A torque testing method, system, device, and medium for a steering system

Abstract

The embodiment of the application provides a torque test method, system, device and medium of a steering system, the method comprises the following steps: acquiring a transmission parameter of the steering system; obtaining a fault signal value according to the transmission parameter and an error value of a torque sensor and a force sensor; sending an analog signal to the steering system according to the fault signal value, so that the steering system controls torque according to the analog signal; if no problem error information corresponding to the analog signal sent by the steering system is received in the process of torque control, a test result indicating that the test of the steering system fails is obtained, wherein, by comprehensively considering the transmission parameter and the error value of the sensor, the application simulates the fault signal, so as to realize higher standard fault injection test on the driving assistance function using torque request in the steering system in the development stage, and to meet the torque control test requirement of the steering system.

Description

Technical Field

[0001] This invention relates to the field of automotive manufacturing technology, and specifically to a method, system, equipment, and medium for testing the torque of a steering system. Background Technology

[0002] With the development of vehicle intelligence, more and more vehicles on the market are equipped with intelligent driving functions, including driver assistance and autonomous driving. When intelligent driving functions intervene in vehicle control, intelligent driving control of the vehicle can be achieved by controlling the vehicle steering system, such as by using driver assistance functions that achieve torque requests.

[0003] Furthermore, in order to reduce the impact of intelligent driving control on the safety of vehicles and occupants, it is necessary to conduct functional tests on the torque-requesting driving assistance functions in intelligent driving during the development phase. However, current testing methods cannot perform fault injection tests, have low consistency with actual driving conditions, and cannot meet the testing requirements for torque-requesting driving assistance functions, thus affecting the testing accuracy. Summary of the Invention

[0004] This application proposes a torque testing method, system, device, and medium for steering systems, aiming to enable higher-standard fault injection testing of driving assistance functions that use torque requests in steering systems during the development phase, in order to meet testing requirements and improve the effectiveness of test results.

[0005] To achieve the above objectives, a first aspect of this application provides a torque testing method for a steering system, the method being applied to a test system connected to the steering system, the steering system being equipped with a torque sensor, a first force sensor, and a second force sensor, the method comprising: Obtain the transmission parameters of the steering system; The fault signal value is obtained based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor. Based on the fault signal value, an analog signal is sent to the steering system so that the steering system performs torque control according to the analog signal. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained.

[0006] In some possible embodiments of this application, the transmission parameters include: the radius of the first gear of the steering system input shaft; The radius of the second gear at the motor end of the steering system; The maximum rack force of the steering system and the transmission coefficient between the output torque at the motor end and the input shaft torque.

[0007] In some possible embodiments of this application, the fault signal value includes a first signal value and a second signal value. The step of obtaining the fault signal value based on the transmission parameters and the respective error values ​​of the torque sensor, the first force sensor, and the second force sensor includes: The first intermediate value is obtained by adding the first error value of the first force sensor and the second error value of the second force sensor to the maximum rack force; Multiply the first intermediate value by the radius of the first gear and the radius of the second gear to obtain the second intermediate value; The third intermediate value is obtained by adding the radius of the first gear to the product of the radius of the second gear and the transmission coefficient. Divide the second intermediate value by the third intermediate value and subtract the torque error value of the torque sensor to obtain the first signal value; Subtracting the first error value and the second error value from the maximum rack force yields a fourth intermediate value. Multiply the fourth intermediate value by the radius of the first gear and the radius of the second gear to obtain the fifth intermediate value; Divide the fifth intermediate value by the third intermediate value and add the torque error value to obtain the second signal value.

[0008] In some possible embodiments of this application, sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Send an analog signal with a value greater than the first signal value to the steering system, so that the steering system performs first torque control based on the analog signal; The steering system is restored to normal operation, and an analog signal with a value less than the second signal value is sent to the steering system so that the steering system performs second torque control according to the analog signal. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If no error message corresponding to the analog signal sent by the steering system is received during the first torque control or the second torque control process, a test result indicating that the steering system test has failed is obtained.

[0009] In some possible embodiments of this application, the torque sensor includes a first torque sensor and a second torque sensor, the steering system includes a first controller and a second controller, and the analog signal includes: The first torque sensor sends a first analog signal to the first controller; The first torque sensor sends a second analog signal to the second controller; The second torque sensor sends a third analog signal to the first controller; The second torque sensor sends a fourth analog signal to the second controller.

