect, in some possible implementations, the first generating module 200 includes a first generating unit and a second generating unit.

[0161] The first generating unit is configured to obtain a first SAS detection angle according to the SAS initial angle and the relative angle, obtain a first TAS detection angle according to the first TAS initial angle and the relative angle, and obtain a second TAS detection angle according to the second TAS initial angle and the relative angle.

[0162] The second generating unit is configured to obtain the first steering wheel angle and the first driving level corresponding to the first steering wheel angle according to the first SAS detection angle, the first TAS detection angle, and the second TAS detection angle.

[0163] With reference to the second aspect, in some possible implementations, the second generating unit includes a first judging subunit, a first generating subunit, a second generating subunit, and a third generating subunit.

[0164] The first judging subunit is configured to determine whether an absolute value of a difference between the first TAS detection angle and the second TAS detection angle is less than or equal to a first preset threshold.

[0165] The first generating subunit is configured to, when the difference between the first TAS detection angle and the second TAS detection angle is less than or equal to the first preset threshold, take the first TAS detection angle as the first steering wheel angle, and determine that the first driving level is an L3 level, or determine whether an absolute value of a difference between the first TAS detection angle and the first SAS detection angle is less than or equal to a second preset threshold.

[0166] The second generating subunit is configured to, when the absolute value of the difference between the first TAS detection angle and the first SAS detection angle is less than or equal to the second preset threshold, take the first TAS detection angle as the first steering wheel angle, and determine that the first driving level is the L3 level, or determine whether an absolute value of a difference between the second TAS detection angle and the first SAS detection angle is less than or equal to a third preset threshold.

[0167] The third generating subunit is configured to, when the absolute value of the difference between the second TAS detection angle and the first SAS detection angle is less than or equal to the third preset threshold, take the second TAS detection angle as the first steering wheel angle, and determine that the first driving level is the L3 level.

[0168] With reference to the second aspect, in some possible implementations, after determining whether the absolute value of the difference between the second TAS detection angle and the first SAS detection angle is less than or equal to the third preset threshold, the second generating subunit further includes a fourth generating subunit.

[0169] The fourth generating subunit is configured to, when a difference between the second TAS detected steering angle and the first SAS detected steering angle is greater than a third preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle, and determine that the first driving level is an L2 level.

[0170] With reference to the second aspect, in some possible implementation manners, the second generating module 300 includes a third generating unit and a fourth generating unit.

[0171] The third generating unit is configured to obtain a second SAS detected steering angle according to the SAS initial steering angle and the relative steering angle, obtain a third TAS detected steering angle according to the first TAS initial steering angle and the relative steering angle, and obtain a fourth TAS detected steering angle according to the third TAS initial steering angle and the relative steering angle.

[0172] The fourth generating unit is configured to obtain a second steering wheel steering angle and a second driving level corresponding to the second steering wheel steering angle according to the second SAS detected steering angle, the third TAS detected steering angle, and the fourth TAS detected steering angle.

[0173] With reference to the second aspect, in some possible implementation manners, the fourth generating unit includes a second judging subunit, a fifth generating subunit, a sixth generating subunit, and a seventh generating subunit.

[0174] The second judging subunit is configured to judge whether an absolute value of a difference between the third TAS detected steering angle and the fourth TAS detected steering angle is less than or equal to a fourth preset threshold.

[0175] The fifth generating subunit is configured to, when the absolute value of the difference between the third TAS detected steering angle and the fourth TAS detected steering angle is less than or equal to the fourth preset threshold, take the third TAS detected steering angle as the second steering wheel steering angle, and determine that the second driving level is an L3 level, or judge whether an absolute value of a difference between the third TAS detected steering angle and the second SAS detected steering angle is less than or equal to a fifth preset threshold.

