Method and device for processing a vehicle speed signal of a steering system

Abstract

The application relates to the technical field of steering system control, and relates to a vehicle speed signal processing method and device of a steering system. The method comprises the following steps: acquiring the running state of a whole vehicle, and acquiring a first vehicle speed signal and a second vehicle speed signal of the steering system; respectively analyzing whether abnormal data exist in the first vehicle speed signal and the second vehicle speed signal, and analyzing whether the running state of the whole vehicle is in an abnormal state; in the case that abnormal data exist in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than a first preset duration, abnormal data do not exist in the second vehicle speed signal, and the running state is not in an abnormal state, then the auxiliary steering torque of the steering system is acquired according to the second vehicle speed. By adopting the method, the problem that the accuracy of the steering torque is affected due to frequent switching of the vehicle speed signal can be solved.

Description

Technical Field

[0001] This application relates to the field of steering system control technology, and in particular to a method and apparatus for processing vehicle speed signals of a steering system. Background Technology

[0002] To ensure driving comfort and safety, steering systems are often designed to provide a light and easy steering feel at low speeds and a stable and reliable steering feel at high speeds. In commercial vehicle electronic steering systems, this characteristic is achieved by designing control algorithms to make the steering assist torque provided by the motor change with vehicle speed. Therefore, the vehicle speed signal is extremely important in this system; unstable or lost signals will seriously affect the driver's driving experience and safety.

[0003] Currently, steering systems generally employ dual redundant vehicle speed signals. When one signal fails, the other is used; when both signals fail, a default vehicle speed is provided to the steering control unit to prevent the sudden loss of motor power assist. While this method meets the requirements of most motor-assisted steering systems, it has shortcomings for commercial vehicles. Commercial vehicle driving environments are often complex; sensor signals may only experience brief interference before returning to normal, and the two sensor signals often exhibit some differences. Such frequent switching can affect the accuracy of steering torque.

[0004] Therefore, there is an urgent need for a method and device for processing vehicle speed signals in steering systems to solve the problem that frequent switching of vehicle speed signals affects the accuracy of steering torque. Summary of the Invention

[0005] Therefore, it is necessary to provide a vehicle speed signal processing method and apparatus for a steering system that can solve the problem of the accuracy of steering torque being affected by frequent switching of vehicle speed signals, in order to address the above-mentioned technical problems.

[0006] Firstly, this application provides a method for processing vehicle speed signals in a steering system. The method includes:

[0007] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0008] The system analyzes whether there are any abnormal data in the first and second vehicle speed signals, and analyzes whether the overall operating status of the vehicle is in an abnormal state.

[0009] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0010] In one embodiment, the method further includes:

[0011] When the first duration is longer than the first preset duration and the operating state is in an abnormal state, the first average vehicle speed is obtained within a preset period before the presence of abnormal data in the first road vehicle speed signal.

[0012] If the first average vehicle speed does not exceed the first preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the first preset default vehicle speed.

[0013] In one embodiment, the method further includes:

[0014] If the first duration is greater than the first preset duration, the operating state is not in an abnormal state, and there is abnormal data in the second vehicle speed signal, determine whether the second duration of the abnormal data in the second vehicle speed signal is greater than the second preset duration.

[0015] If the second duration is longer than the second preset duration, the second average vehicle speed is obtained during a preset period before the presence of abnormal data in the second vehicle speed signal.

[0016] If the second average vehicle speed does not exceed the second preset vehicle speed, then the auxiliary steering torque of the steering system is obtained according to the preset first preset default vehicle speed.

[0017] In one embodiment, the method further includes:

[0018] If the first average vehicle speed exceeds the first preset vehicle speed, or the second average vehicle speed exceeds the second preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the second preset default vehicle speed.

[0019] In one embodiment, the method further includes:

[0020] The step of obtaining the auxiliary steering torque of the steering system based on the first preset default vehicle speed includes:

[0021] Obtain the first speed difference between the first preset default speed and the first road speed, or obtain the second speed difference between the first preset default speed and the second road speed.

[0022] If either the first speed difference or the second speed difference exceeds a preset speed threshold, the speed of the first road or the speed of the second road is adjusted to the first preset default speed according to a preset rate of change, and the auxiliary steering torque of the steering system is obtained.