[0010] In some possible embodiments of this application, sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Two target analog signals are determined from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Two target analog signals with values ​​greater than the first signal value are sent to the steering system, so that the steering system performs third torque control based on the two target analog signals; The steering system is restored to normal operation, and two target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs fourth torque control based on the two target analog signals. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If, during the third torque control or the fourth torque control process, no error message corresponding to the analog signal sent by the steering system is received, a test result indicating that the steering system test has failed is obtained.

[0011] In some possible embodiments of this application, sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Three target analog signals are determined from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Three target analog signals with values ​​greater than the first signal value are sent to the steering system, so that the steering system performs fifth torque control based on the three target analog signals; The steering system is restored to normal operation, and three target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs sixth torque control based on the three target analog signals. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If, during the fifth torque control or the sixth torque control process, no error message corresponding to the analog signal sent by the steering system is received, a test result indicating that the steering system test has failed is obtained.

[0012] In some possible embodiments of this application, when the analog signal corresponds to a single analog signal, the error message corresponding to the analog signal indicates that the steering system has a common fault; when the analog signal corresponds to two analog signals, the error message corresponding to the analog signal indicates that the steering system has a moderate fault; when the analog signal corresponds to three or more analog signals, the error message corresponding to the analog signal indicates that the steering system has a serious fault.

[0013] In some possible embodiments of this application, after sending an analog signal to the steering system based on the fault signal value to enable the steering system to perform torque control based on the analog signal, the method further includes: The maximum rack force is reduced by a preset step size, and the current fault signal value corresponding to the reduced maximum rack force is obtained. The analog signal is sent to the steering system based on the current fault signal value, so that the steering system performs torque control according to the analog signal, and obtains a test result indicating that the steering system has failed the test if no error message is received.

[0014] To achieve the above objectives, a second aspect of this application provides a testing system connected to a steering system, the steering system being equipped with a torque sensor, a first force sensor, and a second force sensor, the testing system comprising: The signal processing unit is used to acquire the transmission parameters of the steering system; and to obtain a fault signal value based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor. A fault injection unit is used to send an analog signal to the steering system according to the fault signal value, so that the steering system performs torque control according to the analog signal. The result determination unit is used to obtain a test result indicating that the steering system test has failed if it does not receive the corresponding problem error information corresponding to the analog signal sent by the steering system during the torque control process.

[0015] To achieve the above objectives, a third aspect of the present application provides an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method described in the first aspect.

[0016] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0017] This application provides a torque testing method, system, device, and medium for a steering system. The method includes: acquiring transmission parameters of the steering system; obtaining a fault signal value based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor; sending a simulated signal to the steering system based on the fault signal value, so that the steering system performs torque control according to the simulated signal; if no error message corresponding to the simulated signal sent by the steering system is received during the torque control process, a test result indicating that the steering system has failed the test is obtained. This application simulates a fault signal by comprehensively considering the transmission parameters of the steering system and the error values ​​of multiple force sensors, enabling higher-standard fault injection testing of torque-requesting driving assistance functions in the steering system during the development phase. This effectively improves the testing accuracy of torque control and its compliance with actual driving environments, meeting the torque control testing requirements of the steering system. It allows the testing system to more accurately evaluate the response of the torque sensor under fault conditions, improving the effectiveness of the test results and ensuring the stability and safety of the vehicle in complex driving situations. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the steps of a torque testing method for a steering system provided in one embodiment of this application; Figure 2 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 3 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 4 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 5 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 6 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 7 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 8 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application; Figure 9 This is a schematic diagram of the structure of a test system provided in another embodiment of this application; Figure 10 This is a schematic diagram of the hardware structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0019] 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.

[0020] It should be noted that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0021] With the development of vehicle intelligence, more and more vehicles on the market are equipped with intelligent driving functions, including driver assistance and autonomous driving. When intelligent driving functions intervene in vehicle control, intelligent driving control of the vehicle can be achieved by controlling the vehicle steering system, such as by using driver assistance functions that achieve torque requests.

[0022] Furthermore, in order to reduce the impact of intelligent driving control on the safety of vehicles and occupants, it is necessary to conduct functional tests on the torque-requesting driving assistance functions in intelligent driving during the development phase. However, current testing methods cannot perform fault injection tests, have low consistency with actual driving conditions, and cannot meet the testing requirements for torque-requesting driving assistance functions, thus affecting the testing accuracy.