[0176] The sixth generating subunit is configured to, when the absolute value of the difference between the third TAS detected steering angle and the second SAS detected steering angle is less than or equal to the fifth preset threshold, take the third TAS detected steering angle as the second steering wheel steering angle, and determine that the second driving level is the L3 level, or judge whether an absolute value of a difference between the fourth TAS detected steering angle and the second SAS detected steering angle is less than or equal to a sixth preset threshold.

[0177] The seventh generating subunit is configured to, when the absolute value of the difference between the fourth TAS detected steering angle and the second SAS detected steering angle is less than or equal to the sixth preset threshold, take the fourth TAS detected steering angle as the second steering wheel steering angle, and determine that the second driving level is the L3 level, or take the third TAS detected steering angle as the second steering wheel steering angle, and determine that the second driving level is an L2 level.

[0178] With reference to the second aspect, in some possible implementation manners, when the first steering wheel angle and the first driving level corresponding to the first steering wheel angle are obtained according to the first SAS detected angle, the first TAS detected angle and the second TAS detected angle, the second generating unit further includes: a third judging subunit, an eighth generating subunit, a fourth judging subunit, a ninth generating subunit, a fifth judging subunit, a tenth generating subunit, an eleventh generating subunit and a twelfth generating subunit.

[0179] The third judging subunit is configured to, when the first SAS detected angle is an invalid signal, and the first TAS detected angle and the second TAS detected angle are both valid signals, judge whether an absolute value of a difference between the first TAS detected angle and the second TAS detected angle is less than or equal to a seventh preset threshold value.

[0180] The eighth generating subunit is configured to, when the absolute value of the difference between the first TAS detected angle and the second TAS detected angle is less than or equal to the seventh preset threshold value, take the first TAS detected angle as the first steering wheel angle, and determine that the first driving level is L3 level, or otherwise, take the first TAS detected angle as the first steering wheel angle, and determine that the first driving level is L2 level.

[0181] The fourth judging subunit is configured to, when the second TAS detected angle is an invalid signal, and the first TAS detected angle and the first SAS detected angle are both valid signals, judge whether an absolute value of a difference between the first TAS detected angle and the first SAS detected angle is less than or equal to an eighth preset threshold value.

[0182] The ninth generating subunit is configured to, when the absolute value of the difference between the first TAS detected angle and the first SAS detected angle is less than or equal to the eighth preset threshold value, take the first TAS detected angle as the first steering wheel angle, and determine that the first driving level is L3 level, or otherwise, take the first TAS detected angle as the first steering wheel angle, and determine that the first driving level is L2 level.

[0183] The fifth judging subunit is configured to, when the first TAS detected angle is an invalid signal, and the second TAS detected angle and the first SAS detected angle are both valid signals, judge whether an absolute value of a difference between the second TAS detected angle and the first SAS detected angle is less than or equal to a ninth preset threshold value.

[0184] The tenth generating subunit is configured to, when the absolute value of the difference between the second TAS detected angle and the first SAS detected angle is less than or equal to the ninth preset threshold value, take the second TAS detected angle as the first steering wheel angle, and determine that the first driving level is L3 level, or otherwise, take the second TAS detected angle as the first steering wheel angle, and determine that the first driving level is L2 level.

[0185] The eleventh generating subunit is configured to, when only one of the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle is valid, take the valid detected steering angle as the first steering wheel steering angle, and determine that the first driving level is L2 level.

[0186] The twelfth generating subunit is configured to, when none of the first SAS detected steering angle, the first TAS detected steering angle and the second TAS detected steering angle is valid, send a steering angle invalid signal.

[0187] In combination with the second aspect, in some possible implementation manners, the fourth generating unit further includes a sixth judging subunit, a thirteenth generating subunit, a seventh judging subunit, a fourteenth generating subunit, an eighth judging subunit, a fifteenth generating subunit, a sixteenth generating subunit and a seventeenth generating subunit.