[0023] In one embodiment, after obtaining the auxiliary steering torque of the steering system based on a first preset default vehicle speed, the method further includes:

[0024] If abnormal data has been eliminated in the first vehicle speed signal and the third duration of eliminating abnormal data in the first vehicle speed signal is greater than the third preset duration, the first preset default vehicle speed is switched back to the first vehicle speed according to the preset change rate, and the auxiliary steering torque of the steering system is obtained according to the first vehicle speed after the switch.

[0025] Secondly, this application also provides a vehicle speed signal processing device for a steering system. The device includes:

[0026] The acquisition module is used to acquire the overall vehicle operating status, as well as the first and second vehicle speed signals of the steering system.

[0027] The analysis module is used to analyze whether there is abnormal data in the first vehicle speed signal and the second vehicle speed signal, and to analyze whether the overall operating status of the vehicle is in an abnormal state.

[0028] The processing module is used to obtain the auxiliary steering torque of the steering system based on the second vehicle speed when there is abnormal data in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than a first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not in an abnormal state.

[0029] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0030] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0031] The system analyzes whether there are any abnormal data in the first and second vehicle speed signals, and analyzes whether the overall operating status of the vehicle is in an abnormal state.

[0032] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0033] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0034] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0035] The system analyzes whether there are any abnormal data in the first and second vehicle speed signals, and analyzes whether the overall operating status of the vehicle is in an abnormal state.

[0036] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0037] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0038] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0039] The system analyzes whether there are any abnormal data in the first and second vehicle speed signals, and analyzes whether the overall operating status of the vehicle is in an abnormal state.

[0040] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0041] The aforementioned vehicle speed signal processing method and device for the steering system, by acquiring the overall vehicle operating status and two vehicle speed signals, and analyzing whether there are abnormal data and whether the overall vehicle operating status is abnormal, can more accurately determine whether to switch to the backup vehicle speed signal. This avoids the problem of a decline in driving experience caused by frequent switching. When there is abnormal data in the first vehicle speed signal and it exceeds a preset time, while the second vehicle speed signal is normal and the overall vehicle operating status is normal, the auxiliary steering torque of the steering system can be obtained based on the second vehicle speed signal, further ensuring the stability of steering control and improving the stability of the commercial vehicle steering system and driving experience. Attached Figure Description

[0042] Figure 1 This is an application environment diagram of a vehicle speed signal processing method for a steering system in one embodiment.

[0043] Figure 2 This is a flowchart illustrating a vehicle speed signal processing method for a steering system in one embodiment.

[0044] Figure 3 This is a schematic diagram of the vehicle speed signal acquisition process in one embodiment;

[0045] Figure 4 This is a flowchart illustrating the vehicle speed signal processing method for the steering system in another embodiment;

[0046] Figure 5 This is a structural block diagram of the vehicle speed signal processing device of the steering system in the most detailed embodiment;

[0047] Figure 6 This is a structural block diagram of the vehicle speed signal processing device of the steering system in one embodiment;

[0048] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The vehicle speed signal processing method for the steering system provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0051] In one embodiment, such as Figure 2 As shown, a method for processing vehicle speed signals in a steering system is provided, which is then applied to... Figure 1 Taking the server in the example, the following steps are included:

[0052] Step S202: Obtain the overall vehicle operating status, and obtain the first and second vehicle speed signals of the steering system.

[0053] Acquiring the overall vehicle operating status refers to obtaining the vehicle's current overall operating condition, including information such as vehicle speed, acceleration, steering angle, and steering speed. Acquiring the first and second vehicle speed signals from the steering system refers to obtaining the different pulse signal frequencies measured by two speed sensors in the steering system, used to calculate the magnitude of the auxiliary steering torque provided by the motor. By acquiring these signals, the overall vehicle operating status and the working condition of the steering system can be monitored and controlled.

[0054] like Figure 3 As shown, the two vehicle speed signals originate as follows: First, two different pulse signal frequencies are measured by two different vehicle speed sensors 1 and 2. Then, control units 1 and 2, which have vehicle speed analysis functions, analyze the two pulse signals to obtain two vehicle speeds. Finally, both vehicle speed signals are input to the electric steering control unit via the chassis CAN bus. Within the electric steering control unit, after the vehicle speed signal is selected and processed, the power steering module calculates the required auxiliary steering torque from the motor in real time based on the selected vehicle speed, and then controls the motor's operation.

