Electric power steering control method, device, equipment and medium

Abstract

The present invention discloses an electric power steering control method, device, equipment and medium. The method includes: performing validity verification on a received high-pressure power steering oil pump operating status signal; if the validity verification fails, sending a preset rated speed command signal to a high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide steering assistance; judging whether to enable a low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump through a basic function layer of a whole vehicle controller; judging whether to enable a low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump after validity verification through a software monitoring layer of the whole vehicle controller; and if the basic function layer and the software monitoring layer have inconsistent judgment results on whether to enable the low-pressure power steering oil pump, sending an enable request to the low-pressure power steering control unit to enable the low-pressure power steering oil pump to provide steering assistance. The validity check of the high-pressure steering power pump operating status signal and the redundancy check of the enable judgment result solve the problem of untimely switching of the steering power from high pressure to low pressure due to unreliable signals, effectively improving the reliability and safety of the steering power.

Description

Technical Field

[0001] The present application relates to the technical field of steering systems, and in particular to an electric power steering control method, device, equipment and medium. Background Art

[0002] With the development of the automotive industry, driving safety has received increasing attention. Pure electric vehicles are generally equipped with a dual-source electric power steering system to achieve power steering for the vehicle.

[0003] In the related art, a dual-source electric power steering system achieves vehicle power steering by: The power steering pump control unit in the vehicle control unit (VCU) receives a vehicle speed signal from the vehicle speed unit, a high-pressure power steering pump status signal from the high-pressure power steering control unit (HSCU), and a low-pressure power steering pump status signal from the low-pressure power steering control unit (LSCU). When the high-pressure power steering pump is functioning properly, the power steering pump control unit outputs a high-pressure steering enable signal to control the high-pressure steering motor to operate at a low speed, enabling the high-pressure power steering pump. When the vehicle speed is present, the power steering pump control unit outputs a high-pressure steering enable signal and a corresponding speed control signal to control the high-pressure steering motor to operate at a high speed, enabling the high-pressure power steering pump. If the high-pressure power steering pump fails, the power steering pump control unit outputs a low-pressure steering enable signal to control the low-pressure steering motor to operate, enabling the low-pressure power steering pump. This automatically switches power steering from high to low pressure in the event of a high-pressure power steering system failure, ensuring the availability of power steering during emergency driving situations.

[0004] However, due to reasons such as failure of the high-pressure steering power control unit and the low-pressure steering power control unit, the high-pressure steering power pump status signal and the low-pressure steering power system pump signal sent to the steering power pump control unit may be unreliable, resulting in the steering power pump control unit being unable to promptly determine that the steering power has failed, and thus being unable to promptly control the steering motor speed or promptly start the low-pressure emergency steering power, resulting in steering power failure during high-speed operation of the vehicle, which may seriously endanger the lives and property of the driver and passengers. Summary of the Invention

[0005] The present application provides an electric power steering control method, device, equipment and medium, which can solve the technical problems in the prior art that the high-pressure power steering oil pump status signal and the low-pressure power steering system oil pump signal are unreliable, resulting in the inability to timely control the steering motor speed or the failure to timely start the low-pressure emergency power steering.

[0006] In a first aspect, an embodiment of the present application provides an electric power steering control method, the electric power steering control method comprising:

[0007] Performing validity check on the received high-pressure power steering pump operating status signal. If the validity check fails, sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering.

[0008] The basic function layer of the vehicle controller determines whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump;

[0009] determining, by the software monitoring layer of the vehicle controller, whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump after validity verification;

[0010] If the basic function layer and the software monitoring layer have inconsistent judgment results on whether to enable the low-pressure steering power oil pump, an enable request is sent to the low-pressure steering power control unit to enable the low-pressure steering power oil pump to perform steering assistance.

[0011] In conjunction with the first aspect, in one embodiment, a validity check is performed on the received high-pressure power steering oil pump operating status signal. If the validity check fails, a preset rated speed command signal is sent to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide steering assistance, including:

[0012] Performing validity verification on the received high-pressure power steering pump operating status signal according to a preset verification period;

[0013] If the validity check fails, a fault indication signal of the high-pressure power steering oil pump operating status signal is generated;

[0014] If the fault indication signal is generated for M consecutive verification cycles, the rated speed command signal is sent to the high-pressure steering power control unit to control the high-pressure steering power motor to run at the rated speed to enable the high-pressure steering power oil pump to provide steering assistance.