[0023] Based on this, this application proposes a torque testing method, system, device, and medium for a steering system, aiming to achieve higher-standard fault injection testing of driving assistance functions that use torque requests in the steering system during the development phase, in order to meet testing requirements and improve the effectiveness of test results.

[0024] First, it can be determined that the steering system in this application includes an electric power steering system (EPS). An electric power steering system is a power steering system that directly relies on an electric motor to provide auxiliary torque. It consists of a mechanical steering system, a torque sensor, a vehicle speed sensor, an EPS control unit, a power assist motor, and a reduction mechanism. The choice of its structural form largely depends on the required amount of assistance and the spatial arrangement.

[0025] Secondly, the torque testing method in this application includes fault injection testing. It can simulate the controlled object and system operating environment by connecting to a real controller and using or partially using a real-time simulation model. By simulating actual fault signals and based on the feedback information from the steering system, a test result characterizing whether the steering system has passed the test can be obtained, so as to achieve a higher standard of fault injection testing for driving assistance functions that use torque requests in the steering system.

[0026] The embodiments of this application provide one example, which will be specifically described through the following embodiments. First, the first aspect of the embodiments of this application is described.

[0027] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the steps of a torque testing method for a steering system according to one embodiment of this application. The methods provided in various embodiments of this application are applied to a test system connected to a steering system. The steering system is equipped with a torque sensor, a first force sensor, and a second force sensor. Figure 1 In the illustrated embodiments, the method includes, but is not limited to, the following steps.

[0028] Step S110: Obtain the transmission parameters of the steering system; Step S120: Obtain the fault signal value based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor. Step S130: Send an analog signal to the steering system based on the fault signal value so that the steering system can perform torque control based on the analog signal; Step S140: If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained.

[0029] In some embodiments, steps S110 and S120 obtain the transmission parameters of the steering system and, based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor, obtain the fault signal value. This can accurately simulate the behavior of the steering system under different fault conditions. This step is the basis for establishing an efficient fault injection test and helps to detect and evaluate the performance and stability of the steering system under extreme conditions.

[0030] In some embodiments, step S130 sends a simulated signal to the steering system based on the fault signal value, so that the steering system can perform torque control based on the simulated signal. This can simulate real fault conditions, evaluate the steering system's response to these faults, and ensure the reliability and safety of the steering system in actual driving.

[0031] In some embodiments, if no error message corresponding to a fault signal value sent by the steering system is received during torque control in step S40, the target torque sensor test can be considered to have failed. This step helps confirm the performance of the steering system under specific fault conditions, ensuring that the system can only be put into use when all tests are passed, thereby improving the overall vehicle safety and reliability. Conversely, if an error message corresponding to a fault signal value sent by the steering system is received during torque control, the target torque sensor test can be considered to have passed during the current torque control process, and the next stage of testing can proceed.

[0032] This application simulates fault signals by comprehensively considering the transmission parameters of the steering system and the error values ​​of multiple force sensors. This enables higher-standard fault injection testing of the driving assistance function using torque request in the steering system during the development phase. This effectively improves the testing accuracy of torque control and the conformity with the actual driving environment, thus meeting the torque control testing requirements of the steering system. This allows the testing system to more accurately evaluate the response of the torque sensor under fault conditions, improve the validity of the test results, and ultimately ensure the stability and safety of the vehicle when facing complex driving situations.

[0033] In some embodiments, the transmission parameters include: the radius of the first gear on the input shaft of the steering system; the radius of the second gear at the motor end of the steering system; the maximum rack force of the steering system; and the transmission coefficient between the output torque at the motor end and the torque on the input shaft.

[0034] In some embodiments, the torque sensor is installed on the input shaft of the steering system. The torque sensor has an error value of less than 0.01 Nm and has been calibrated. The external torque sensor outputs a signal of T0 with an error of δT0.

[0035] In some embodiments, force sensors and load devices can be coaxially mounted at both ends of the steering system rack. The force sensor error value is less than 0.1N and has been calibrated. The maximum output force F of the load device is greater than 0.8 times the maximum rack force (Fr) of the steering system, i.e., F > 0.8Fr. The external force sensor output signals are F1 and F2, with errors of δF1 and δF2, respectively. The external force sensor may include a first force sensor and a second force sensor. The output signal of the first force sensor is F1 and the first error value is δF1, and the output signal of the second force sensor is F2 and the first error value is δF2.