[0055] Step S204: Analyze whether there is abnormal data in the first vehicle speed signal and the second vehicle speed signal, and analyze whether the overall vehicle operation status is in an abnormal state.

[0056] Analyzing the first and second vehicle speed signals for abnormal data involves detecting these two signals to determine if any abnormal or invalid data exists. Abnormal data may include values ​​exceeding the normal range, signal interruptions, or instability. By detecting and eliminating abnormal data, the accuracy and reliability of the vehicle speed signals can be ensured.

[0057] Analyzing the overall operating status of a vehicle involves judging and evaluating its overall performance, including parameters such as speed, acceleration, steering angle, and steering speed. If an abnormal state occurs during operation, such as sudden speed changes, unstable handling, or abnormal steering behavior, it may affect driving safety. Therefore, analyzing the overall operating status of the vehicle allows for the timely detection of anomalies, enabling appropriate measures to be taken for handling and repair, ensuring the vehicle's normal operation.

[0058] In step S206, if there is abnormal data in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained according to the second vehicle speed.

[0059] Specifically, when there is abnormal data in the first vehicle speed signal and the duration of the abnormal data in the first vehicle speed signal exceeds a preset duration (e.g., 5 seconds), it is necessary to obtain the auxiliary steering torque of the steering system based on the second vehicle speed signal.

[0060] Specifically, when abnormal data appears in the first vehicle speed signal, it means that the first vehicle speed sensor may be malfunctioning or displaying incorrect data, thus failing to accurately obtain relevant information. The absence of abnormal data in the second vehicle speed signal indicates that it is more reliable. In this situation, to maintain the normal operation of the steering system, the auxiliary steering torque can be calculated and obtained using the second vehicle speed signal, thereby ensuring the vehicle's steering stability and handling.

[0061] It is important to note that in this scenario, the vehicle's overall operating status is not abnormal; parameters such as vehicle speed, acceleration, steering angle, and steering speed are all within normal ranges. Therefore, the second vehicle speed signal can be used to calculate the auxiliary steering torque of the steering system and maintain the vehicle's normal operation.

[0062] In the aforementioned vehicle speed signal processing method for the steering system, by obtaining the auxiliary steering torque of the steering system based on the second vehicle speed signal, the normal operation of the steering system can be ensured even if abnormal data exists in the first vehicle speed signal and the duration exceeds a preset time. This technique offers several advantages:

[0063] 1. When the first vehicle speed signal is abnormal, the steering system can be continuously operated by using the reliable second vehicle speed signal to calculate the auxiliary steering torque, thereby reducing the risk of steering system failure due to sensor malfunction or data error.

[0064] 2. The auxiliary steering torque of the steering system helps the driver better control the vehicle and provides stable steering force support. In abnormal situations, the auxiliary steering torque calculated using the second-path vehicle speed signal can reduce the driver's control burden and improve steering smoothness and controllability.

[0065] 3. The proper functioning of the steering system is crucial for driving safety. By using a second vehicle speed signal to obtain auxiliary steering torque, the normal operation of the steering system can be maintained, reducing the risk of instability or loss of control caused by abnormal steering and improving driving safety.

[0066] In summary, by acquiring the auxiliary steering torque of the steering system and based on the second vehicle speed signal, the normal operation of the steering system can be effectively ensured even when the first vehicle speed signal is abnormal, thereby improving steering stability and driving safety.

[0067] In one embodiment, if the first duration is longer than the first preset duration and the operating state is abnormal, the first average vehicle speed within a preset period before the presence of abnormal data in the first vehicle speed signal is obtained; if the first average vehicle speed does not exceed the first preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the first preset default vehicle speed; if the first average vehicle speed exceeds the first preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the second preset default vehicle speed.

[0068] Specifically, under given conditions, when abnormal data in the first vehicle speed signal persists for a duration exceeding a preset time and the vehicle's operating state is abnormal, a series of operations are required to obtain the auxiliary steering torque of the steering system.