[0188] The sixth judging subunit is configured to, when the third TAS detected steering angle and the fourth TAS detected steering angle are both valid signals and the second SAS detected steering angle is an invalid signal, judge whether an absolute value of a difference between the third TAS detected steering angle and the fourth TAS detected steering angle is less than or equal to a tenth preset threshold value.

[0189] The thirteenth generating subunit is configured to, when the absolute value of the difference between the third TAS detected steering angle and the fourth TAS detected steering angle is less than or equal to the tenth preset threshold value, take the third TAS detected steering angle as the second steering wheel steering angle and determine that the second driving level is L3 level, or otherwise, take the third TAS detected steering angle as the second steering wheel steering angle and determine that the second driving level is L2 level.

[0190] The seventh judging subunit is configured to, when the third TAS detected steering angle and the second SAS detected steering angle are both valid signals and the fourth TAS detected steering angle is an invalid signal, judge whether an absolute value of a difference between the third TAS detected steering angle and the second SAS detected steering angle is less than or equal to an eleventh preset threshold value.

[0191] The fourteenth generating subunit is configured to, when the absolute value of the difference between the third TAS detected steering angle and the second SAS detected steering angle is less than or equal to the eleventh preset threshold value, take the third TAS detected steering angle as the second steering wheel steering angle and determine that the second driving level is L3 level, or otherwise, take the third TAS detected steering angle as the second steering wheel steering angle and determine that the second driving level is L2 level.

[0192] The eighth judging subunit is configured to, when the fourth TAS detected steering angle and the second SAS detected steering angle are both valid signals and the third TAS detected steering angle is an invalid signal, judge whether an absolute value of a difference between the fourth TAS detected steering angle and the second SAS detected steering angle is less than or equal to a twelfth preset threshold value.

[0193] The fifteenth generating subunit is configured to: when an absolute value of a difference between the fourth TAS detected steering angle and the second SAS detected steering angle is less than or equal to a twelfth preset threshold, taking the fourth TAS detected steering angle as the second steering wheel steering angle, and determining that the second driving level is an L3 level; otherwise, taking the fourth TAS detected steering angle as the second steering wheel steering angle, and determining that the second driving level is an L2 level.

[0194] The sixteenth generating subunit is configured to: when only one of the second SAS detected steering angle, the third TAS detected steering angle and the fourth TAS detected steering angle is valid, taking the valid detected steering angle as the second steering wheel steering angle, and determining that the second driving level is an L2 level.

[0195] The seventeenth generating subunit is configured to: when none of the second SAS detected steering angle, the third TAS detected steering angle and the fourth TAS detected steering angle is valid, sending a steering angle invalid signal.

[0196] According to the steering angle control device of the full-redundancy EPS controller provided in the embodiments of the present application, the initial steering angle of the steering wheel angle sensor SAS, the initial steering angle of the first torque angle sensor TAS and the relative steering angle obtained by the motor position sensor are acquired, the first steering wheel steering angle of the first EPS controller and the first driving level corresponding to the first steering wheel steering angle are obtained according to the initial steering angle of the SAS, the initial steering angle of the first TAS, the relative steering angle and the second initial steering angle of the second TAS obtained by the second EPS controller, the second steering wheel steering angle of the second EPS controller and the second driving level corresponding to the second steering wheel steering angle are obtained according to the initial steering angle of the SAS, the initial steering angle of the first TAS, the relative steering angle and the third initial steering angle of the first TAS obtained by the first EPS controller, the first EPS controller is controlled to perform steering angle control based on the first steering wheel steering angle and the first driving level, and the second EPS controller is controlled to perform steering angle control based on the second steering wheel steering angle and the second driving level. Thus, the problem that the EPS B cannot acquire the SAS steering angle signal and the TAS steering angle signal is solved, the EPS B can also acquire the current steering wheel steering angle, and the ADAS controller steering angle instruction can be normally executed, and the stability and safety of the whole vehicle are further improved.

