Control method, device, electronic device and storage medium of steer-by-wire system

Abstract

The present invention discloses a control method, device, electronic device and storage medium of a wire-controlled steering system, wherein the wire-controlled steering system includes a first steering drive motor, a second steering drive motor, a first controller and a second controller. The control method of the wire-controlled steering system includes the following steps: when it is detected that the vehicle is powered on, determining the fault level of the wire-controlled steering system and obtaining the data of the mileage flag corresponding to the steering drive motor and the data of the historical application flag of the steering drive motor, wherein the fault level of zero indicates that the wire-controlled steering system of the vehicle is fault-free; in response to the fault level of the wire-controlled steering system being zero and the data of the mileage flag corresponding to the steering drive motor being greater than or equal to a first preset value, determining the data of the current application flag according to the data of the historical application flag to determine the steering drive motor currently used to drive the vehicle to steer, and setting the data of the mileage flag to zero. Safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a control method, device, electronic device and storage medium for a wire-controlled steering system. Background Art

[0002] With the advancement of technology, steer-by-wire systems have become the development trend of automotive steering systems. The safety of steer-by-wire systems is particularly important, but the redundancy design of current steer-by-wire systems is not comprehensive enough.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0005] In view of the problem that the redundant design of the existing wire-controlled steering system is not comprehensive enough, the present application provides a control method, device, electronic device and storage medium for the wire-controlled steering system, which has the beneficial effects of: improving the safety of the wire-controlled steering system, thereby improving the driving safety of the vehicle and improving public road safety.

[0006] In a first aspect, the present invention provides a control method for a wire-controlled steering system, wherein the wire-controlled steering system comprises a first steering drive motor, a second steering drive motor, a first controller and a second controller, and the control method for the wire-controlled steering system comprises:

[0007] When it is detected that the vehicle is powered on, the fault level of the wire steering system is determined and the data of the mileage flag corresponding to the steering drive motor and the data of the historical application flag of the steering drive motor are obtained, wherein the fault level of zero indicates that the vehicle's wire steering system has no fault;

[0008] In response to the fault level of the wire-controlled steering system being zero and the data of the mileage flag corresponding to the steering drive motor being greater than or equal to a first preset value, the data of the current application flag is determined based on the data of the historical application flag to determine the steering drive motor currently used to drive the vehicle steering, and the data of the mileage flag is set to zero.

[0009] Further, the determining of the data of the current application flag bit according to the data of the historical application flag bit to determine the steering drive motor currently used to drive the vehicle to steer includes:

[0010] If the data of the historical application flag is a first value, determining that the data of the current application flag is a second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor;

[0011] If the data of the historical application flag is the second value, the data of the current application flag is determined to be the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor.

[0012] Furthermore, when the fault level of the steer-by-wire system is level one, the method further includes:

[0013] The data of the mileage flag corresponding to the steering drive motor is set to 0;

[0014] If the steering drive motor that fails is the first steering drive motor, when the data of the historical application flag is the first value, determining that the data of the current application flag is the second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor;

[0015] If the faulty steering drive motor is the second steering drive motor, when the data of the historical application flag is the second value, determining that the data of the current application flag is the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor;

[0016] Wherein, a fault level of level one indicates that a fault occurs in the first steering drive motor or the second steering drive motor.

[0017] Furthermore, when the fault level of the steer-by-wire system is level 2, the method further includes:

[0018] Get the steering angle and steering direction of the steering wheel;

[0019] determining a braking torque corresponding to the steering angle;

[0020] Controlling the vehicle to apply the braking torque to the front wheels corresponding to the steering direction;

[0021] Wherein, when the fault level is level 2, it means that both the first steering drive motor and the second steering drive motor are faulty.

[0022] Furthermore, when the fault level of the steer-by-wire system is level three, the method further includes:

[0023] If the faulty controller is the first controller, the target angle is sent through the second controller;

[0024] If the faulty controller is the second controller, the target angle is sent through the first controller;

[0025] Wherein, the target angle is the actual angle of the steering drive motor currently used to drive the vehicle to steer;

[0026] A fault level of three indicates that a fault occurs in the first controller or the second controller.