[0069] First, the first average vehicle speed needs to be calculated over a preset period before the occurrence of abnormal data in the first vehicle speed signal. This means calculating the average vehicle speed over a period of time before the abnormal data occurs. The result of this average speed calculation will be used in subsequent operations. Next, it needs to be determined whether the first average vehicle speed exceeds a first preset vehicle speed. If the first average vehicle speed does not exceed the first preset vehicle speed, the auxiliary steering torque of the steering system is obtained based on the first preset default vehicle speed. This means that when the vehicle speed does not exceed the preset value, the first preset default vehicle speed is used to determine the calculation of the auxiliary steering torque. However, if the first average vehicle speed exceeds the first preset speed, the auxiliary steering torque of the steering system needs to be obtained based on a second preset default vehicle speed. This means that when the vehicle speed exceeds the preset value, the second preset default vehicle speed needs to be used to determine the calculation of the auxiliary steering torque.

[0070] For example, suppose the first preset vehicle speed is 60 km / h, the first preset default vehicle speed is 50 km / h, and the second preset default vehicle speed is 70 km / h. Under normal circumstances, the first speed signal is normal, and there is no need to calculate the auxiliary steering torque. However, on a certain day, the vehicle's first speed signal shows abnormal data, lasting for more than the preset duration, and the vehicle's operating status is also abnormal. In this case, it is necessary to obtain the auxiliary steering torque according to the above operating steps.

[0071] First, it is necessary to calculate the first average vehicle speed during a preset time period before the abnormal data appeared in the first vehicle speed signal. Assume the vehicle speed data for the 10 seconds prior to the abnormal data occurrence is as follows:

[0072] 0km / h, 20km / h, 30km / h, 40km / h, 50km / h;

[0073] Calculate the average of these data: (0+20+30+40+50) / 5=28km / h;

[0074] Next, it is necessary to determine whether the first average vehicle speed exceeds the first preset vehicle speed. In this example, the first average vehicle speed is 28 km / h, which does not exceed the first preset vehicle speed of 60 km / h.

[0075] Therefore, the auxiliary steering torque is calculated based on the first preset default vehicle speed of 50 km / h. The vehicle will obtain an appropriate auxiliary steering torque based on this preset speed of 50 km / h to maintain the normal operation of the steering system.

[0076] In this embodiment, based on a comparison of vehicle speed data and preset values, as well as a judgment of the operating status, it is determined whether to use a first preset vehicle speed or a second preset vehicle speed to calculate the auxiliary steering torque of the steering system, thereby ensuring the normal operation of the steering system. This operating procedure can safely maintain the vehicle's steering stability and driving safety under abnormal circumstances.

[0077] In one embodiment, if the first duration is longer than the first preset duration, the operating state is not in an abnormal state, and there is abnormal data in the second vehicle speed signal, it is determined whether the second duration of the abnormal data in the second vehicle speed signal is longer than the second preset duration.

[0078] If the second duration is longer than the second preset duration, the second average vehicle speed is obtained within a preset period before the abnormal data appears in the second vehicle speed signal; if the second average vehicle speed does not exceed the second preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the first preset default vehicle speed; if the second average vehicle speed exceeds the first preset vehicle speed, the auxiliary steering torque of the steering system is obtained according to the second preset default vehicle speed.

[0079] Specifically, based on the abnormality of the vehicle speed signal and the preset vehicle speed value, it is determined whether to calculate the auxiliary steering torque. First, it is determined whether the second duration is greater than the second preset duration, i.e., whether the duration of the abnormal data exceeds the preset time. If so, the next step is required. Then, it is determined whether the vehicle's operating state is abnormal. If there is no abnormal state, the next step is required. Next, it is determined whether the second duration of the abnormal data in the second vehicle speed signal is greater than the second preset duration. If it is greater than the preset duration, the next step is required. Then, the second average vehicle speed within the preset period before the abnormal data appeared in the second vehicle speed signal needs to be obtained. The average of these data is calculated and compared with the second preset vehicle speed. If the second average vehicle speed does not exceed the second preset vehicle speed, the auxiliary steering torque of the steering system is obtained based on the first preset default vehicle speed. If the second average vehicle speed exceeds the second preset vehicle speed, the auxiliary steering torque of the steering system is obtained based on the second preset default vehicle speed.