[0015] In one embodiment, performing validity verification on the received high-pressure power steering pump operating status signal according to a preset verification period includes:

[0016] performing a timeout detection on the operating status signal of the high-pressure power steering oil pump, and determining that the validity check has failed if the operating status signal of the high-pressure power steering oil pump is not received for N consecutive verification cycles; otherwise, determining that the timeout detection has passed;

[0017] After the timeout test passes, performing a cyclic redundancy check on the operating state signal of the high-pressure power steering oil pump; if the operating state signal of the high-pressure power steering oil pump fails the cyclic redundancy check, determining that the validity check fails; otherwise, determining that the cyclic redundancy check passes;

[0018] After the cyclic redundancy test passes, a data integrity test is performed on the operating status signal of the high-pressure power steering oil pump. If the operating status signal of the high-pressure power steering oil pump fails the data integrity test, it is determined that the validity verification has failed; otherwise, it is determined that the validity verification has passed.

[0019] In one embodiment, after sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide power steering, the method further includes:

[0020] If the fault indication signal is not generated for L consecutive verification cycles, a real-time speed signal calculated based on the vehicle speed is sent to the high-pressure steering power control unit to control the high-pressure steering power motor to run at the calculated real-time speed to enable the high-pressure steering power oil pump to provide steering assistance.

[0021] In one embodiment, the method further comprises:

[0022] If the current vehicle speed is greater than a preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than a preset first speed threshold, and the operating state of the high-pressure power steering oil pump is a fault state, the basic function layer determines that the low-pressure power steering oil pump is enabled; otherwise, the low-pressure power steering oil pump is disabled.

[0023] If the current vehicle speed is greater than the preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than the preset first speed threshold, and the operating status of the high-pressure power steering oil pump after validity verification is a fault state, then the judgment result of the software monitoring layer is to enable the low-pressure power steering oil pump; otherwise, the judgment result is to not enable the low-pressure power steering oil pump.

[0024] In one embodiment, the method further comprises:

[0025] Determine whether to send a downgrade instruction to the drive motor according to the current vehicle speed, the operating status of the high-pressure steering power pump, and the operating status of the low-pressure steering power pump through the basic function layer;

[0026] Determining whether to send a downgrade instruction to the drive motor by a software monitoring layer based on the current vehicle speed, the operating status of the high-pressure steering power oil pump after validity verification, and the operating status of the low-pressure steering power oil pump;

[0027] If the basic function layer and the software monitoring layer have inconsistent judgment results on whether to send a degradation instruction to the drive motor, a degradation instruction is sent to the drive motor to control the torque of the drive motor to be reduced to zero.

[0028] In one embodiment, the method further comprises:

[0029] If the current vehicle speed is greater than zero, the high-pressure power steering oil pump is in a faulty state, and the low-pressure power steering oil pump is in an operating state, the basic function layer determines that a demotion instruction is sent to the drive motor; otherwise, no demotion instruction is sent to the drive motor.

[0030] If the current vehicle speed is greater than zero, the operating status of the high-pressure power steering oil pump after validity verification is a faulty state, and the operating status of the low-pressure power steering oil pump is an operating state, then the judgment result of the software monitoring layer is to send a downgrade instruction to the drive motor; otherwise, no downgrade instruction is sent to the drive motor.

[0031] In a second aspect, an embodiment of the present application provides an electric power steering control device, the electric power steering control device comprising:

[0032] a verification module for verifying the validity of the received high-pressure power steering pump operating status signal, and if the validity verification fails, sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering;

[0033] A first judgment module is used to judge whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating state of the high-pressure power steering oil pump through the basic function layer of the vehicle controller;

[0034] a second judgment module, configured to judge whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump after validity verification through the software monitoring layer of the vehicle controller;

[0035] The sending module is used to send an enable request to the low-pressure steering power control unit to enable the low-pressure steering power pump to provide steering assistance if the judgment results of the basic function layer and the software monitoring layer on whether to enable the low-pressure steering power pump are inconsistent.