[0036] In some embodiments, the first force sensor and the second force sensor may represent the same force sensor used to acquire different output signals.

[0037] In some embodiments, the radius of the pinion gear on the input shaft of the steering system is set to r1, corresponding to the radius of the first gear mentioned above; the radius of the pinion gear on the motor end of the steering system is r2, corresponding to the radius of the second gear mentioned above; and the coefficient between the motor output torque and the input shaft torque is Mn, corresponding to the transmission coefficient mentioned above.

[0038] In some embodiments, before sending an analog signal to the steering system based on the fault signal value so that the steering system can perform torque control based on the analog signal, a force of 0.5Fr is applied at both ends of the steering system in the opposite direction of movement, i.e., the rack force of the steering gear at this time is the maximum rack force Fr.

[0039] Please see Figure 2 , Figure 2 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. The fault signal value includes a first signal value and a second signal value. The fault signal value is obtained based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor, including but not limited to the following steps.

[0040] Step S210: Add the first error value of the first force sensor and the second error value of the second force sensor to the maximum rack force to obtain the first intermediate value; Step S220: Multiply the first intermediate value by the radius of the first gear and the radius of the second gear to obtain the second intermediate value; Step S230: Add the product of the first gear radius and the second gear radius and the transmission coefficient to obtain the third intermediate value; Step S240: Divide the second intermediate value by the third intermediate value and subtract the torque error value of the torque sensor to obtain the first signal value; Step S250: Subtract the first error value and the second error value from the maximum rack force to obtain the fourth intermediate value; Step S260: Multiply the fourth intermediate value by the radius of the first gear and the radius of the second gear to obtain the fifth intermediate value; In step S270, the fifth intermediate value is divided by the third intermediate value, and the torque error value is added to obtain the second signal value.

[0041] Specifically, according to the above embodiment, the first intermediate value is (Fr+δF1+δF2), the second intermediate value is [r1·r2(Fr+δF1+δF2)], the third intermediate value is (r1+r2·Mn), the first signal value is [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0, the fourth intermediate value is (Fr-δF1-δF2), the fifth intermediate value is [r1·r2(Fr-δF1-δF2)], and the second signal value is [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0.

[0042] In some embodiments, a sensor malfunction can be simulated by increasing the value of the analog signal sent to the steering system. For example, the value of the analog signal can be set to be greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0, so that the value of the analog signal is significantly higher than that under normal circumstances. This setting can create a scenario that is greater than the normal operating parameter range, so that the analog signal becomes a fault signal used to test the fault detection and response mechanism of the steering system.

[0043] In some embodiments, a sensor malfunction can be simulated by reducing the value of the analog signal sent to the steering system. For example, the value of the analog signal can be set to be less than [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)-δT0, so that the value of the analog signal is significantly lower than that under normal circumstances. This setting can create a scenario that is less than the normal operating parameter range, so that the analog signal becomes a fault signal used to test the fault detection and response mechanism of the steering system.

[0044] Please see Figure 3 , Figure 3 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. A simulated signal is sent to the steering system according to the fault signal value so that the steering system can perform torque control according to the simulated signal. If no error message corresponding to the simulated signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including but not limited to the following steps.

[0045] Step S310: Send an analog signal with a value greater than the first signal value to the steering system so that the steering system performs first torque control based on the analog signal; Step S320: Restore the steering system to normal operation and send an analog signal with a value less than the second signal value to the steering system so that the steering system performs second torque control according to the analog signal; Step S330: If no error message corresponding to the analog signal sent by the steering system is received during the first torque control or the second torque control process, a test result indicating that the steering system test has failed is obtained.

[0046] In some embodiments, since the steering system is designed to monitor and identify whether the sensor signal is within an acceptable error range, when the signal of the first torque sensor is below the normal value (including the error range), the steering system such as EPS should be able to identify this and determine that the torque sensor has malfunctioned. Therefore, the steering system will send an error status signal to the test system to indicate that a fault error has been detected. This safety measure ensures that the vehicle continues to operate safely in the event that the sensor may malfunction.