[0080] In this embodiment, the need for auxiliary steering torque calculation is determined based on abnormal vehicle speed signal conditions and a preset vehicle speed value to ensure the normal operation of the steering system. By detecting and handling abnormal vehicle speed signal conditions, timely measures can be taken to correct deviations, preventing the steering system from operating under abnormal conditions and improving driving safety. Simultaneously, selecting an appropriate preset default vehicle speed based on the actual vehicle speed ensures the accuracy and reliability of the auxiliary steering torque, enabling the steering system to provide suitable auxiliary steering torque according to the current vehicle speed, improving driving experience and handling performance, enhancing the stability and reliability of the steering system, and ensuring the accuracy and safety of vehicle handling.

[0081] In one embodiment, obtaining the auxiliary steering torque of the steering system based on a first preset default vehicle speed includes:

[0082] Obtain the first speed difference between the first preset default speed and the first road speed, or obtain the second speed difference between the first preset default speed and the second road speed; if either the first speed difference or the second speed difference exceeds a preset speed threshold, adjust the first road speed or the second road speed to the first preset default speed according to a preset rate of change, and obtain the auxiliary steering torque of the steering system.

[0083] Specifically, under certain conditions, the steps for adjusting and calculating the auxiliary steering torque based on whether the speed difference exceeds a preset speed threshold are as follows: First, the difference between a first preset default speed and a first-path speed needs to be obtained, or the difference between the first preset default speed and a second-path speed needs to be obtained. The difference between these two values ​​is calculated. Then, it is determined whether either the first speed difference or the second speed difference exceeds the preset speed threshold. If the threshold is exceeded, further processing is required. Next, based on a preset rate of change, the first-path speed or the second-path speed is adjusted to the first preset default speed. The speed is gradually adjusted according to the set rate of change to bring it closer to the preset value. Finally, based on the adjusted speed, the auxiliary steering torque of the steering system is obtained. According to the accuracy and stability of the speed, a corresponding steering assistance torque is provided to improve driving control performance and safety.

[0084] The "preset rate of change" refers to gradually adjusting the vehicle speed according to a set rate of change to bring it closer to a preset value. Specifically, when the speed difference exceeds a preset speed threshold, a set rate of change is used to gradually adjust the speed to achieve a stable and precise target speed. For example, suppose the first preset default speed is 50 km / h, the current speed is 20 km / h, the speed difference is 30 km / h, and the preset rate of change is 10 km / s. Then, according to the set rate of change, the speed increases by 10 km / h per second until, after 3 seconds, the first preset default speed of 50 km / h is reached. By gradually adjusting the speed according to the preset rate of change, the speed gradually approaches the preset default value. This ensures a smooth and stable adjustment process and prevents excessively rapid speed changes, thereby improving driving safety and comfort.

[0085] In this embodiment, the process of adjusting and calculating the auxiliary steering torque based on whether the speed difference exceeds a preset speed threshold is used to ensure that the steering system can adjust when the speed deviates significantly from the preset value. The vehicle speed is gradually adjusted according to the set rate of change to gradually approach the preset value, so as to achieve a stable and accurate target speed.

[0086] In one embodiment, after obtaining the auxiliary steering torque of the steering system based on a first preset default vehicle speed, the method further includes:

[0087] If abnormal data has been eliminated in the first vehicle speed signal and the third duration of eliminating abnormal data in the first vehicle speed signal is greater than the third preset duration, the first preset default vehicle speed is switched back to the first vehicle speed according to the preset change rate, and the auxiliary steering torque of the steering system is obtained based on the first vehicle speed after the switch.

[0088] For example, suppose the first preset default vehicle speed is 50 km / h, and the current first-path vehicle speed is 55 km / h. After abnormal data processing, abnormal data is eliminated from the first-path vehicle speed signal, and the duration of abnormal data elimination is longer than a third preset duration. According to the preset rate of change, the vehicle speed will increase by 2.5 km / h per second. In this case, based on the first preset default vehicle speed of 50 km / h, the vehicle speed needs to be gradually increased to the first-path vehicle speed of 55 km / h. In the first second, the vehicle speed increases from 50 km / h to 52.5 km / h, and in the second second, it increases to 55 km / h. The auxiliary steering torque of the steering system can be obtained based on the adjusted first-path vehicle speed.