[0027] Further, determining the fault level of the steer-by-wire system includes:

[0028] Before the vehicle is driven, determining whether the first controller has a fault according to the target angles sent by the first controller and recorded by the second controller at different times; and determining whether the first steering drive motor has a fault according to the angle signals fed back by the first steering drive motor and received by the second controller at different times;

[0029] and, determining whether the second controller has a fault according to the target angles sent by the second controller and recorded by the first controller at different times; and, determining whether the second steering drive motor has a fault according to the angle signals fed back by the second steering drive motor and received by the first controller at different times;

[0030] The fault level is determined according to whether the first controller, the second controller, the first steering drive motor and the second steering drive motor have faults.

[0031] Further, if it is determined that the first controller or the second controller has a fault, the determining of the fault level of the steer-by-wire system further includes:

[0032] Before the vehicle is driven, when it is determined that the first controller has a fault, it is determined whether the first steering drive motor has a fault based on the angle signal fed back by the first steering drive motor received by the second controller at different times; and when it is determined that the second controller has a fault, it is determined whether the second steering drive motor has a fault based on the angle signal fed back by the second steering drive motor received by the first controller at different times.

[0033] In a second aspect, the present invention provides a control device for a wire-controlled steering system, the wire-controlled steering system comprising a first steering drive motor, a second steering drive motor, a first controller and a second controller, the control device for the wire-controlled steering system comprising:

[0034] A first determination module, configured to determine a fault level of the steer-by-wire system when it is detected that the vehicle is powered on;

[0035] An acquisition module is used to acquire data of a mileage flag corresponding to the steering drive motor and data of a historical application flag of the steering drive motor, wherein a fault level of zero indicates that the vehicle's wire control steering system has no fault;

[0036] The second determination module is used to determine the data of the current application flag bit according to the data of the historical application flag bit in response to the fault level of the wire-controlled steering system being zero and the data of the mileage flag bit corresponding to the steering drive motor being greater than or equal to a first preset value, so as to determine the steering drive motor currently used to drive the vehicle steering, and set the data of the mileage flag bit to zero.

[0037] In a third aspect, the present invention further provides an electronic device, the electronic device comprising:

[0038] one or more processors;

[0039] A storage device for storing one or more programs;

[0040] When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the wire-controlled steering system as described above.

[0041] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method of the wire-controlled steering system as described above.

[0042] The invention discloses a control method for a wire-controlled steering system, which improves the safety of the wire-controlled steering system by setting redundant steering drive motors and controllers. By determining the switching frequency of two steering drive motors according to the mileage, the two steering drive motors are used alternately, so that the application time of the two steering drive motors is basically the same, and the service life of the two steering drive motors is basically the same, so that the time for the two steering drive motors to work normally at the same time is as long as possible, and when one of them fails, there is a redundant one as a replacement, thereby improving the safety of the wire-controlled steering system, vehicle driving safety and road public safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0044] Figure 1 A schematic flow chart of a control method for a wire-controlled steering system provided by an embodiment of the present invention;

[0045] Figure 2 A schematic structural diagram of a wire-controlled steering system provided by an embodiment of the present invention;

[0046] Figure 3 A schematic structural diagram of a control device for a steer-by-wire system provided by an embodiment of the present invention;

[0047] Figure 4 FIG. 4 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] Figure 1 This is a flow chart of a control method for a steer-by-wire system proposed in the present application, wherein the method is used to control the steer-by-wire system. Figure 2 A schematic diagram of a wire-controlled steering system provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the wire control steering system includes a first steering drive motor, a second steering drive motor, a first controller and a second controller. The first controller can reuse the vehicle controller of the vehicle, and the second controller is a specially set controller. The first steering drive motor and the second steering drive motor can independently drive the vehicle to steer.

[0051] The control method of the steer-by-wire system may be executed by a control device of the steer-by-wire system. The control device of the steer-by-wire system may be implemented by software and / or hardware and integrated into a vehicle or a server.

[0052] like Figure 1 As shown, the control method of the wire control steering system includes the following steps:

[0053] S110. When it is detected that the vehicle is powered on, determine the fault level of the steer-by-wire system and obtain data of the mileage flag corresponding to the steering drive motor and data of the historical application flag of the steering drive motor, wherein a fault level of zero indicates that the vehicle's steer-by-wire system has no faults.