[0036] In a third aspect, an embodiment of the present application provides an electric steering assist control device, characterized in that the electric steering assist control device includes a processor, a memory, and an electric steering assist control program stored on the memory and executable by the processor, wherein when the electric steering assist control program is executed by the processor, the steps of the electric steering assist control method as described in any one of the above items are implemented.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that an electric steering assist control program is stored on the computer-readable storage medium, wherein when the electric steering assist control program is executed by a processor, the steps of the electric steering assist control method as described in any one of the above items are implemented.

[0038] An electric power steering control method, device, equipment and medium provided in the embodiment of the present application performs validity verification on the received high-pressure power steering oil pump operating status signal. If the validity verification fails, a preset rated speed command signal is sent to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide steering assistance; the basic function layer of the whole vehicle controller determines whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump; the software monitoring layer of the whole vehicle controller determines whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump. The current speed and the operating status of the high-pressure steering power oil pump after validity verification are used to determine whether the low-pressure steering power oil pump is enabled; if the basic function layer and the software monitoring layer have inconsistent judgment results on whether the low-pressure steering power oil pump is enabled, an enable request is sent to the low-pressure steering power control unit to enable the low-pressure steering power oil pump to provide steering assistance, and the high-pressure steering power oil pump operating status signal is verified for validity and the enable judgment result is verified for redundancy, which solves the problem of not being able to control the steering motor speed in time or not switching from high pressure to low pressure in time during the steering assistance process due to unreliable signals, and effectively improves the reliability and safety of steering assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of an embodiment of an electric power steering control method of the present application;

[0040] Figure 2 This is a schematic diagram of the high-pressure steering system functional module;

[0041] Figure 3 This is a schematic diagram of the functional modules of an embodiment of the electric power steering control device of the present application;

[0042] Figure 4This is a schematic diagram of the hardware structure of the electric power steering control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0045] In a first aspect, an embodiment of the present application provides an electric power steering control method.

[0046] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the electric power steering control method of this application. Figure 1 As shown, the electric power steering control method includes:

[0047] Step S101: Perform validity check on the received high-pressure power steering oil pump operating status signal. If the validity check fails, send a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to run at the rated speed to enable the high-pressure power steering oil pump to provide steering assistance.

[0048] Specifically, the received high-pressure power steering oil pump operating status signal is verified for validity according to a preset verification cycle; if the validity verification fails, a fault indication signal of the high-pressure power steering oil pump operating status signal is generated; if the fault indication signal is generated for M consecutive verification cycles, the rated speed instruction signal is sent to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide steering assistance.

[0049] It is worth noting that the verification period can be calibrated based on verification requirements. In this embodiment, the verification period is set to 10ms. The value of M can be calibrated based on requirements. In this embodiment, the value of M is 5, and M verification periods are 50ms. The validity verification in this embodiment includes end-to-end E2E verification, which specifically includes timeout detection, CRC cyclic redundancy check, and Alivecounter data integrity check. The electric power steering control method in this embodiment can also be used in a vehicle controller (VCU).

[0050] Exemplary, such as Figure 2 As shown, after the vehicle's high voltage is powered on, the vehicle controller (VCU) performs a timeout check on the high-pressure power steering pump operating status signal. The high-pressure power steering pump operating status signal is sent by the high-pressure power steering control unit (HSCU). If the high-pressure power steering pump operating status signal is not received for N consecutive check cycles, indicating a possible delay or other fault in the high-pressure power steering pump operating status signal, the validity check is determined to have failed. Otherwise, the timeout check is determined to have passed. N can be calibrated as needed. In this embodiment, N is set to 2. That is, if the high-pressure power steering pump operating status signal is not received for 20 ms continuously, indicating a signal timeout, the validity check is determined to have failed. Otherwise, the timeout check is determined to have passed.

[0051] Further, after the timeout test passes, a CRC cyclic redundancy check is performed on the operating status signal of the high-pressure power steering oil pump. If the operating status signal of the high-pressure power steering oil pump fails the cyclic redundancy check, it is determined that this frame signal has a CRC error, and the validity check fails. Otherwise, it is determined that the cyclic redundancy check passes.