[0089] In this embodiment, by gradually adjusting the vehicle speed according to a preset rate of change, precise control of the target vehicle speed can be achieved. This helps improve driving accuracy and stability. Adjusting the vehicle speed according to the preset rate of change allows for a smooth transition, avoiding sudden speed changes. This contributes to improved driving comfort and safety.

[0090] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0091] In the most detailed embodiment of this application, to ensure the stability and reliability of the vehicle speed signal, a method for selecting and processing the vehicle speed signal is designed as follows: Figure 4 As shown. When the electronic steering control unit receives the first vehicle speed signal V1 and the second vehicle speed signal V2 in the current execution cycle, it first determines whether the first vehicle speed signal V1 is abnormal. This is because the first vehicle speed signal V1 and the second vehicle speed signal V2 often have some differences, and the first vehicle speed signal V1 is more accurate. When the first vehicle speed signal V1 is normal, the electronic steering control unit controls the motor to provide steering assist torque according to the first vehicle speed signal V1. When the first vehicle speed signal V1 is abnormal, it is necessary to determine whether to switch to another vehicle speed state based on the duration of the abnormal state of the first vehicle speed signal V1.

[0092] When the first vehicle speed signal V1 is abnormal, if the duration of the abnormal state is less than the time threshold T1, the steering assist torque is provided by the motor based on the average vehicle speed of V1 in the previous cycle when the first vehicle speed signal V1 became abnormal, to avoid the impact of short-term interference on the signal. Otherwise, it is necessary to first determine whether there is an abnormality in the overall vehicle status. If there is an abnormality, the electronic steering system needs to determine whether the V1 vehicle speed in the previous cycle when the V1 signal became abnormal is less than 60 km / h to determine which default speed to use for providing steering assist torque. That is, if it is less than 60 km / h, steering assist torque is provided according to the first preset default speed Speed1; otherwise, steering assist torque is provided according to the second preset default speed Speed2. If the overall vehicle status is normal at this time, steering assist torque needs to be provided further based on the status of the second vehicle speed signal V2.

[0093] When the first vehicle speed signal V1 is abnormal and its duration exceeds the time threshold T1, while the overall vehicle status is normal, if the second vehicle speed signal V2 is normal at this time, the steering assist torque is provided by the motor controlled according to the second vehicle speed signal V2 speed. Otherwise, it is determined whether the duration of the abnormal state of the second vehicle speed signal V2 is greater than the time threshold T2. When the duration of the abnormal state of the second vehicle speed signal V2 is less than the time threshold T2, the steering assist torque is provided by the motor controlled according to the V2 speed of the previous cycle before the abnormality of the second vehicle speed signal V2. Otherwise, the electronic steering system needs to determine which default speed (first preset default speed or second preset default speed) to use to provide steering assist torque by judging whether the V2 speed of the previous cycle when the second vehicle speed signal V2 is abnormal is less than 60km / h. That is, if it is less than 60km / h, the steering assist torque is provided according to the first preset default speed Speed1; otherwise, the steering assist torque is provided according to the second preset default speed Speed2.

[0094] Reference Figure 5 When switching from the first vehicle speed signal V1 or the second vehicle speed signal V2 to the corresponding system default speed, there may be a significant difference between the sensor speed value and the default speed. Therefore, the power steering torque calculated by the power steering control module before and after the switch may also differ considerably, causing a sudden change in steering wheel feel. Thus, a rate-of-change limiting module is needed to ensure that when switching to the default speed, the speed input signal from the power steering control module changes to the default speed at a certain rate.

[0095] Furthermore, when the vehicle provides steering assist torque at the default speed, if the sensor signal returns to normal, the default speed is switched to the corresponding sensor speed to provide steering assist torque. However, to ensure the reliability of the sensor signal, when the sensor signal returns to normal, it is necessary to confirm whether the normal state has lasted for a certain period of time. For the first speed signal V1, when it returns to normal, it is necessary to confirm whether the duration of the normal state is greater than the time threshold T1. If it is greater than T1, the vehicle switches back from the default speed to the first speed signal V1, and conversion rate limiting processing is also required here. For the second speed signal V2, when it returns to normal, it is necessary to confirm whether the duration of the normal state is greater than the time threshold T2. If it is greater than T2 and the overall vehicle status is normal while the V1 signal is abnormal, the vehicle switches back from the default speed to the second speed signal V2, and conversion rate limiting processing is also required here.