[0054] S120. In response to the fault level of the steer-by-wire system being zero and the data of the mileage flag corresponding to the steering drive motor being greater than or equal to a first preset value, the data of the current application flag is determined according to the data of the historical application flag to determine the steering drive motor currently used to drive the vehicle to steer, and the data of the mileage flag is set to zero.

[0055] In other words, when the vehicle's steer-by-wire system is fault-free, the first steering drive motor and the second steering drive motor are used alternately, so that the accumulated application time of the two steering drive motors is substantially equal, ensuring that the service life of the two steering drive motors is substantially the same. If one of the steering drive motors fails, the steer-by-wire system is forced to keep using the steering drive motor in normal working condition, thereby improving the stability and safety of the steer-by-wire system.

[0056] For example, the switching frequency of the two steering drive motors can be determined according to the mileage of the vehicle when a single steering drive motor is used. For example, the first steering drive motor is currently used for steering drive, and the mileage of the vehicle is recorded. When the mileage of the vehicle reaches 40 km, the second steering drive motor is used for steering drive, and the mileage recording is restarted. When the recorded mileage reaches 40 km, the first steering drive motor is used for steering drive again.

[0057] Specifically, the mileage S corresponding to a single steering drive motor can be calculated by the following formula: S = S0 + ∑ (v1 + v2 + v3 + ... + vn) * T / 3600, where v1, v2 ... vn represent the vehicle speed at each speed sampling moment, in km / h; T is the calculation period, T = 0.01, in seconds. The S value is stored when the vehicle is powered off, and the value is read as the basic mileage S0 when the vehicle is powered on. S is used as the mileage flag corresponding to the steering drive motor, and the data corresponding to S is the data of the mileage flag.

[0058] Set the historical application flag K0 and the current application flag K of the steering drive motor. K0=1 means that the first steering drive motor was used before the vehicle was powered off; K0=2 means that the second steering drive motor was used before the vehicle was powered off. Similarly, K=1 means that the first steering drive motor is currently used; K=2 means that the second steering drive motor is currently used.

[0059] After the vehicle is powered on, the first 2s (i.e., T1<2) of the operation of the first controller and the second controller is the initialization time, and the vehicle cannot be driven. When T1=2s, if the read S0≥50km, and if K0=1, K is assigned a value of 2, i.e., K=2, indicating that the first steering drive motor was used before the vehicle was powered off last time, and the corresponding mileage has reached 50km, so it is currently switched to the second steering drive motor for steering drive, and S0 is reset at the same time, so that S0=0. If K0=2, K is assigned a value of 1, i.e., K=1, and S0 is reset at the same time, so that S0=0, indicating that the second steering drive motor was used before the vehicle was powered off last time, and the corresponding mileage has reached 50km, so it is currently switched to the first steering drive motor for steering drive, and S0 is reset at the same time, so that S0=0.

[0060] When T1=2s, if the read S0≤50km, the steering drive motor will not be switched, that is, if K0=1, then K1=1, if K0=2, then K=2, and the accumulated mileage of S0 will be recorded.

[0061] By averaging the usage frequency of the two steering drive motors by driving distance, the accumulated application time of the two steering drive motors can be basically equal, ensuring that the service life of the two steering drive motors is basically the same. If one of the steering drive motors fails, the wire control steering system is forced to keep using the steering drive motor in normal working state, thereby improving the stability and safety of the wire control steering system.

[0062] In summary, the method of determining the data of the current application flag bit according to the data of the historical application flag bit to determine the steering drive motor currently used to drive the vehicle to steer includes:

[0063] If the data of the historical application flag is a first value, the data of the current application flag is determined to be a second value to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; if the data of the historical application flag is a second value, the data of the current application flag is determined to be a first value to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor.

[0064] Furthermore, when the fault level of the wire control steering system is level one, the fault level one indicates that the first steering drive motor or the second steering drive motor is faulty, that is, one of the two steering drive motors is faulty. The method further includes:

[0065] The data of the mileage flag corresponding to the steering drive motor is set to 0; if the steering drive motor that fails is the first steering drive motor, when the data of the historical application flag is the first value, the data of the current application flag is determined to be the second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; if the steering drive motor that fails is the second steering drive motor, when the data of the historical application flag is the second value, the data of the current application flag is determined to be the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor;

[0066] Specifically, the control strategy for the primary fault is: if K0=1, set K=2; if K0=2, set K=1 and reset S0=0.