[0052] After the cyclic redundancy check passes, an Alivecounter data integrity check is performed on the high-pressure power steering oil pump operating status signal. If the high-pressure power steering oil pump operating status signal fails the data integrity check and it is determined that the Alivecounter of this frame signal is wrong, it is determined that the validity check fails; otherwise, it is determined that the validity check passes.

[0053] It can be understood that when the high-pressure steering power pump operating status signal fails to pass any one of the Timeout timeout detection, CRC cyclic redundancy detection and Alivecounter data integrity detection, it is determined that its validity verification has failed within the corresponding verification period. When all three tests pass, it is determined that its validity verification has passed within the corresponding verification period.

[0054] If the validity check of the high-pressure steering power pump operating status signal fails within the corresponding verification period, the VCU generates a fault indication signal of the high-pressure steering power pump operating status signal. When the validity check passes, there is no need to generate a fault indication signal.

[0055] If the safety-related fault processing module pre-installed in the VCU receives a fault indication signal for the high-pressure power steering pump operating status signal generated by the VCU for 50 consecutive milliseconds, indicating that the high-pressure power steering pump operating status signal may have a fault such as signal loss, signal delay, unexpected signal duplication, signal insertion, incorrect signal sequence, or signal corruption, the module sends the rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed, enabling the high-pressure power steering pump to provide steering assistance. This ensures that the high-pressure power steering pump can provide steering assistance normally even when the high-pressure power steering pump operating status signal fails. The rated speed value can be set as required and is set to the maximum speed value in this embodiment.

[0056] In one embodiment, after sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed and enable the high-pressure power steering oil pump to provide steering assistance, the system further includes: if the safety-related fault handling module in the VCU fails to receive the fault indication signal for L consecutive verification cycles, indicating that the fault in the high-pressure power steering oil pump operating status signal has been resolved, the system then sends a real-time speed signal calculated by the VCU based on vehicle speed to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the calculated real-time speed during the current driving trip and enable the high-pressure power steering oil pump to provide steering assistance. L can be calibrated as needed. In this embodiment, L is set to 2, and L verification cycles are 20 milliseconds.

[0057] It is worth noting that the VCU performs a Timeout check, a CRC check and an Alivecounter check on the received high-pressure power steering oil pump operating status signal. If the check fails, the high-pressure power steering control unit HSCU is controlled to output the rated speed (set to the maximum speed in this embodiment). This ensures that when the high-pressure power steering oil pump operating status signal sent by the high-pressure power steering control unit HSCU is lost, delayed, unexpectedly repeated, inserted, the signal sequence is incorrect or the signal is damaged, the high-pressure power steering motor can still operate normally to enable the high-pressure power steering oil pump to provide steering assistance, thereby improving the reliability and safety of the high-pressure power steering process.

[0058] Step S102: Determine whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump through the basic function layer of the vehicle controller.

[0059] Step S103: Determine whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating status of the high-pressure power steering oil pump after validity verification through the software monitoring layer of the vehicle controller.

[0060] Step S104: If the basic function layer and the software monitoring layer have different judgment results on whether to enable the low-pressure power steering oil pump, an enable request is sent to the low-pressure power steering control unit to enable the low-pressure power steering oil pump to perform power steering.

[0061] Among them, the basic function layer and the software monitoring layer are two levels in the VCU software architecture.

[0062] Exemplarily, a low-pressure power steering oil pump control module is pre-set in the basic function layer. This module determines whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump within a preset judgment period of 100ms.

[0063] Specifically, if the current vehicle speed is greater than the preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than the preset first speed threshold and the operating state of the high-pressure power steering oil pump is a fault state, then the judgment result of the basic functional layer is to enable the low-pressure power steering oil pump, otherwise, the judgment result is to not enable the low-pressure power steering oil pump.

[0064] A low-pressure power steering oil pump control calculation monitoring module is pre-set in the software monitoring layer. This module determines whether to enable the low-pressure power steering oil pump within the judgment period of 100ms based on the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump after validity verification.