[0047] In some embodiments, corresponding to step S310 above, specifically, a signal simulation device is used to make the value T of the first simulated signal > [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0; at this time, EPS should detect and send a fault signal to indicate that the current problem is a common fault, but the control being executed continues to be executed normally. If EPS does not send a relevant problem, or actively stops executing torque control, the test fails. That is, if no problem error information corresponding to the fault signal value sent by the steering system is received during the torque control process, a test result indicating that the target torque sensor test has failed is obtained.

[0048] In some embodiments, corresponding to the specific steps of S320 above, after clearing the fault, a signal simulation device is used to make the value of the first simulated signal T < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0; at this time, EPS should detect and send a fault signal to indicate that the current fault is a common problem error message, but the control being executed continues to be executed normally. If EPS does not send a relevant problem message, or actively stops executing torque control, the test fails. That is, if no problem error message corresponding to the fault signal value sent by the steering system is received during the torque control process, a test result indicating that the target torque sensor test has failed is obtained.

[0049] In some embodiments, in order to ensure that the second torque control is not affected by the fault during the first torque control, the steering system needs to be restored to normal operation after the first torque control is completed. Therefore, the steering system can be restored to normal operation by clearing the fault.

[0050] In some embodiments, the torque sensor includes a first torque sensor and a second torque sensor, the steering system includes a first controller and a second controller, and the analog signal includes: a first analog signal sent from the first torque sensor to the first controller; a second analog signal sent from the first torque sensor to the second controller; a third analog signal sent from the second torque sensor to the first controller; and a fourth analog signal sent from the second torque sensor to the second controller. This corresponds to a steering system having multiple controllers and multiple torque sensors, thereby enabling the injection test of the driving assistance function using torque request without exiting.

[0051] In some embodiments, any of the above-described embodiments that implement the process of sending an analog signal to the steering system based on the fault signal value using the transceiver object corresponding to the first analog signal can be implemented by replacing the second, third, and fourth analog signals. That is, any of the above-described schemes that only control the controller and torque sensor to implement torque sensor fault testing can be implemented between the controller and torque sensor set in the steering system.

[0052] Please see Figure 4 , Figure 4 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. A simulated signal is sent to the steering system according to the fault signal value so that the steering system can perform torque control according to the simulated signal. If no error message corresponding to the simulated signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including but not limited to the following steps.

[0053] Step S410: Determine two target analog signals from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Step S420: Send two target analog signals with values ​​greater than the first signal value to the steering system so that the steering system performs third torque control based on the two target analog signals; Step S430: The steering system is restored to normal operation, and two target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs fourth torque control based on the two target analog signals. In step S440, if no error message corresponding to the analog signal sent by the steering system is received during the third torque control or fourth torque control process, a test result indicating that the steering system test has failed is obtained.

[0054] In some embodiments, corresponding to steps S410 to S440, a signal simulation device can be used such that the value T of the first analog signal is greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0, and the value T of the second analog signal is greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0. At this time, the EPS should detect and send a problem error message indicating a moderate fault, but the control being executed continues to be executed normally. If the EPS does not send a relevant problem, or actively stops executing torque control, the test fails.

[0055] It is conceivable that, in some embodiments, corresponding to steps S410 to S440, a signal simulation device can also be used, such that the value T of the first analog signal is < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0, and the value T of the second analog signal is < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0; at this time, EPS should detect and send a problem error message indicating a moderate fault, but the control being executed continues to be executed normally. If EPS does not send a relevant problem, or actively stops executing torque control, the test fails.

[0056] In some embodiments, the above-described embodiments corresponding to steps S410 to S440 can be implemented according to combinations of first analog signal and third analog signal; first analog signal and fourth analog signal; second analog signal and third analog signal; second analog signal and fourth analog signal; third analog signal and fourth analog signal, etc. It is conceivable that by generating fault signal values ​​for two or more torque sensors under various conditions corresponding to different controllers and torque sensors, the behavior of a steering system with two torque sensors under different fault conditions can be simulated more effectively, thereby improving the accuracy and reliability of the test. That is, by simulating the abnormal values ​​of two signals simultaneously, more complex fault conditions can be simulated, enabling the test method of this application to more comprehensively evaluate the response capability of the EPS system when facing multiple problems.

[0057] Please see Figure 5 , Figure 5 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. A simulated signal is sent to the steering system according to the fault signal value so that the steering system can perform torque control according to the simulated signal. If no error message corresponding to the simulated signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including but not limited to the following steps.