[0197] Figure 5 is a structural schematic diagram of a vehicle provided by the embodiments of the present application.

[0198] It should be understood that the above-described method can be applied to Figure 5 vehicles of the structures shown.

[0199] In addition, the embodiment of the present application also protects a device, which can include a memory 501 and a processor 502, wherein the memory 501 stores executable program codes, and the processor 502 is configured to invoke and execute the executable program codes to perform the corner control method of the full-redundancy EPS controller provided by the embodiment of the present application.

[0200] Further, the vehicle further includes a communication interface 503 configured to communicate between the memory 501 and the processor 502.

[0201] The embodiment can divide the device into functional modules according to the above method examples, for example, each functional module can be corresponding, or two or more functions can be integrated into one processing module, and the integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division, and another division mode can be used in actual implementation.

[0202] In the case of dividing each functional module according to each function, the device can further include a judgment module, a control module and the like. It should be noted that all related contents of each step involved in the above method embodiment can be referred to the function description of the corresponding functional module, and will not be repeated here.

[0203] It should be understood that the device provided by the embodiment is used to perform the above-mentioned corner control method of the full-redundancy EPS controller, and thus the same effect as the above-mentioned implementation method can be achieved.

[0204] In the case of using an integrated unit, the device can include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes and the like.

[0205] The processing module can be a processor 502 or a controller, which can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor 502 can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of digital signal processing (digital signal processing, DSP) and microprocessor, and the like, and the storage module can be a memory 501.

[0206] In addition, the device provided by the embodiment of the present application can be a chip, an assembly or a module, the chip can include a connected processor 502 and a memory 501; wherein the memory 501 is used to store instructions, when the processor 502 invokes and executes the instructions, the chip can perform the corner control method of the full-redundancy EPS controller provided by the above-mentioned embodiment.

[0207] The embodiment further provides a computer readable storage medium, in which computer program codes are stored, and the computer program codes cause a computer to execute the related method steps described above to realize the corner control method of the full-redundancy EPS controller provided in the above embodiment when the computer program codes are run on the computer.

[0208] The embodiment further provides a computer program product, which causes a computer to execute the related steps described above to realize the corner control method of the full-redundancy EPS controller provided in the above embodiment when the computer program product is run on the computer.

[0209] The apparatus, the computer readable storage medium, the computer program product or the chip provided in the embodiment are used to execute the corresponding method provided above, and thus the beneficial effects achieved by the apparatus, the computer readable storage medium, the computer program product or the chip can refer to the beneficial effects in the corresponding method provided above, which will not be described here again.

[0210] From the above description of the embodiments, those skilled in the art can understand that, for the convenience and brevity, only the division of the above functional modules is taken as an example for description, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above.