[0065] Specifically, if the current vehicle speed is greater than a preset speed threshold, the current speed of the high-pressure power steering pump is less than a preset first speed threshold, and the high-pressure power steering pump, after validity verification, is in a faulty state, the software monitoring layer determines that the low-pressure power steering pump is enabled. Otherwise, the low-pressure power steering pump is disabled. The speed threshold and the first speed threshold can be calibrated as needed. In this embodiment, the speed threshold is set to 2 km / h, and the first speed threshold is set to 200 rpm.

[0066] Then, within 100ms, the judgment results of the basic function layer and the software monitoring layer on whether to enable the low-pressure power steering oil pump are compared. If the judgment result of the basic function layer is not to enable the low-pressure power steering oil pump, and the judgment result of the software monitoring layer is to enable the low-pressure power steering oil pump, it is determined that the judgment results of the basic function layer and the software monitoring layer are inconsistent, and a low-pressure power steering calculation error indication signal is output.

[0067] If the safety-related fault handling module in the VCU receives the low-pressure steering assist calculation error indication signal for 50 ms (calibratable), it sends an enable request to the low-pressure steering assist control unit LSCU to enable the low-pressure steering assist oil pump to provide steering assist.

[0068] Among them, the low-voltage steering assist calculation error indication signal is a serious fault and cannot be automatically restored during this power-on cycle. It needs to be restored after re-testing at the next power-on.

[0069] It is worth noting that in this embodiment, the input high-pressure power steering oil pump operating status signal during the calculation of the basic function layer has not undergone E2E verification, while the software monitoring layer uses the high-pressure power steering oil pump operating status after E2E verification as the input signal for calculation. The basic function layer and the software monitoring layer respectively determine whether to enable the low-pressure power steering oil pump, thereby realizing redundant calculation. When the high-pressure power steering oil pump fails, an enable request can be sent to the low-pressure power steering control unit in time, thereby realizing timely switching of high-pressure to low-pressure power steering, and improving the reliability and safety of power steering.

[0070] Furthermore, in one embodiment, the method further includes a method for coping with a failure of a safety detection of a drive motor degradation command signal, specifically comprising the following steps:

[0071] Step S201: Determine whether to send a downgrade instruction to the drive motor according to the current vehicle speed, the operating state of the high-pressure power steering oil pump, and the operating state of the low-pressure power steering oil pump through the basic function layer.

[0072] Step S201: Determine whether to send a downgrade instruction to the drive motor according to the current vehicle speed, the operating status of the high-pressure steering power oil pump after validity verification, and the operating status of the low-pressure steering power oil pump through the software monitoring layer.

[0073] Step S201: If the basic function layer and the software monitoring layer have different judgment results on whether to send a degradation instruction to the drive motor, a degradation instruction is sent to the drive motor to control the torque of the drive motor to be reduced to zero.

[0074] Exemplarily, a drive motor degradation module is pre-set in the basic function layer. This module determines whether to enable the drive motor degradation instruction based on the current vehicle speed, the operating status of the high-pressure steering power pump and the operating status of the low-pressure steering power pump within a preset judgment period of 100ms.

[0075] Specifically, if the current vehicle speed is greater than zero, the operating state of the high-pressure power steering oil pump is a fault state, and the operating state of the low-pressure power steering oil pump is an operating state, then the judgment result of the basic function layer is to send a demotion instruction to the drive motor. The basic function layer also receives the current speed of the high-pressure power steering oil pump. When the vehicle speed is zero or the current speed of the high-pressure power steering oil pump is greater than the preset second speed threshold of 800rpm, no demotion instruction is sent to the drive motor.

[0076] A low-pressure power steering oil pump control calculation monitoring module is pre-set in the software monitoring layer. This module determines whether to enable the drive motor degradation instruction based on the current vehicle speed, the operating status of the high-pressure power steering oil pump after validity verification, and the operating status of the low-pressure power steering oil pump within the judgment period of 100ms.

[0077] Specifically, if the current vehicle speed is greater than zero, the operating status of the high-pressure power steering oil pump after validity verification is a faulty state, and the operating status of the low-pressure power steering oil pump is an operating state, then the judgment result of the software monitoring layer is to send a downgrade instruction to the drive motor. The software monitoring layer also receives the current speed of the high-pressure power steering oil pump. When the vehicle speed is zero or the current speed of the high-pressure power steering oil pump is greater than the preset second speed threshold of 800rpm, no downgrade instruction is sent to the drive motor.