[0058] Step S510: Determine three target analog signals from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Step S520: Send three target analog signals with values ​​greater than the first signal value to the steering system so that the steering system performs fifth torque control based on the three target analog signals; Step S530: The steering system is restored to normal operation, and three target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs sixth torque control based on the three target analog signals. In step S540, if no error message corresponding to the analog signal sent by the steering system is received during the fifth torque control or the sixth torque control process, a test result indicating that the steering system test has failed is obtained.

[0059] In some embodiments, when the analog signal corresponds to a single analog signal, the error message corresponding to the analog signal indicates a general fault in the steering system; when the analog signal corresponds to two analog signals, the error message corresponding to the analog signal indicates a moderate fault in the steering system; and when the analog signal corresponds to three or more analog signals, the error message corresponding to the analog signal indicates a serious fault in the steering system.

[0060] In some embodiments, corresponding to steps S510 to S540, a signal simulation device can be used such that the value T of the first analog signal is greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0, the value T of the second analog signal is greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0, and the value T of the third analog signal is greater than [r1·r2(Fr+δF1+δF2)] / (r1+r2·Mn)-δT0. At this time, the EPS should detect and send a problem error message indicating a serious fault, but the control being executed continues to be executed normally. If the EPS does not send a relevant problem or actively stops executing torque control, the test fails.

[0061] It is conceivable that, in some embodiments, corresponding to steps S410 to S440, a signal simulation device can also be used, such that the value T of the first analog signal is < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0, the value T of the second analog signal is < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0, and the value T of the third analog signal is < [r1·r2(Fr-δF1-δF2)] / (r1+r2·Mn)+δT0; at this time, the EPS should detect and send a problem error message indicating a serious fault, but the control being executed continues to be executed normally. If the EPS does not send the relevant problem, or actively stops executing torque control, the test fails.

[0062] In some embodiments, the above-described embodiments corresponding to steps S510 to S540 can be implemented according to combinations of second, third, and fourth analog signals; first, third, and fourth analog signals; and first, second, and fourth analog signals, respectively. It is conceivable that by generating fault signal values ​​for three or more torque sensors under various conditions corresponding to different controllers and torque sensors, the behavior of a steering system with three torque sensors under different fault conditions can be simulated more effectively, thereby improving the accuracy and reliability of the test. That is, by simulating the abnormal values ​​of three signals simultaneously, more complex fault conditions can be simulated, enabling the test method of this application to more comprehensively evaluate the response capability of the EPS system when facing multiple problems.

[0063] Please see Figure 6 , Figure 6 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. After sending a simulated signal to the steering system based on the fault signal value so that the steering system can perform torque control based on the simulated signal, the method also includes, but is not limited to, the following steps.

[0064] Step S610: Reduce the maximum rack force by a preset step size, and obtain the current fault signal value corresponding to the reduced maximum rack force; Step S620: Send an analog signal to the steering system based on the current fault signal value so that the steering system can perform torque control based on the analog signal, and obtain a test result indicating that the steering system test has failed if no problem error information is received.

[0065] In some embodiments, specifically, the force applied to both ends of the rack can be reduced in increments of 0.05Fr until the rack force is 0.1Fr. The maximum rack force in any of the above embodiments is replaced with the reduced maximum rack force. That is, the fault signal value is repeatedly obtained based on the current rack force. A simulated signal is sent to the steering system based on the fault signal value so that the steering system can perform torque control based on the simulated signal. If no error message corresponding to the simulated signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, thereby further improving the effectiveness of the test result.

[0066] Please see Figure 7 , Figure 7 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. Before sending a simulated signal to the steering system based on a fault signal value so that the steering system can perform torque control based on the simulated signal, the method also includes, but is not limited to, the following steps.

[0067] Step S710: Send torque request information and request direction information to the steering system to put the steering system into normal operation and obtain the operation feedback information of the steering system.

[0068] Specifically, the test system should correctly send torque requests and request directions, while ensuring that all functional modules inside the steering gear are functioning properly. At this time, the steering gear should provide feedback on the currently executed torque, the currently executed torque direction, the currently executed function type, and whether the currently executed functional module is in a normal state, so as to facilitate the subsequent test steps.