[0067] Furthermore, when the fault level of the wire control steering system is level 2, wherein the fault level 2 indicates that both the first steering drive motor and the second steering drive motor are faulty. The method further includes: obtaining a steering angle and a steering direction of a steering wheel; determining a braking torque corresponding to the steering angle; controlling the vehicle to apply the braking torque to the front wheel corresponding to the steering direction;

[0068] Specifically, the control strategy for the secondary fault is: after the driver's steering wheel angle information is input, the additional braking torque is controlled to be applied to the left front wheel or the right front wheel according to the steering intention (if the driver turns the steering wheel to the left, the braking torque is applied to the left front wheel, if the driver turns the steering wheel to the right, the braking torque is applied to the right front wheel). The magnitude of the applied braking torque is obtained by looking up the table according to the steering wheel angle information. The table can be obtained by setting different braking torques in Simulink, performing Carsim / Simulink joint simulation, observing the vehicle posture using the animation demonstration function, and counting the vehicle's sideslip angle and yaw rate.

[0069] Furthermore, when the fault level of the steer-by-wire system is level three, the method further includes:

[0070] If the faulty controller is the first controller, the target angle is sent through the second controller; if the faulty controller is the second controller, the target angle is sent through the first controller; wherein the target angle is the actual angle of the steering drive motor currently used to drive the vehicle to steer; a fault level of level three indicates that the first controller or the second controller is faulty. Specifically, the control strategy for level three faults is: if the faulty controller is the first controller, the target angle is sent through the second controller; if the faulty controller is the second controller, the target angle is sent through the first controller; wherein the target angle is the actual angle of the steering drive motor currently used to drive the vehicle to steer; that is, initially, the target angle is the actual angle of the motor to prevent the vehicle from turning unexpectedly when switching controllers.

[0071] In some implementations, determining a fault level of the steer-by-wire system includes:

[0072] Before the vehicle is driven, whether the first controller is faulty is determined based on the target angles sent by the first controller and recorded by the second controller at different times; and whether the first steering drive motor is faulty is determined based on the angle signals fed back by the first steering drive motor and received by the second controller at different times; and whether the second controller is faulty is determined based on the target angles sent by the second controller and recorded by the first controller at different times; and whether the second steering drive motor is faulty is determined based on the angle signals fed back by the second steering drive motor and received by the first controller at different times.

[0073] The fault level is determined according to whether the first controller, the second controller, the first steering drive motor, and the second steering drive motor have faults. Specifically, if any one of the first controller and the second controller fails, the fault level is determined to be level one; if both the first controller and the second controller fail, the fault level is determined to be level two; if any one of the first controller and the second controller fails, the fault level is determined to be level three.

[0074] Further, if it is determined that the first controller or the second controller has a fault, the determining of the fault level of the steer-by-wire system further includes:

[0075] Before the vehicle is driven, when it is determined that the first controller has a fault, it is determined whether the first steering drive motor has a fault based on the angle signal fed back by the first steering drive motor received by the second controller at different times; and when it is determined that the second controller has a fault, it is determined whether the second steering drive motor has a fault based on the angle signal fed back by the second steering drive motor received by the first controller at different times.

[0076] It can be understood that the premise for implementing redundant design is to be able to judge the faults occurring in the steering-by-wire system. The embodiment of the present application monitors the SBW system (steering by wire), and classifies the system fault status according to potential dangers. The fault status is specifically divided into three levels, and a self-check is performed when the vehicle is powered on to identify faults in advance.

[0077] Take the above fault identification process as an example: the first controller and the second controller both receive the angle signal θ1 from the first steering drive motor and the angle signal θ2 from the second steering drive motor. When the steering drive motor controls the vehicle to turn right, the corresponding angle is greater than zero, and when the steering drive motor controls the vehicle to turn left, the corresponding angle is less than zero. During normal vehicle driving, the first controller issues the steering command by default. When the first controller fails, the second controller issues the steering command.

