Detection control device, detection control method, and detection control apparatus for a redundant steering system

Abstract

The application discloses a detection control device, a detection control method and a device of a redundant steering system. The detection control device comprises: a plurality of steering control loops; each of the plurality of steering control loops independently controls a vehicle to steer; a target steering control loop in the plurality of steering control loops comprises a target control device and a first target protection switch; a control device is used for detecting a first operating state of the target control device, and in the case that the first operating state is a preset fault state, the control device controls the first target protection switch to be disconnected, so that the target steering control loop stops steering control; a steering control loop where the control device is located is a control loop different from the target steering control loop in the plurality of steering control loops; the application can realize target steering control loop protection, improve the accuracy of the control ability of the target control device, improve the safety of the target steering control loop, and further improve driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of safety detection of steering systems, and particularly relates to a detection control device, a detection control method and a device for a redundant steering system. BACKGROUND

[0002] In the prior art, an MCU (Microcontroller Unit) arranged in an electric power steering system in a vehicle can monitor the running state of other devices in the electric power steering system, but the safety of the MCU itself is difficult to find out, so that when the MCU fails and cannot control the electric power steering system to stop, or continuously sends error control signals to other control systems, a high risk safety hazard is caused to the vehicle, and the driving safety is greatly reduced.

[0003] In order to solve the technical problem of the safety of the steering system, the present application discloses a detection control device for a redundant steering system which can solve the above technical problem. SUMMARY

[0004] In order to solve the technical problem of the safety of the steering system, the present application discloses a detection control device for a redundant steering system which can solve the above technical problem.

[0005] In order to achieve the above-mentioned purpose, the present application provides a detection control device for a redundant steering system, comprising a plurality of steering control loops; each of the plurality of steering control loops independently controls the vehicle to steer.

[0006] The target steering control loop in the plurality of steering control loops comprises a target control device and a first target protection switch.

[0007] The control device is used for detecting the first running state of the target control device, and in the case that the first running state is a preset fault state, the first target protection switch is controlled to be disconnected, so that the target steering control loop stops steering control; the steering control loop where the control device is located is a control loop different from the target steering control loop in the plurality of steering control loops.

[0008] In some embodiments, the target control device comprises a first processing unit and a second processing unit.

[0009] The first processing unit is used for processing data of a first preset device in the target steering control loop; the first preset device is a device in the target steering control loop which is in communication connection with the target control device.

[0010] The second processing unit is used for detecting the running state of a target unit in the target control device.

[0011] The control device is configured to detect a first target operating state of the first processing unit and a second target operating state of the second processing unit, and control the first target protection switch to be disconnected in a case where the first target operating state or the second target operating state is a first fault state.

[0012] In some embodiments, the target steering control loop further comprises a second target protection switch.

[0013] The second processing unit is further configured to acquire a third target operating state of the first processing unit, and control the second target protection switch to be disconnected in a case where the third target operating state is a second fault state, so that the target steering control loop stops steering control.

[0014] The application further provides a detection control method of a redundant steering system, applied to a control device, and the method comprises the following steps:

[0015] Acquiring a first operating state of the target control device;

[0016] In a case where the first operating state is the preset fault state, controlling the first target protection switch to be disconnected, so that the target steering control loop stops steering control.

[0017] In some embodiments, the target control device comprises a first processing unit and a second processing unit, and the acquiring of the first operating state of the target control device comprises the following steps:

[0018] Acquiring a first target operating state of the first processing unit and a second target operating state of the second processing unit;

[0019] Performing state analysis processing of the target control device according to the first target operating state and the second target operating state, to obtain the first operating state.

[0020] In some embodiments, the acquiring of the first target operating state of the first processing unit and the second target operating state of the second processing unit comprises the following steps:

[0021] Acquiring first detection data of the first processing unit, second detection data of the second processing unit, a first preset reference threshold value and a second preset reference threshold value;

[0022] Determining a first comparison result between the first detection data and the first preset reference threshold value;

[0023] Determining a second comparison result between the second detection data and the second preset reference threshold value;

[0024] According to the first comparison result and the second comparison result, an analysis processing of a running state of the processing unit is performed to obtain the first target running state of the first processing unit and the second target running state of the second processing unit.

[0025] In some embodiments, in the case that the first running state is the preset fault state, the first target protection switch is controlled to be disconnected to stop the target steering control loop from steering control.