[0211] In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other means. For example, the apparatus embodiments described above are only schematic, for example, the division of the modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed ones can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0212] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A corner control method of a full-redundant EPS controller, characterized by, The vehicle comprises a first EPS controller and a second EPS controller which communicate with each other, and the method comprises the following steps: obtaining a steering wheel angle sensor SAS initial angle, a first torque angle sensor first TAS initial angle, and a relative angle obtained by a motor position sensor; obtaining a first steering wheel angle of the first EPS controller and a first driving level corresponding to the first steering wheel angle according to the SAS initial angle, the first TAS initial angle, the relative angle, and a second TAS initial angle obtained by the second EPS controller; obtaining a second steering wheel angle of the second EPS controller and a second driving level corresponding to the second steering wheel angle according to the SAS initial angle, the first TAS initial angle, the relative angle, and a third TAS initial angle obtained by the first EPS controller; and controlling the first EPS controller to perform angle control based on the first steering wheel angle and the first driving level, and controlling the second EPS controller to perform angle control based on the second steering wheel angle and the second driving level, when the first steering wheel angle is the same as the second steering wheel angle, performing angle control based on the first steering wheel angle and the first driving level, otherwise, performing angle control based on the higher driving level between the first driving level and the second driving level and the steering wheel angle corresponding to the higher driving level; the obtaining of the first steering wheel angle of the first EPS controller and the first driving level corresponding to the first steering wheel angle according to the SAS initial angle, the first TAS initial angle, the relative angle, and the second TAS initial angle obtained by the second EPS controller comprises: obtaining a first SAS detection angle according to the SAS initial angle and the relative angle, obtaining a first TAS detection angle according to the first TAS initial angle and the relative angle, and obtaining a second TAS detection angle according to the second TAS initial angle and the relative angle; and obtaining the first steering wheel angle and the first driving level corresponding to the first steering wheel angle according to the first SAS detection angle, the first TAS detection angle, and the second TAS detection angle; The first steering wheel angle and the first driving level corresponding to the first steering wheel angle are obtained according to the first SAS detection angle, the first TAS detection angle and the second TAS detection angle, and the method comprises: determining whether the absolute value of the difference between the first TAS detection angle and the second TAS detection angle is less than or equal to a first preset threshold value; if the difference between the first TAS detection angle and the second TAS detection angle is less than or equal to the first preset threshold value, the first TAS detection angle is taken as the first steering wheel angle, and the first driving level is determined to be L3 level; otherwise, it is determined whether the absolute value of the difference between the first TAS detection angle and the first SAS detection angle is less than or equal to a second preset threshold value; if the absolute value of the difference between the first TAS detection angle and the first SAS detection angle is less than or equal to the second preset threshold value, the first TAS detection angle is taken as the first steering wheel angle, and the first driving level is determined to be L3 level; otherwise, it is determined whether the absolute value of the difference between the second TAS detection angle and the first SAS detection angle is less than or equal to a third preset threshold value; if the absolute value of the difference between the second TAS detection angle and the first SAS detection angle is less than or equal to the third preset threshold value, the second TAS detection angle is taken as the first steering wheel angle, and the first driving level is determined to be L3 level. After determining whether the absolute value of the difference between the second TAS detection angle and the first SAS detection angle is less than or equal to the third preset threshold value, the method further comprises: if the difference between the second TAS detection angle and the first SAS detection angle is greater than the third preset threshold value, the first TAS detection angle is taken as the first steering wheel angle, and the first driving level is determined to be L2 level.

2. The method of claim 1, wherein, The second steering wheel angle of the second EPS controller and the second driving level corresponding to the second steering wheel angle are obtained according to the SAS initial angle, the first TAS initial angle, the relative angle and a third TAS initial angle obtained by the first EPS controller, and the method comprises: a second SAS detection angle is obtained according to the SAS initial angle and the relative angle, a third TAS detection angle is obtained according to the first TAS initial angle and the relative angle, and a fourth TAS detection angle is obtained according to the third TAS initial angle and the relative angle; the second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle.

3. The method of claim 2, wherein, The second steering wheel angle and the second driving level corresponding to the second steering wheel angle are obtained according to the second SAS detection angle, the third TAS detection angle and the fourth TAS detection angle, and the method comprises: determining whether the absolute value of the difference between the third TAS detection angle and the fourth TAS detection angle is less than or equal to a fourth preset threshold value; If an absolute value of a difference between the third TAS detection steering angle and the fourth TAS detection steering angle is less than or equal to the fourth preset threshold, the third TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L3 level, otherwise, whether an absolute value of a difference between the third TAS detection steering angle and the second SAS detection steering angle is less than or equal to a fifth preset threshold is judged; If the absolute value of the difference between the third TAS detection steering angle and the second SAS detection steering angle is less than or equal to the fifth preset threshold, the third TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L3 level, otherwise, whether an absolute value of a difference between the fourth TAS detection steering angle and the second SAS detection steering angle is less than or equal to a sixth preset threshold is judged; If the absolute value of the difference between the fourth TAS detection steering angle and the second SAS detection steering angle is less than or equal to the sixth preset threshold, the fourth TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L3 level, otherwise, the third TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L2 level.