[0078] Specifically, the power-on self-test strategy is:

[0079] After the vehicle is powered on, the vehicle is in a self-test state. The vehicle cannot be driven for 2 seconds before the first controller is running. This period of time is the time for each controller of the vehicle to be initialized. Therefore, this time can be used for power-on self-test, which includes controller inspection and steering drive motor self-test. The first controller and the second controller are woken up at the same time during the self-test.

[0080] The timing module is set, even if the time is recorded as T1, the condition for T1 accumulation is that the controller (referring to the first controller and the second controller) is running.

[0081] The verification actions for the first controller and the first steering drive motor are:

[0082] At T1=0, the steering angle signal θ1 from the first steering drive motor recorded by the second controller is recorded as α1, and the target angle signal (i.e., θ1) from the first controller recorded by the second controller is recorded as α2; at T1=0.1s, the target angle signal from the first controller recorded by the second controller is α3, wherein, when 0s<T1≤0.5s, the first controller sends the target angle signal to the first steering drive motor and forwards the target angle signal to the second controller, and when θ1>0, the first controller controls θ1 to decrease by 15 degrees to obtain the target angle signal, and when θ1<0, the first controller controls θ1 to increase by 15 degrees to obtain the target angle signal.

[0083] When T1 = 0.5 s, the rotation angle signal θ1 from the first steering drive motor recorded by the second controller is recorded as α4.

[0084] The verification logic for the first controller is: if |α2-α3|=15, it is determined that the first controller is normal; if |α2-α3|≠15, it is determined that the first controller is faulty.

[0085] The verification logic for the first steering drive motor is: if |α1-α4|=15, it is determined that the first steering drive motor is normal; if |α1-α4|≠15, it is determined that the first steering drive motor is faulty.

[0086] The verification actions for the second controller and the second steering drive motor are:

[0087] When T1=0.5s, the steering angle signal θ2 from the second steering drive motor recorded by the first controller is recorded as α5, and the target angle signal (i.e., θ2) from the second controller recorded by the first controller is recorded as α6; when T1=0.6s, the target angle signal from the second controller recorded by the first controller is recorded as α7, wherein, when 0.5s<T1≤1s, the second controller sends the target angle signal to the second steering drive motor and forwards it to the first controller, and when θ2>0, the second controller controls θ2 to decrease by 15 degrees to obtain the target angle signal, and sends it to the second steering drive motor, and forwards it to the first controller; when θ2<0, the second controller controls θ2 to increase by 15 degrees, obtains the target angle signal, and sends it to the second steering drive motor, and forwards it to the first controller.

[0088] When T1=1s, the rotation angle signal θ2 from the second steering drive motor recorded by the second controller is recorded as α8.

[0089] The verification logic for the second controller is: if |α6-α7|=15, it is determined that the second controller is normal; if |α6-α7|≠15, it is determined that the second controller is faulty.

[0090] The verification logic for the second steering drive motor is: if |α5-α8|=15, it is determined that the second steering drive motor is normal; if |α5-α8|≠15, it is determined that the second steering drive motor is faulty.

[0091] Furthermore, when the first controller or the second controller fails, the fault diagnosis logic of the first steering drive motor and the second steering drive motor cannot be continued within T1≤1s, so the full fault diagnosis is performed within 1<T1≤2s:

[0092] Specifically, if the first controller fails, the verification process for the first steering drive motor is:

[0093] When T1=1s, the steering angle signal θ1 from the first steering drive motor recorded by the second controller is recorded as α9; when 1s<T1≤1.5s, the second controller sends a target angle signal to the first steering drive motor. When θ1>0, θ1 is controlled to decrease by 10 degrees to obtain the target angle signal. When θ1<0, θ1 is controlled to increase by 10 degrees to obtain the target angle signal.

[0094] When T1=1.5s, the rotation angle signal θ1 from the first steering drive motor recorded by the second controller is recorded as α10.

[0095] Based on the above, the verification logic for the first steering drive motor is:

[0096] If |α9-α10|=10, it is determined that the first steering drive motor is normal; if |α9-α10|≠10, it is determined that the first steering drive motor is faulty.