[0026] In the case that the first target running state or the second target running state is a first fault state, the first target protection switch is controlled to be disconnected.

[0027] The application further provides a detection control device of a redundant steering system, which is applied to a control device, and the device comprises:

[0028] A first acquisition module is configured to acquire a first running state of the target control device.

[0029] A first control module is configured to, in the case that the first running state is the preset fault state, control the first target protection switch to be disconnected to stop the target steering control loop from steering control.

[0030] The application further provides a detection control device of a redundant steering system, which comprises a processor and a memory, and the memory stores at least one instruction or at least one program.

[0031] The application further provides a computer readable storage medium, which stores at least one instruction or at least one program.

[0032] The application has the following beneficial effects:

[0033] The detection control device of the redundant steering system of the present application detects the first running state of the target control device in the target steering control loop through the control device in any one of the plurality of steering control loops, and controls the first target protection switch to be disconnected to stop the steering control of the target steering control loop in the case that the first running state is the preset fault state; in this way, the monitoring of the target control device and the control of the target steering control loop can be realized through the control device in the redundant control loop in the case that the target control device in the target control loop itself fails, and the control ability of the target control device is improved, the accuracy of the control ability of the target control device is improved, the safety of the target steering control loop is improved, and the driving safety is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the detection control method, device, equipment and storage medium of the redundant steering system of the present application, the drawings required by the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0035] Figure 1 A schematic diagram of a detection control device of a redundant steering system according to an embodiment of the present application is shown in the figure.

[0036] Figure 2 A schematic diagram of a detection control device of a steering system under two steering control loops according to an embodiment of the present application is shown in the figure.

[0037] Figure 3 A flowchart of a detection control method of a redundant steering system according to an embodiment of the present application is shown in the figure.

[0038] Figure 4 A flowchart of a determination method of a first target running state and a second target running state according to an embodiment of the present application is shown in the figure.

[0039] Figure 5 A structural schematic diagram of a detection control device of a redundant steering system according to an embodiment of the present application is shown in the figure.

[0040] Figure 6 A structural schematic diagram of an electronic device for a detection control method of a redundant steering system according to an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0041] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0042] It should be noted that the terms “first”, “second” and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily have to include only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0043] Please refer to Figure 1 , which shows the detection control device of the redundant steering system provided by the embodiments of the present application. The detection control device can include: a plurality of steering control loops; each of the plurality of steering control loops independently controls the vehicle to steer; specifically, each of the plurality of steering control loops can control a target motor 5 in the vehicle, thereby realizing the steering of the vehicle. Wherein, the target motor can be a double-winding motor, and the target motor can convert electrical energy into mechanical energy, thereby driving the steering mechanism in the vehicle to rotate.

[0044] The target steering control loop 1 in the plurality of steering control loops includes a target control device 11 and a first target protection switch 12; wherein the control device 21 and the target control device can both be an MCU. The first target protection switch can be a phase failure protector.

[0045] The control device 21 is configured to detect a first operating state of the target control device 11, and in a case where the first operating state is a preset fault state, control the first target protection switch 12 to be disconnected, so that the target steering control loop stops steering control; the steering control loop 2 where the control device is located is a control loop different from the target steering control loop 1 in the plurality of steering control loops.

[0046] In the embodiment, the control device in any one of the plurality of steering control loops detects a first operating state of the target control device in the target steering control loop, and in the case that the first operating state is a preset fault state, controls the first target protection switch to be disconnected so as to stop the target steering control loop from steering control; in this way, in the case that the target control device in the target control loop itself fails, the control device in the redundant control loop can monitor the target control device and control the target steering control loop, thereby realizing protection of the target steering control loop, improving the accuracy of the control capability of the target control device, improving the safety of the target steering control loop, and thereby improving driving safety.

[0047] Specifically, the control device 21 is in communication connection with the target control device 11 and the first target protection switch 12.

[0048] In some example embodiments, the control device 21 and the steering control loop 2 where the control device is located can be monitored by the target control device 11, or can be monitored by the control device in other steering control loops other than the target control device 11 and the control device 21.

[0049] In an example, the steering control loop 2 where the control device is located can further include a target protection switch 22, and in the case that the control device 21 is monitored by the target control device 11, the target control device 11 is in communication connection with the target protection switch 22.

[0050] In some example embodiments, the target control device 11 can include a first processing unit 111 and a second processing unit 112.