4. The method of claim 1, wherein, In obtaining the first steering wheel steering angle and the first driving level corresponding to the first steering wheel steering angle according to the first SAS detection steering angle, the first TAS detection steering angle and the second TAS detection steering angle, further comprising: If the first TAS detection steering angle and the second TAS detection steering angle are both valid signals, and the first SAS detection steering angle is an invalid signal, whether an absolute value of a difference between the first TAS detection steering angle and the second TAS detection steering angle is less than or equal to a seventh preset threshold is judged; If the absolute value of the difference between the first TAS detection steering angle and the second TAS detection steering angle is less than or equal to the seventh preset threshold, the first TAS detection steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, the first TAS detection steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level; If the first TAS detection steering angle and the first SAS detection steering angle are both valid signals, and the second TAS detection steering angle is an invalid signal, whether an absolute value of a difference between the first TAS detection steering angle and the first SAS detection steering angle is less than or equal to an eighth preset threshold is judged; If the absolute value of the difference between the first TAS detection steering angle and the first SAS detection steering angle is less than or equal to the eighth preset threshold, the first TAS detection steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L3 level, otherwise, the first TAS detection steering angle is taken as the first steering wheel steering angle, and the first driving level is determined as L2 level; if the second TAS detection corner and the first SAS detection corner are both the valid signals, and the first TAS detection corner is the invalid signal, whether an absolute value of a difference between the second TAS detection corner and the first SAS detection corner is less than or equal to a ninth preset threshold value; if the absolute value of the difference between the second TAS detection corner and the first SAS detection corner is less than or equal to the ninth preset threshold value, the second TAS detection corner is taken as the first steering wheel corner, and the first driving level is determined as an L3 level, otherwise, the second TAS detection corner is taken as the first steering wheel corner, and the first driving level is determined as an L2 level; if only one of the first SAS detection corner, the first TAS detection corner and the second TAS detection corner is valid, the valid detection corner is taken as the first steering wheel corner, and the first driving level is determined as the L2 level; if the first SAS detection corner, the first TAS detection corner and the second TAS detection corner are all invalid, a corner invalid signal is sent.

5. The method of claim 2, wherein, when the second steering wheel corner and the second driving level corresponding to the second steering wheel corner are obtained according to the second SAS detection corner, the third TAS detection corner and the fourth TAS detection corner, further comprising: if the third TAS detection corner and the fourth TAS detection corner are both the valid signals, and the second SAS detection corner is the invalid signal, whether an absolute value of a difference between the third TAS detection corner and the fourth TAS detection corner is less than or equal to a tenth preset threshold value; if the absolute value of the difference between the third TAS detection corner and the fourth TAS detection corner is less than or equal to the tenth preset threshold value, the third TAS detection corner is taken as the second steering wheel corner, and the second driving level is determined as the L3 level, otherwise, the third TAS detection corner is taken as the second steering wheel corner, and the second driving level is determined as the L2 level; if the third TAS detection corner and the second SAS detection corner are both the valid signals, and the fourth TAS detection corner is the invalid signal, whether an absolute value of a difference between the third TAS detection corner and the second SAS detection corner is less than or equal to an eleventh preset threshold value; if the absolute value of the difference between the third TAS detection corner and the second SAS detection corner is less than or equal to the eleventh preset threshold value, the third TAS detection corner is taken as the second steering wheel corner, and the second driving level is determined as the L3 level, otherwise, the third TAS detection corner is taken as the second steering wheel corner, and the second driving level is determined as the L2 level; if the fourth TAS detection corner and the second SAS detection corner are both the valid signals, and the third TAS detection corner is the invalid signal, whether an absolute value of a difference between the fourth TAS detection corner and the second SAS detection corner is less than or equal to a twelfth preset threshold value; If an absolute value of a difference between the fourth TAS detection steering angle and the second SAS detection steering angle is less than or equal to the twelfth preset threshold, the fourth TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L3 level, otherwise, the fourth TAS detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L2 level; If only one of the second SAS detection steering angle, the third TAS detection steering angle and the fourth TAS detection steering angle is valid, the valid detection steering angle is taken as the second steering wheel steering angle, and the second driving level is determined as L2 level; If none of the second SAS detection steering angle, the third TAS detection steering angle and the fourth TAS detection steering angle is valid, a steering angle invalid signal is sent.