[0097] If the second controller fails, the verification process for the second steering drive motor is as follows:

[0098] At T1=1s, the turning angle signal θ2 recorded by the first controller from the second steering drive motor is recorded as α11; at 1s<T1≤1.5s, the first controller sends a target angle signal to the second steering drive motor. When θ1>0, θ1 is controlled to decrease by 10 degrees to obtain the target angle signal. When θ1<0, θ1 is controlled to increase by 10 degrees to obtain the target angle signal. At T1=1.5s, the turning angle signal θ2 recorded by the first controller from the second steering drive motor is recorded as α12. Based on the above, the verification logic for the second steering drive motor is: if |α11-α12|=10, it is determined that the second steering drive motor is normal; if |α11-α12|≠10, it is determined that the second steering drive motor is faulty.

[0099] Particularly, during the driving process of the vehicle, fault information of the first steering drive motor and the second steering drive motor is received in real time.

[0100] Furthermore, to improve safety, when a level 1 fault occurs, the corresponding fault prompt strategy is: light up the steering fault light on the instrument panel, display text on the vehicle screen, and remind the user to check and repair as soon as possible. When a level 2 fault occurs, the corresponding fault prompt strategy is: light up the steering fault light on the instrument panel, display text on the vehicle screen, remind the user to pull over as soon as possible, and light up the vehicle's double flash lights. When a level 3 fault occurs, the corresponding fault prompt strategy is: light up the steering, braking and other vehicle controller-related fault lights on the instrument panel, display text on the vehicle screen, remind the user to pull over as soon as possible, and light up the vehicle's double flash lights.

[0101] When a level 1 fault occurs, the motor redundancy design strategy is used to handle it, that is, the steering drive motor that has not failed is used to drive the vehicle to steer. When a level 2 fault occurs, the braking system is used to implement the redundant design of steering, that is, the steering angle and steering direction of the steering wheel are obtained; the braking torque corresponding to the steering angle is determined; and the vehicle is controlled to apply the braking torque to the front wheel corresponding to the steering direction. When a level 3 fault occurs, the control redundancy design scheme is used to handle it, that is, the steering of the vehicle is controlled by the controller that has not failed.

[0102] The control method of the wire-controlled steering system provided by the embodiment of the present disclosure improves the safety of the wire-controlled steering system by setting redundant steering drive motors and controllers. By determining the application time of the two steering drive motors according to the mileage, the two steering drive motors are used alternately, so that the application time of the two steering drive motors is basically the same, and the service life of the two steering drive motors is basically the same, so that the two steering drive motors can work normally at the same time for as long as possible, and when one of them fails, there is a redundant one as a replacement, thereby improving the safety of the wire-controlled steering system, vehicle driving safety and road public safety.

[0103] Figure 3 1 is a schematic diagram of a control device for a wire-controlled steering system provided by an embodiment of the present invention. The control device for the wire-controlled steering system can be integrated in a vehicle or a server. Figure 3 As shown, the device includes: a first determination module 310 , an acquisition module 320 and a second determination module 330 .

[0104] The first determination module 310 is configured to determine a fault level of the steer-by-wire system when it is detected that the vehicle is powered on.

[0105] The acquisition module 320 is used to acquire the data of the mileage flag corresponding to the steering drive motor and the data of the historical application flag of the steering drive motor, wherein a fault level of zero indicates that the vehicle's wire control steering system has no fault.

[0106] The second determination module 330 is used to determine the data of the current application flag bit according to the data of the historical application flag bit in response to the fault level of the wire-controlled steering system being zero and the data of the mileage flag bit corresponding to the steering drive motor being greater than or equal to a first preset value, so as to determine the steering drive motor currently used to drive the vehicle steering, and set the data of the mileage flag bit to zero.

[0107] Furthermore, the second determination module 330 is specifically used to determine that the data of the current application flag is the second value if the data of the historical application flag is the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; if the data of the historical application flag is the second value, then determine that the data of the current application flag is the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor.

[0108] Furthermore, the control device of the wire-controlled steering system also includes: a setting module, which is used to set the data of the mileage flag corresponding to the steering drive motor to 0 when the fault level of the wire-controlled steering system is level one; if the faulty steering drive motor is the first steering drive motor, when the data of the historical application flag is a first value, determine the data of the current application flag to be a second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; if the faulty steering drive motor is the second steering drive motor, when the data of the historical application flag is a second value, determine the data of the current application flag to be a first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor; wherein, a fault level of level one indicates that the first steering drive motor or the second steering drive motor has a fault.