[0078] Then, within 100ms, the judgment results of the basic function layer and the software monitoring layer on whether to enable the drive motor degradation instruction are compared. If the judgment result of the basic function layer is not to enable the drive motor degradation instruction, and the judgment result of the software monitoring layer is to enable the drive motor degradation instruction, it is determined that the judgment results of the basic function layer and the software monitoring layer are inconsistent, and a steering assist calculation error indication signal is output.

[0079] If the safety-related fault processing module in the VCU receives the steering assist calculation error indication signal for 50 ms (calibratable) continuously, it sends a degradation instruction to the drive motor to control the torque of the drive motor to be reduced to zero.

[0080] Among them, the steering assist calculation error indication signal is a serious fault and cannot be automatically restored during this power-on cycle. It needs to be restored after re-testing at the next power-on.

[0081] It is worth noting that in this embodiment, the input high-pressure power steering oil pump operating status during the calculation of the basic function layer has not undergone E2E verification, while the software monitoring layer uses the high-pressure power steering oil pump operating status after E2E verification as the input signal for calculation. The basic function layer and the software monitoring layer respectively determine whether to send a degradation instruction to the drive motor, realizing redundant calculation. When the high-pressure steering fails and the vehicle still has driving torque, the vehicle can be controlled not to slow down and stop as soon as possible, thereby improving the driving safety of the vehicle.

[0082] The electric power steering control method provided in the embodiment of the present application adds a steering function safety protection strategy, which not only realizes the safety requirement that the electric power steering system can operate when the vehicle steering signal is unreliable or there is a system fault, but also realizes zero-torque control of the drive motor when the high-voltage electric power steering system is unavailable, ensuring that the vehicle can actively decelerate and stop in time, effectively improving the reliability and safety of the vehicle's power steering, and is a necessary content for the new energy vehicle controller to achieve functional safety ASCIL level certification.

[0083] In a second aspect, an embodiment of the present application also provides an electric power steering control device.

[0084] In one embodiment, referring to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the electric power steering control device of this application. Figure 3 As shown, the electric power steering control device includes:

[0085] a verification module for verifying the validity of the received high-pressure power steering pump operating status signal, and if the validity verification fails, sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering;

[0086] A first judgment module is used to judge whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating state of the high-pressure power steering oil pump through the basic function layer of the vehicle controller;

[0087] a second judgment module, configured to judge whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump after validity verification through the software monitoring layer of the vehicle controller;

[0088] The sending module is used to send an enable request to the low-pressure steering power control unit to enable the low-pressure steering power pump to provide steering assistance if the judgment results of the basic function layer and the software monitoring layer on whether to enable the low-pressure steering power pump are inconsistent.

[0089] Furthermore, in one embodiment, the verification module is further configured to:

[0090] Performing validity verification on the received high-pressure power steering pump operating status signal according to a preset verification period;

[0091] If the validity check fails, a fault indication signal of the high-pressure power steering oil pump operating status signal is generated;

[0092] If the fault indication signal is generated for M consecutive verification cycles, the rated speed command signal is sent to the high-pressure steering power control unit to control the high-pressure steering power motor to run at the rated speed to enable the high-pressure steering power oil pump to provide steering assistance.

[0093] Furthermore, in one embodiment, the verification module is further configured to:

[0094] performing a timeout detection on the operating status signal of the high-pressure power steering oil pump, and determining that the validity check has failed if the operating status signal of the high-pressure power steering oil pump is not received for N consecutive verification cycles; otherwise, determining that the timeout detection has passed;

[0095] After the timeout test passes, performing a cyclic redundancy check on the operating state signal of the high-pressure power steering oil pump; if the operating state signal of the high-pressure power steering oil pump fails the cyclic redundancy check, determining that the validity check fails; otherwise, determining that the cyclic redundancy check passes;

[0096] After the cyclic redundancy test passes, a data integrity test is performed on the operating status signal of the high-pressure power steering oil pump. If the operating status signal of the high-pressure power steering oil pump fails the data integrity test, it is determined that the validity verification has failed; otherwise, it is determined that the validity verification has passed.