6. A corner control device of a full-redundant EPS controller, characterized by comprising: The vehicle comprises a first EPS controller and a second EPS controller in communication with each other, wherein the apparatus comprises: an acquisition module configured to acquire a steering wheel steering angle sensor (SAS) initial steering angle, a first torque steering angle sensor (TAS) initial steering angle and a relative steering angle obtained by a motor position sensor; a first generation module configured to obtain a first steering wheel steering angle of the first EPS controller and a first driving level corresponding to the first steering wheel steering angle according to the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle and a second TAS initial steering angle obtained by the second EPS controller; a second generation module configured to obtain a second steering wheel steering angle of the second EPS controller and a second driving level corresponding to the second steering wheel steering angle according to the SAS initial steering angle, the first TAS initial steering angle, the relative steering angle and a third TAS initial steering angle obtained by the first EPS controller; and a control module configured to control the first EPS controller to perform steering angle control based on the first steering wheel steering angle and the first driving level, and control the second EPS controller to perform steering angle control based on the second steering wheel steering angle and the second driving level, when the first steering wheel steering angle is the same as the second steering wheel steering angle, perform steering angle control based on the first steering wheel steering angle and the first driving level, otherwise, perform steering angle control based on a higher driving level of the first driving level and the second driving level and a steering wheel steering angle corresponding to the higher driving level; the first generation module comprises: a first generation unit configured to obtain a first SAS detection steering angle according to the SAS initial steering angle and the relative steering angle, obtain a first TAS detection steering angle according to the first TAS initial steering angle and the relative steering angle, and obtain a second TAS detection steering angle according to the second TAS initial steering angle and the relative steering angle; and a second generation unit configured to obtain the first steering wheel steering angle and the first driving level corresponding to the first steering wheel steering angle according to the first SAS detection steering angle, the first TAS detection steering angle and the second TAS detection steering angle. The second generation unit comprises: a first judgment subunit configured to judge whether the absolute value of the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to a first preset threshold; a first generation subunit configured to, when the difference between the first TAS detected steering angle and the second TAS detected steering angle is less than or equal to the first preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle and determine that the first driving level is L3 level, otherwise, judge whether the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to a second preset threshold; a second generation subunit configured to, when the absolute value of the difference between the first TAS detected steering angle and the first SAS detected steering angle is less than or equal to the second preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle and determine that the first driving level is L3 level, otherwise, judge whether the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to a third preset threshold; and a third generation subunit configured to, when the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold, take the second TAS detected steering angle as the first steering wheel steering angle and determine that the first driving level is L3 level. After judging whether the absolute value of the difference between the second TAS detected steering angle and the first SAS detected steering angle is less than or equal to the third preset threshold, the second generation subunit further comprises a fourth generation subunit configured to, when the difference between the second TAS detected steering angle and the first SAS detected steering angle is greater than the third preset threshold, take the first TAS detected steering angle as the first steering wheel steering angle and determine that the first driving level is L2 level.

7. A vehicle characterized by comprising: The computer program is stored in the memory and executable on the processor, and the processor executes the program to implement the steering angle control method of the full-redundancy EPS controller according to any one of claims 1-5. The computer program is stored in the memory and executable on the processor, and the processor executes the program to implement the steering angle control method of the full-redundancy EPS controller according to any one of claims 1-5.

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