[0109] Furthermore, the control device of the wire-controlled steering system also includes: a control module, which is used to obtain the steering angle and steering direction of the steering wheel when the fault level of the wire-controlled steering system is level two; determine the braking torque corresponding to the steering angle; and control the vehicle to apply the braking torque to the front wheels corresponding to the steering direction; wherein, when the fault level is level two, it indicates that both the first steering drive motor and the second steering drive motor are faulty.

[0110] Furthermore, the control device of the wire-controlled steering system also includes: a switching module, which is used for switching to sending the target angle through the second controller when the fault level of the wire-controlled steering system is level three, if the faulty controller is the first controller; if the faulty controller is the second controller, switching to sending the target angle through the first controller; wherein the target angle is the actual angle of the steering drive motor currently used to drive the vehicle to steer; and a fault level of three indicates that the first controller or the second controller has a fault.

[0111] Furthermore, the first determination module 310 is specifically used to: determine whether the first controller is faulty according to the target angles issued by the first controller recorded by the second controller at different times before the vehicle is driven; and determine whether the first steering drive motor is faulty according to the angle signal fed back by the first steering drive motor received by the second controller at different times; and determine whether the second controller is faulty according to the target angles issued by the second controller recorded by the first controller at different times; and determine whether the second steering drive motor is faulty according to the angle signal fed back by the second steering drive motor received by the first controller at different times; determine the fault level according to whether the first controller, the second controller, the first steering drive motor and the second steering drive motor are faulty.

[0112] If it is determined that the first controller or the second controller has a fault, the fault level of the wire-controlled steering system is determined. Before the vehicle is driven and driven, when it is determined that the first controller has a fault, it is determined whether the first steering drive motor has a fault based on the angle signal fed back by the first steering drive motor received by the second controller at different times; and when it is determined that the second controller has a fault, it is determined whether the second steering drive motor has a fault based on the angle signal fed back by the second steering drive motor received by the first controller at different times.

[0113] The control device of the wire-controlled steering system provided by the embodiment of the present disclosure improves the safety of the wire-controlled steering system by setting redundant steering drive motors and controllers. By determining the application time of the two steering drive motors according to the driving mileage, the two steering drive motors are used alternately, so that the application time of the two steering drive motors is basically the same, and the service life of the two steering drive motors is basically the same, so that the two steering drive motors can work normally at the same time for as long as possible, and when one of them fails, there is a redundant one as a replacement, thereby improving the safety of the wire-controlled steering system, vehicle driving safety and road public safety.

[0114] The control device of the wire-controlled steering system provided in the embodiment of the present disclosure can execute the steps of the control method of the wire-controlled steering system provided in the method embodiment of the present disclosure, and the execution steps and beneficial effects are no longer repeated here.

[0115] Figure 4 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Figure 4 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0116] like Figure 4 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device 508 into a random access memory (RAM) to implement the method of the embodiment described in the present disclosure. In RAM503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, ROM 502, and RAM503 are connected to each other via a bus 504. An I / O interface 505 is also connected to the bus 504. An input device 506, an output device 507, a storage device 508, and a communication device 509 are all connected to the I / O interface 505.

[0117] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby implementing the vehicle-mounted application layer signal processing method as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0118] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0119] The computer readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device executes the control method of the wire control steering system in this embodiment.

[0120] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0121] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0123] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A control method for a steer-by-wire system, characterized in that: The steer-by-wire system comprises a first steering drive motor, a second steering drive motor, a first controller and a second controller. The control method of the steer-by-wire system comprises: When it is detected that the vehicle is powered on, the fault level of the wire steering system is determined and the data of the mileage flag corresponding to the steering drive motor and the data of the historical application flag of the steering drive motor are obtained, wherein the fault level of zero indicates that the vehicle's wire steering system has no fault; In response to the fault level of the steer-by-wire system being zero, and the data of the mileage flag corresponding to the steering drive motor being greater than or equal to a first preset value, determining the data of the current application flag according to the data of the historical application flag to determine the steering drive motor currently used to drive the vehicle to steer, and setting the data of the mileage flag to zero; The method of determining the data of the current application flag bit according to the data of the historical application flag bit to determine the steering drive motor currently used to drive the vehicle to steer comprises: If the data of the historical application flag is a first value, determining that the data of the current application flag is a second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; If the data of the historical application flag is the second value, the data of the current application flag is determined to be the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor.