[0051] The first processing unit 111 is configured to process data of a first preset device in the target steering control loop; the first preset device is a device in the target steering control loop that is in communication connection with the target control device.

[0052] In an example, the first preset device can include a first sensing device, a second sensing device, and a transmission device, and the first sensing device, the second sensing device, and the information transmission device are each in communication connection with the target control device 11.

[0053] As an example, the first sensing device can be a torque sensor, the second sensing device can be a motor position sensor, and the transmission device can be a CAN (Controller Area Network) bus.

[0054] The first sensing device can be configured to obtain steering wheel angle information and steering wheel torque information of the vehicle, and send the steering wheel angle information and the steering wheel torque information to the target control device 11.

[0055] The second sensing device can be configured to acquire motor position information and send the motor position information to the target control device 11.

[0056] The information transmission device can be configured to receive vehicle speed information and engine state information and send the vehicle speed information and the engine state information to the target control device 11.

[0057] The second processing unit 112 is configured to detect a running state of a target unit in the target control device.

[0058] In one example, the target unit can be the first processing unit 111, and the second processing unit can be a self-checking unit as an example.

[0059] The control device is configured to detect a first target running state of the first processing unit 111 and a second target running state of the second processing unit 112, and control the first target protection switch to be disconnected in a case where the first target running state or the second target running state is a first fault state.

[0060] The first target running state and the second target running state are acquired.

[0061] In some example embodiments, first detection data of the first processing unit 111, second detection data of the second processing unit 112, a first preset reference threshold value, and a second preset reference threshold value can be acquired, a first comparison result between the first detection data and the first preset reference threshold value is determined, a second comparison result between the second detection data and the second preset reference threshold value is determined, and the running state of the processing unit is analyzed and processed according to the first comparison result and the second comparison result to obtain the first target running state of the first processing unit and the second target running state of the second processing unit.

[0062] The first comparison result can represent a size relationship and a difference value between the first detection data and the first preset reference threshold value. The second comparison result can represent a size relationship and a difference value between the second detection data and the second preset reference threshold value. The first preset reference threshold value and the second preset reference threshold value can be equal.

[0063] In one example, if the first detection data is greater than the first preset reference threshold value, a difference between the first detection data and the first preset reference threshold value is a first difference value.

[0064] The second detection data is greater than the second preset reference threshold value, and a difference between the second detection data and the second preset reference threshold value is a second difference value.

[0065] If an absolute value of a difference between the second difference value and the first difference value is less than a preset safety threshold value, it is determined that the first target running state and the second target running state are both normal running states.

[0066] Otherwise, if the first difference is greater than the preset safety threshold, the first target operating state is a first fault state; if the second difference is greater than the preset safety threshold, the second target operating state is the first fault state.

[0067] In some example embodiments, the target steering control loop further comprises a second target protection switch 13, which is in communication connection with the target control device 11.

[0068] The second processing unit 112 is further configured to acquire a third target operating state of the first processing unit 111, and control the second target protection switch to be disconnected in a case where the third target operating state is a second fault state, so as to stop the target steering control loop from steering control.

[0069] In some example embodiments, as Figure 2 As shown in the figure, the detection control device is provided for two steering control loops of a steering system.

[0070] In a case where the steering control loop is two, as an example, the detection control device comprises a first steering control loop 3 and a second steering control loop 4; the first steering control loop 3 and the second steering control loop 4 can independently control the vehicle to steer.

[0071] The first steering control loop 3 comprises a first control device 31 and a first protection switch 32.

[0072] The second steering control loop 4 comprises a second control device 41 and a second protection switch 42.

[0073] The first control device 31 is in communication connection with the second control device 41 and the second protection switch 42 respectively; the second control device 41 is in communication connection with the first protection switch 32.

[0074] The second control device 41 is configured to detect a second operating state of the first control device 31, and control the first protection switch 32 to be disconnected in a case where the second operating state meets a first preset fault state, so as to stop the first steering control loop from steering control.

[0075] The first control device 31 is configured to detect a third operating state of the second control device 41, and control the second protection switch 42 to be disconnected in a case where the third operating state meets a second preset fault state, so as to stop the second steering control loop from steering control.

[0076] Specifically, the detection manner of the second control device 41 on the first control device 31 and the detection manner of the first control device 31 on the second control device 41 can be the same as the detection manner of the control device 21 on the target control device 11.