[0096] Based on the above ideas, the implementation strategy for the algorithm is as follows: Figure 5As shown, it comprises three modules: a vehicle speed selection module, a vehicle speed adjustment module, and a vehicle speed limit change rate processing module. The vehicle speed selection module receives input signals of a second vehicle speed signal V1, a second vehicle speed signal V2, and a vehicle status flag. Its output signals include the selected vehicle speed signal and a vehicle speed validity flag. The selected speed represents the final confirmed speed from the first vehicle speed signal V1, the second vehicle speed signal V2, and the default speed. The vehicle speed validity flag indicates the validity status of the first vehicle speed signal V1 and the second vehicle speed signal V2. The vehicle speed adjustment module facilitates manual input of vehicle speed signals for debugging purposes. Its input is the output of the vehicle speed selection module, and its output is the actual collected vehicle speed. The vehicle speed limit change rate module is mainly used for limit change rate processing when switching between the default vehicle speed and the sensor vehicle speed signal. Its inputs are the vehicle status flag, the collected vehicle speed, and the vehicle speed validity flag. Its output is the final input speed to the power steering control module.

[0097] Based on the same inventive concept, this application also provides a vehicle speed signal processing device for implementing the above-mentioned vehicle speed signal processing method for a steering system. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations of one or more vehicle speed signal processing device embodiments for steering systems provided below can be found in the limitations of the vehicle speed signal processing method for steering systems described above, and will not be repeated here.

[0098] In one embodiment, such as Figure 6 As shown, a vehicle speed signal processing device for a steering system is provided, including: an acquisition module 602, used to acquire the operating status of the entire vehicle, and to acquire a first vehicle speed signal and a second vehicle speed signal of the steering system;

[0099] The analysis module 604 is used to analyze whether there are abnormal data in the first vehicle speed signal and the second vehicle speed signal, and to analyze whether the overall vehicle operation status is in an abnormal state.

[0100] The processing module 606 is used to obtain the auxiliary steering torque of the steering system based on the second vehicle speed when there is abnormal data in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal.

[0101] In one embodiment, when the first duration is longer than the first preset duration and the operating state is in an abnormal state, the acquisition module 602 is further used to acquire the first average vehicle speed within a preset period before the presence of abnormal data in the first vehicle speed signal.

[0102] If the first average vehicle speed does not exceed the first preset vehicle speed, the processing module 606 is also used to obtain the auxiliary steering torque of the steering system based on the first preset default vehicle speed.

[0103] In one embodiment, when the first duration is greater than the first preset duration, the operating state is not in an abnormal state, and there is abnormal data in the second vehicle speed signal, the determination module is used to determine whether the second duration of the second vehicle speed signal containing abnormal data is greater than the second preset duration.

[0104] If the second duration is longer than the second preset duration, the acquisition module 602 is also used to acquire the second average vehicle speed within a preset period before the presence of abnormal data in the second vehicle speed signal.

[0105] If the second average vehicle speed does not exceed the second preset vehicle speed, the processing module 606 is also used to obtain the auxiliary steering torque of the steering system according to the preset first preset default vehicle speed.

[0106] In one embodiment, if the first average vehicle speed exceeds the first preset vehicle speed, or the second average vehicle speed exceeds the second preset vehicle speed, the processing module 606 is further configured to obtain the auxiliary steering torque of the steering system based on the second preset default vehicle speed.

[0107] In one embodiment, the acquisition module 602 is further configured to acquire a first speed difference between a first preset default vehicle speed and a first road vehicle speed, or to acquire a second speed difference between a first preset default vehicle speed and a second road vehicle speed.

[0108] If either the first speed difference or the second speed difference exceeds a preset speed threshold, the processing module 606 is further configured to adjust the first speed or the second speed to a first preset default speed according to a preset rate of change, and to obtain the auxiliary steering torque of the steering system.

[0109] In one embodiment, if abnormal data has been eliminated in the first vehicle speed signal and the third duration of eliminating abnormal data in the first vehicle speed signal is greater than the third preset duration, the processing module 606 is further configured to switch the first preset default vehicle speed back to the first vehicle speed according to a preset change rate, and obtain the auxiliary steering torque of the steering system based on the first vehicle speed after the switch.