2. The control method of the steer-by-wire system according to claim 1, characterized in that: When the fault level of the steer-by-wire system is level one, the method further includes: The data of the mileage flag corresponding to the steering drive motor is set to 0; If the steering drive motor that fails is the first steering drive motor, when the data of the historical application flag is the first value, determining that the data of the current application flag is the second value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the second steering drive motor; If the faulty steering drive motor is the second steering drive motor, when the data of the historical application flag is the second value, determining that the data of the current application flag is the first value, so as to determine that the steering drive motor currently used to drive the vehicle to steer is the first steering drive motor; Wherein, a fault level of level one indicates that a fault occurs in the first steering drive motor or the second steering drive motor.

3. The control method of the steer-by-wire system according to claim 1, characterized in that: When the fault level of the steer-by-wire system is level 2, the method further includes: Get the steering angle and steering direction of the steering wheel; determining a braking torque corresponding to the steering angle; Controlling the vehicle to apply the braking torque to the front wheels corresponding to the steering direction; Wherein, when the fault level is level 2, it means that both the first steering drive motor and the second steering drive motor are faulty.

4. The control method of the steer-by-wire system according to claim 1, characterized in that: When the fault level of the steer-by-wire system is level three, the method further includes: If the faulty controller is the first controller, the target angle is sent through the second controller; If the faulty controller is the second controller, the target angle is sent through the first controller; Wherein, the target angle is the actual angle of the steering drive motor currently used to drive the vehicle to steer; A fault level of three indicates that a fault occurs in the first controller or the second controller.

5. The control method of the steer-by-wire system according to claim 1, characterized in that: Determining the fault level of the steer-by-wire system includes: Before the vehicle is driven, determining whether the first controller has a fault according to the target angles sent by the first controller and recorded by the second controller at different times; and determining whether the first steering drive motor has a fault according to the angle signals fed back by the first steering drive motor and received by the second controller at different times; and, determining whether the second controller has a fault according to the target angles sent by the second controller and recorded by the first controller at different times; and, determining whether the second steering drive motor has a fault according to the angle signals fed back by the second steering drive motor and received by the first controller at different times; The fault level is determined according to whether the first controller, the second controller, the first steering drive motor and the second steering drive motor have faults.

6. The control method of the steer-by-wire system according to claim 5, characterized in that: If it is determined that the first controller or the second controller has a fault, the step of determining a fault level of the steer-by-wire system further includes: Before the vehicle is driven, when it is determined that the first controller has a fault, it is determined whether the first steering drive motor has a fault based on the angle signal fed back by the first steering drive motor received by the second controller at different times; and when it is determined that the second controller has a fault, it is determined whether the second steering drive motor has a fault based on the angle signal fed back by the second steering drive motor received by the first controller at different times.

7. A control device for a steer-by-wire system, characterized in that: The steer-by-wire system comprises a first steering drive motor, a second steering drive motor, a first controller and a second controller, and the control device of the steer-by-wire system comprises: A first determination module, configured to determine a fault level of the steer-by-wire system when it is detected that the vehicle is powered on; An acquisition module is used to acquire data of a mileage flag corresponding to the steering drive motor and data of a historical application flag of the steering drive motor, wherein a fault level of zero indicates that the vehicle's wire control steering system has no fault; The second determination module is used to determine the data of the current application flag bit according to the data of the historical application flag bit in response to the fault level of the wire control steering system being zero and the data of the mileage flag bit corresponding to the steering drive motor being greater than or equal to the first preset value, so as to determine the steering drive motor currently used to drive the vehicle steering, and set the data of the mileage flag bit to zero; if the data of the historical application flag bit is a first value, determine the data of the current application flag bit to be a second value, so as to determine that the steering drive motor currently used to drive the vehicle steering is the second steering drive motor; if the data of the historical application flag bit is a second value, determine the data of the current application flag bit to be a first value, so as to determine that the steering drive motor currently used to drive the vehicle steering is the first steering drive motor.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the steer-by-wire system according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the wire-controlled steering system as described in any one of claims 1 to 6 is implemented.

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