[0077] In some exemplary embodiments, the first steering control loop may further include a third protection switch 33, a third sensing device 34, a fourth sensing device 35, a first transmission device 36, a first drive 37, and a first power supply 38.

[0078] The second steering control circuit may also include a fourth protection switch 43, a fifth sensing device 44, a sixth sensing device 45, a second transmission device 46, a second drive 47, and a second power supply 48.

[0079] Please refer to Figure 3 The diagram illustrates a flowchart of a detection and control method for a redundant steering system according to an embodiment of this application. This specification provides method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive methods, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only possible execution order. The detection and control method for a redundant steering system can be executed according to the method order shown in the embodiments or drawings. Specifically, as shown... Figure 3 As shown, the method, applied to a control device, includes:

[0080] S301, Obtain the first operating state of the target control device;

[0081] In this embodiment, the target control device can be a control device in a target steering control loop among multiple steering control loops. As an example, the target control device may include a first processing unit and a second processing unit. The first processing unit can be used to process data from a first preset device in the target steering control loop; wherein, the first preset device can be a device in the target steering control loop that is communicatively connected to the target control device; as an example, the first preset device may include a first sensing device, a second sensing device, and a transmission device, all of which are communicatively connected to the target control device 11. As an example, the first sensing device can be a torque sensor, the second sensing device can be a motor position sensor; the transmission device can be a CAN (Controller Area Network) bus. The second processing unit can be used to detect the operating status of a target unit in the target control device; the target unit can refer to the first processing unit, or it can refer to a storage unit, etc.

[0082] The first operating state characterizes the working state of the target control device. As an example, the operating state can include a normal operating state and an abnormal operating state. An abnormal operating state can refer to a functional malfunction of at least one unit in the target control device.

[0083] In some example embodiments, the first target running state of the first processing unit and the second target running state of the second processing unit can be acquired; and the state analysis processing of the target control device is performed according to the first target running state and the second target running state, and the first running state is obtained.

[0084] In some example embodiments, the second target running state of the second processing unit can be acquired; and the second target running state is determined as the first running state.

[0085] S303, in the case where the first running state is the preset fault state, the first target protection switch is controlled to be disconnected, so that the target steering control loop stops the steering control.

[0086] In some example embodiments, in the case where the first running state is the working abnormal state, the first running state is determined as the preset fault state, and then the first target protection switch is controlled to be disconnected, so that the target steering control loop stops the steering control.

[0087] In the case where the first running state is determined based on the first target running state and the second target running state,

[0088] In some example embodiments, in the case where the first target running state or the second target running state is the first fault state, the first running state can be determined as the preset fault state; at this time, the first target protection switch can be controlled to be disconnected.

[0089] In one example, in the case where the first running state is the preset fault state, the first target protection switch is controlled to be disconnected from the power supply, so that the target steering control loop is powered off, and then the target steering control loop stops the steering control.

[0090] In some example embodiments, in the case where the first running state is the normal running state, the target steering control loop and the steering control loop where the control device is located control the vehicle steering at the same time.

[0091] In this embodiment, the target control device in the target steering control loop is monitored for the running state, so that the target control device can work in the normal state during the working process, the control accuracy of the target control device is improved, and the driving safety is improved.

[0092] As shown in Figure 4 which is a flowchart of a method for determining the first target running state and the second target running state according to an example embodiment of the present application;

[0093] S401, the first detection data of the first processing unit, the second detection data of the second processing unit, the first preset reference threshold and the second preset reference threshold are acquired.

[0094] In the embodiments of the present application, the first detection data can refer to a first reference index value capable of representing the running state of the first processing unit. The second detection data can refer to a second reference index value capable of representing the running state of the second processing unit.

[0095] S403, determining a first comparison result between the first detection data and a first preset reference threshold value;

[0096] In the embodiments of the present application, the first comparison result can represent the size relationship and the difference value between the first detection data and the first preset reference threshold value.

[0097] S405, determining a second comparison result between the second detection data and a second preset reference threshold value;

[0098] In the embodiments of the present application, the second comparison result can represent the size relationship and the difference value between the second detection data and the second preset reference threshold value. The first preset reference threshold value and the second preset reference threshold value can be equal.

[0099] S407, performing analysis processing on the running state of the processing unit according to the first comparison result and the second comparison result, to obtain a first target running state of the first processing unit and a second target running state of the second processing unit.