[0069] Please see Figure 8 , Figure 8 This is a schematic diagram of the steps of a torque testing method for a steering system provided in another embodiment of this application. After sending a simulated signal to the steering system based on the fault signal value so that the steering system can perform torque control based on the simulated signal, the method also includes, but is not limited to, the following steps.

[0070] Step S810: After obtaining the state information indicating that the steering system has actively stopped receiving torque control, a test result indicating that the steering system test has failed is obtained.

[0071] Secondly, please see Figure 9 This application embodiment also provides a testing system 900, which is connected to a steering system. The steering system is equipped with a torque sensor, a first force sensor, and a second force sensor. The testing system includes: The signal processing unit 910 is used to acquire the transmission parameters of the steering system; and to obtain the fault signal value based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor. The fault injection unit 920 is used to send an analog signal to the steering system according to the fault signal value, so that the steering system can perform torque control according to the analog signal. The result determination unit 930 is used to obtain a test result indicating that the steering system test has failed if no problem error information corresponding to the analog signal sent by the steering system is received during the torque control process.

[0072] The signal processing unit 910, the fault injection unit 920, and the result determination unit 930 are interconnected. The specific implementation of the test system 900 is basically the same as the specific embodiment of the torque test method described above, and will not be repeated here.

[0073] Thirdly, this application also provides an electronic device, which includes: a memory, a processor, a program stored in the memory and executable on the processor, and a data bus for communication between the processor and the memory. When the program is executed by the processor, it implements the torque testing method for the steering system described above. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0074] Please see Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1002 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1002 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001 to execute the torque testing method of the steering system in the embodiments of this application. Input / output interface 1003 is used to implement information input and output; The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1005 transmits information between various components of the device (e.g., processor 1001, memory 1002, input / output interface 1003, and communication interface 1004); The processor 1001, memory 1002, input / output interface 1003 and communication interface 1004 are connected to each other within the device via bus 1005.

[0075] Fourthly, embodiments of this application also provide a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the torque testing method for the steering system described above.

[0076] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0077] The examples described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0078] It will be understood by those skilled in the art that Figures 1 to 10 The technical solutions shown do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0079] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0080] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, and the corresponding systems, can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer-readable storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer-readable storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer-readable storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0081] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for testing the torque of a steering system, characterized in that, The method is applied to a test system connected to the steering system, the steering system being equipped with a torque sensor, a first force sensor, and a second force sensor; the method includes: Obtain the transmission parameters of the steering system; The fault signal value is obtained based on the transmission parameters and the error values ​​of the torque sensor, the first force sensor, and the second force sensor. Based on the fault signal value, an analog signal is sent to the steering system so that the steering system performs torque control according to the analog signal. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained. The transmission parameters include: the radius of the first gear on the input shaft of the steering system, the radius of the second gear on the motor end of the steering system, the maximum rack force of the steering system, and the transmission coefficient between the output torque at the motor end and the torque on the input shaft. In addition, the fault signal value includes a first signal value and a second signal value. The process of obtaining the fault signal value based on the transmission parameters and the respective error values ​​of the torque sensor, the first force sensor, and the second force sensor includes: The first intermediate value is obtained by adding the first error value of the first force sensor and the second error value of the second force sensor to the maximum rack force; Multiply the first intermediate value by the radius of the first gear and the radius of the second gear to obtain the second intermediate value; The third intermediate value is obtained by adding the radius of the first gear to the product of the radius of the second gear and the transmission coefficient. Divide the second intermediate value by the third intermediate value and subtract the torque error value of the torque sensor to obtain the first signal value; Subtracting the first error value and the second error value from the maximum rack force yields a fourth intermediate value. Multiply the fourth intermediate value by the radius of the first gear and the radius of the second gear to obtain the fifth intermediate value; Divide the fifth intermediate value by the third intermediate value and add the torque error value to obtain the second signal value.

2. The torque testing method for a steering system according to claim 1, characterized in that, Sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Send an analog signal with a value greater than the first signal value to the steering system, so that the steering system performs first torque control based on the analog signal; The steering system is restored to normal operation, and an analog signal with a value less than the second signal value is sent to the steering system so that the steering system performs second torque control according to the analog signal. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If no error message corresponding to the analog signal sent by the steering system is received during the first torque control or the second torque control process, a test result indicating that the steering system test has failed is obtained.