[0110] Each module in the vehicle speed signal processing device of the aforementioned steering system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0111] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data such as the first vehicle speed signal, the second vehicle speed signal, and the overall vehicle operating status. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle speed signal processing method for a steering system.

[0112] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0113] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0114] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0115] Analyze whether there are any abnormal data in the first and second vehicle speed signals, and analyze whether the overall vehicle operation status is abnormal.

[0116] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0117] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0118] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0119] Analyze whether there are any abnormal data in the first and second vehicle speed signals, and analyze whether the overall vehicle operation status is abnormal.

[0120] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0121] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0122] Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system;

[0123] Analyze whether there are any abnormal data in the first and second vehicle speed signals, and analyze whether the overall vehicle operation status is abnormal.

[0124] If there is abnormal data in the first vehicle speed signal, the duration of the abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not abnormal, then the auxiliary steering torque of the steering system is obtained based on the second vehicle speed.

[0125] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0126] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0127] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for processing vehicle speed signals in a steering system, characterized in that, The method includes: Acquire the overall vehicle operating status, as well as the first and second vehicle speed signals from the steering system; The system analyzes whether there are any abnormal data in the first and second vehicle speed signals, and analyzes whether the overall operating status of the vehicle is in an abnormal state. If there is abnormal data in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than the first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not in an abnormal state, then the auxiliary steering torque of the steering system is obtained according to the second vehicle speed. The method further includes: when the first duration is longer than the first preset duration and the operating state is in an abnormal state, obtaining the first average vehicle speed within a preset period before the presence of abnormal data in the first road speed signal; when the first average vehicle speed does not exceed the first preset vehicle speed, obtaining the auxiliary steering torque of the steering system according to the first preset default vehicle speed. The method further includes: when the first duration is greater than the first preset duration, the operating state is not in an abnormal state, and there is abnormal data in the second vehicle speed signal, determining whether the second duration in which abnormal data exists in the second vehicle speed signal is greater than the second preset duration; when the second duration is greater than the second preset duration, obtaining the second average vehicle speed within a preset time period before the existence of abnormal data in the second vehicle speed signal; when the second average vehicle speed does not exceed the second preset vehicle speed, obtaining the auxiliary steering torque of the steering system according to a preset first preset default vehicle speed; The method further includes: when the first average vehicle speed exceeds the first preset vehicle speed, or the second average vehicle speed exceeds the second preset vehicle speed, obtaining the auxiliary steering torque of the steering system according to the second preset default vehicle speed; The step of obtaining the auxiliary steering torque of the steering system based on the first preset default vehicle speed includes: Obtain the first speed difference between the first preset default speed and the first road speed, or obtain the second speed difference between the first preset default speed and the second road speed. If either the first speed difference or the second speed difference exceeds a preset speed threshold, the speed of the first road or the speed of the second road is adjusted to the first preset default speed according to a preset rate of change, and the auxiliary steering torque of the steering system is obtained.

2. The method according to claim 1, characterized in that, After obtaining the auxiliary steering torque of the steering system based on the first preset default vehicle speed, the method further includes: If abnormal data has been eliminated in the first vehicle speed signal and the third duration of eliminating abnormal data in the first vehicle speed signal is greater than the third preset duration, the first preset default vehicle speed is switched back to the first vehicle speed according to the preset change rate, and the auxiliary steering torque of the steering system is obtained according to the first vehicle speed after the switch.

3. A vehicle speed signal processing device for a steering system, characterized in that, The apparatus, applied to the method of any one of claims 1 to 2, comprises: The acquisition module is used to acquire the overall vehicle operating status, as well as the first and second vehicle speed signals of the steering system. The analysis module is used to analyze whether there is abnormal data in the first vehicle speed signal and the second vehicle speed signal, and to analyze whether the overall operating status of the vehicle is in an abnormal state. The processing module is used to obtain the auxiliary steering torque of the steering system based on the second vehicle speed when there is abnormal data in the first vehicle speed signal, the first duration of abnormal data in the first vehicle speed signal is greater than a first preset duration, and there is no abnormal data in the second vehicle speed signal and the operating state is not in an abnormal state.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 2.

6. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 2.

Images