[0100] In the case where the first comparison result is that the first detection data is greater than the first preset reference threshold value, if the second detection data is greater than the second preset reference threshold value, a third difference value between the first detection data and the first preset reference threshold value and a fourth difference value between the second detection data and the second preset reference threshold value are obtained; in the case where the difference between the third difference value and the fourth difference value is less than a preset safety threshold value, it is determined that the first target running state and the second target running state are both normal running states.

[0101] Otherwise, if the first difference value is greater than the preset safety threshold value, the first target running state is a first fault state; if the second difference value is greater than the preset safety threshold value, the second target running state is a first fault state.

[0102] In the exemplary embodiments, by simultaneously using the detection data of the first processing unit and the second processing unit, the running states of the two processing units are analyzed respectively, which can improve the accuracy and reliability of the first target running state and the second target running state, and further improve the accuracy of the detection device.

[0103] The embodiments of the present application also provide a detection control device of a redundant steering system, as shown in Figure 5 The device provided by the embodiments of the present application includes:

[0104] The first obtaining module 501 is configured to obtain a first running state of the target control device.

[0105] The first control module 502 is configured to, in a case where the first running state is the preset fault state, control the first target protection switch to be disconnected, so that the target steering control loop stops steering control.

[0106] In the embodiment of the present application, the target control device comprises a first processing unit and a second processing unit, and the first obtaining module 501 comprises:

[0107] An obtaining unit is configured to obtain a first target running state of the first processing unit and a second target running state of the second processing unit.

[0108] A processing unit is configured to perform state analysis processing of the target control device according to the first target running state and the second target running state, to obtain the first running state.

[0109] In the embodiment of the present application, the obtaining unit comprises:

[0110] An obtaining subunit is configured to obtain first detection data of the first processing unit, second detection data of the second processing unit, a first preset reference threshold value and a second preset reference threshold value.

[0111] A first determining subunit is configured to determine a first comparison result between the first detection data and the first preset reference threshold value.

[0112] A second determining subunit is configured to determine a second comparison result between the second detection data and the second preset reference threshold value.

[0113] A processing subunit is configured to perform analysis processing of a running state of the processing unit according to the first comparison result and the second comparison result, to obtain the first target running state of the first processing unit and the second target running state of the second processing unit.

[0114] In the embodiment of the present application, the first control module 502 comprises:

[0115] A control unit is configured to, in a case where the first target running state or the second target running state is a first fault state, control the first target protection switch to be disconnected.

[0116] It should be noted that the device in the device embodiment and the method embodiment are based on the same inventive concept.

[0117] The embodiment of the present application provides a detection control device of a redundant steering system, the device comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the detection control method of the redundant steering system as described in the above method embodiment.

[0118] Further, Figure 6 A hardware structure schematic diagram of an electronic device for implementing the detection control method of the redundant steering system provided by the embodiment of the present application is shown, and the electronic device can participate in constituting or containing the detection control device of the redundant steering system provided by the embodiment of the present application. As shown in the figure, Figure 6 The electronic device 60 can include one or more (in the figure, 602a, 602b, …, 602n are used to show) processors 602 (the processor 602 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 604 for storing data, and a transmission device 606 for communication function. In addition, it can also include a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of the I / O interface), a network interface, a power supply and / or a camera. Those skilled in the art can understand that, Figure 6 The structure shown in the figure is only a schematic, which does not limit the structure of the above-mentioned electronic device. For example, the electronic device 60 can include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 6 For example, the electronic device 60 can include more or less components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 6 For example, the electronic device 60 can include more or less components than those shown in the figure, or have a different configuration from that shown in the figure.

[0119] It should be noted that the one or more processors 602 and / or other data processing circuits described above can be referred to as "data processing circuits" herein. The data processing circuit can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or all or part of any one of the other elements combined into the electronic device 60 (or mobile device). As referred to in the embodiment of the present application, the data processing circuit serves as a processor control (for example, selection of a variable resistance terminal path connected with an interface).

[0120] The memory 604 can be used to store software programs of application software and modules, such as program instructions / data storage means corresponding to the detection control method of the redundant steering system according to the embodiments of the present application. The processor 602 executes various functional applications and data processing by running the software programs and modules stored in the memory 604, i.e., implements the detection control method of the redundant steering system described above. The memory 604 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 604 can further include memories disposed remotely with respect to the processor 602, which can be connected to the electronic device 60 through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0121] The transmission device 606 is configured to receive or send data via a network. Examples of the network include a wireless network provided by a communication provider of the electronic device 60. In one example, the transmission device 606 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In one embodiment, the transmission device 606 can be a radio frequency (RF) module configured to communicate with the Internet in a wireless manner.