3. The torque testing method for a steering system according to claim 1, characterized in that, The torque sensor includes a first torque sensor and a second torque sensor, the steering system includes a first controller and a second controller, and the analog signal includes: The first torque sensor sends a first analog signal to the first controller; The first torque sensor sends a second analog signal to the second controller; The second torque sensor sends a third analog signal to the first controller; The second torque sensor sends a fourth analog signal to the second controller.

4. The torque testing method for a steering system according to claim 3, characterized in that, Sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Two target analog signals are determined from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Two target analog signals with values ​​greater than the first signal value are sent to the steering system, so that the steering system performs third torque control based on the two target analog signals; The steering system is restored to normal operation, and two target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs fourth torque control based on the two target analog signals. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If, during the third torque control or the fourth torque control process, no error message corresponding to the analog signal sent by the steering system is received, a test result indicating that the steering system test has failed is obtained.

5. The torque testing method for a steering system according to claim 3, characterized in that, Sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, includes: Three target analog signals are determined from the first analog signal, the second analog signal, the third analog signal, and the fourth analog signal; Three target analog signals with values ​​greater than the first signal value are sent to the steering system, so that the steering system performs fifth torque control based on the three target analog signals; The steering system is restored to normal operation, and three target analog signals with values ​​less than the second signal value are sent to the steering system so that the steering system performs sixth torque control based on the three target analog signals. If no error message corresponding to the analog signal sent by the steering system is received during the torque control process, a test result indicating that the steering system test has failed is obtained, including: If, during the fifth torque control or the sixth torque control process, no error message corresponding to the analog signal sent by the steering system is received, a test result indicating that the steering system test has failed is obtained.

6. The torque testing method for a steering system according to claim 3, characterized in that, When the analog signal corresponds to a single analog signal, the error message corresponding to the analog signal indicates that the steering system has a common fault; when the analog signal corresponds to two analog signals, the error message corresponding to the analog signal indicates that the steering system has a moderate fault; when the analog signal corresponds to three or more analog signals, the error message corresponding to the analog signal indicates that the steering system has a serious fault.

7. The torque testing method for a steering system according to any one of claims 1 to 6, characterized in that, After sending an analog signal to the steering system based on the fault signal value, so that the steering system performs torque control based on the analog signal, the method further includes: The maximum rack force is reduced by a preset step size, and the current fault signal value corresponding to the reduced maximum rack force is obtained. The analog signal is sent to the steering system based on the current fault signal value, so that the steering system performs torque control according to the analog signal, and obtains a test result indicating that the steering system test has failed if no error message is received.

8. A testing system, characterized in that, The testing system is connected to the steering system, which is equipped with a torque sensor, a first force sensor, and a second force sensor. The testing system includes: A signal processing unit is configured to acquire the transmission parameters of the steering system; and to obtain a fault signal value based on the transmission parameters and the respective error values ​​of the torque sensor, the first force sensor, and the second force sensor. A fault injection unit is used to send an analog signal to the steering system according to the fault signal value, so that the steering system performs torque control according to the analog signal. The result determination unit is used to obtain a test result indicating that the steering system test has failed if the problem error information corresponding to the analog signal sent by the steering system is not received during the torque control process. The transmission parameters include: the radius of the first gear on the input shaft of the steering system, the radius of the second gear on the motor end of the steering system, the maximum rack force of the steering system, and the transmission coefficient between the output torque at the motor end and the torque on the input shaft. In addition, the fault signal value includes a first signal value and a second signal value. The process of obtaining the fault signal value based on the transmission parameters and the respective error values ​​of the torque sensor, the first force sensor, and the second force sensor includes: The first intermediate value is obtained by adding the first error value of the first force sensor and the second error value of the second force sensor to the maximum rack force; Multiply the first intermediate value by the radius of the first gear and the radius of the second gear to obtain the second intermediate value; The third intermediate value is obtained by adding the radius of the first gear to the product of the radius of the second gear and the transmission coefficient. Divide the second intermediate value by the third intermediate value and subtract the torque error value of the torque sensor to obtain the first signal value; Subtracting the first error value and the second error value from the maximum rack force yields a fourth intermediate value. Multiply the fourth intermediate value by the radius of the first gear and the radius of the second gear to obtain the fifth intermediate value; Divide the fifth intermediate value by the third intermediate value and add the torque error value to obtain the second signal value.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the torque testing method for the steering system according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the torque testing method for the steering system as described in any one of claims 1 to 7.

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