[0122] The display can be, for example, a touch screen type liquid crystal display (LCD) that enables a user to interact with a user interface of the electronic device 60 (or a mobile device).

[0123] The embodiments of the present application further provide a computer readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program for implementing the detection control method of the redundant steering system according to the method embodiments. The at least one instruction or the at least one program is loaded and executed by the processor to implement the detection control method of the redundant steering system provided by the method embodiments.

[0124] Optionally, in the present embodiment, the storage medium described above can be located in at least one of a plurality of network servers of a computer network. Optionally, in the present embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0125] It should be noted that the above-mentioned order of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in the embodiments, and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous or required.

[0126] According to an aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the various optional implementations described above.

[0127] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the device and electronic device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the method embodiment.

[0128] A person of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by program instructing relevant hardware, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk.

[0129] The above-mentioned is only the preferred embodiment of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A detection and control device for a redundant steering system, characterized in that, It includes multiple steering control loops; each of the multiple steering control loops independently controls the vehicle's steering. The target steering control loop in the plurality of steering control loops includes a target control device and a first target protection switch; The control device is used to detect the first operating state of the target control device, and when the first operating state is a preset fault state, control the first target protection switch to disconnect so that the target steering control circuit stops steering control; the steering control circuit in which the control device is located is a control circuit that is different from the target steering control circuit among the plurality of steering control circuits; The target control device includes a first processing unit and a second processing unit; The first processing unit is used to process data from a first preset device in the target steering control loop; the first preset device is a device in the target steering control loop that is communicatively connected to the target control device. The second processing unit is used to detect the operating status of the target unit in the target control device; The control device is used to detect the first target operating state of the first processing unit and the second target operating state of the second processing unit; and when the first target operating state or the second target operating state is a first fault state, it controls the first target protection switch to disconnect.

2. The detection and control equipment according to claim 1, characterized in that, The target steering control circuit also includes a second target protection switch; The second processing unit is further configured to acquire the third target operating state of the first processing unit, and, if the third target operating state is a second fault state, control the second target protection switch to disconnect so that the target steering control loop stops steering control.

3. A detection and control method for a detection and control device based on a redundant steering system according to any one of claims 1-2, characterized in that, Applied to a control device, the method includes: Obtain the first operating state of the target control device; When the first operating state is the preset fault state, the first target protection switch is disconnected so that the target steering control circuit stops steering control.

4. The detection and control method according to claim 3, characterized in that, The target control device includes a first processing unit and a second processing unit, and the step of acquiring the first operating state of the target control device includes: Obtain the first target running state of the first processing unit and the second target running state of the second processing unit; The target control device performs state analysis processing based on the first target operating state and the second target operating state to obtain the first operating state.

5. The detection and control method according to claim 4, characterized in that, The step of obtaining the first target operating state of the first processing unit and the second target operating state of the second processing unit includes: Acquire the first detection data of the first processing unit, the second detection data of the second processing unit, the first preset reference threshold, and the second preset reference threshold; Determine the first comparison result between the first detection data and the first preset reference threshold; Determine a second comparison result between the second detection data and the second preset reference threshold; Based on the first comparison result and the second comparison result, the operating status of the processing unit is analyzed and processed to obtain the first target operating status of the first processing unit and the second target operating status of the second processing unit.

6. The detection and control method according to claim 4, characterized in that, When the first operating state is the preset fault state, controlling the first target protection switch to disconnect so that the target steering control circuit stops steering control includes: When the first target operating state or the second target operating state is in a first fault state, the first target protection switch is controlled to disconnect.

7. A detection and control device for a detection and control system based on any one of claims 1-2, characterized in that, Applied to a control device, the detection control device includes: The first acquisition module is used to acquire the first operating state of the target control device; The first control module is used to control the first target protection switch to disconnect when the first operating state is the preset fault state, so as to stop the target steering control circuit from steering control.

8. A detection and control device for a redundant steering system, characterized in that, The detection and control device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the detection and control method as described in any one of claims 3 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program segment, which is loaded and executed by a processor according to any one of claims 3 to 6.

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