[0097] Furthermore, in one embodiment, the verification module is further configured to:

[0098] After sending a preset rated speed command signal to the high-pressure steering power-assistance control unit to control the high-pressure steering power-assistance motor to operate at the rated speed to enable the high-pressure steering power-assistance oil pump to provide steering assistance, if the fault indication signal is not generated for L consecutive verification cycles, a real-time speed signal calculated according to the vehicle speed is sent to the high-pressure steering power-assistance control unit to control the high-pressure steering power-assistance motor to operate at the calculated real-time speed to enable the high-pressure steering power-assistance oil pump to provide steering assistance.

[0099] Furthermore, in one embodiment:

[0100] The first judgment module is further configured to, if the current vehicle speed is greater than a preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than a preset first speed threshold, and the operating state of the high-pressure power steering oil pump is a fault state, then the judgment result of the basic function layer is to enable the low-pressure power steering oil pump; otherwise, the judgment result is to disable the low-pressure power steering oil pump;

[0101] The second judgment module is also used to, if the current vehicle speed is greater than a preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than a preset first speed threshold and the operating state of the high-pressure power steering oil pump after validity verification is a fault state, then the judgment result of the software monitoring layer is to enable the low-pressure power steering oil pump; otherwise, the judgment result is to not enable the low-pressure power steering oil pump.

[0102] Furthermore, in one embodiment:

[0103] The first judgment module is further configured to judge whether to send a demotion instruction to the drive motor according to the current vehicle speed, the operating state of the high-pressure steering power oil pump, and the operating state of the low-pressure steering power oil pump through the basic function layer;

[0104] The second judgment module is further configured to determine, through the software monitoring layer, whether to send a downgrade instruction to the drive motor based on the current vehicle speed, the operating status of the high-pressure steering power oil pump after validity verification, and the operating status of the low-pressure steering power oil pump;

[0105] The sending module is further configured to send a degradation instruction to the drive motor to control the torque of the drive motor to be reduced to zero if the basic function layer and the software monitoring layer have inconsistent judgment results on whether to send a degradation instruction to the drive motor.

[0106] Furthermore, in one embodiment:

[0107] The first judgment module is further configured to: if the current vehicle speed is greater than zero, the operating state of the high-pressure power steering oil pump is a fault state, and the operating state of the low-pressure power steering oil pump is an operating state, then the judgment result of the basic function layer is to send a demotion instruction to the drive motor; otherwise, not send a demotion instruction to the drive motor;

[0108] The second judgment module is also used to: if the current vehicle speed is greater than zero, the operating state of the high-pressure power steering oil pump after validity verification is a fault state, and the operating state of the low-pressure power steering oil pump is an operating state, then the judgment result of the software monitoring layer is to send a downgrade instruction to the drive motor; otherwise, no downgrade instruction is sent to the drive motor.

[0109] Among them, the functional implementation of each module in the above-mentioned electric power steering control device corresponds to the various steps in the above-mentioned electric power steering control method embodiment, and their functions and implementation processes are not repeated here one by one.

[0110] On the third aspect, an embodiment of the present application provides an electric power steering control device, which can be a device with data processing function such as a vehicle controller VCU.

[0111] Reference Figure 4 , Figure 4 Schematic diagram of the hardware structure of the electric power steering control device involved in the embodiment of the present application. In the embodiment of the present application, the electric power steering control device may include a processor, a memory, a communication interface and a communication bus.

[0112] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0113] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the electric power steering control device, as well as interfaces used to interconnect the electric power steering control device with other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet, fiber optic, or ATM interfaces; user devices can be displays or keyboards.

[0114] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0115] The processor may be a general-purpose processor that can call an electric power steering control program stored in a memory and execute the electric power steering control method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the electric power steering control program is called can be referred to in the various embodiments of the electric power steering control method of the present application and will not be further described here.

[0116] Those skilled in the art will understand that Figure 4 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0117] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0118] The computer-readable storage medium of the present application stores an electric power steering control program, wherein when the electric power steering control program is executed by a processor, the steps of the electric power steering control method as described above are implemented.

[0119] Among them, the method implemented when the electric power steering control program is executed can refer to the various embodiments of the electric power steering control method of this application, and will not be repeated here.

[0120] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0121] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0122] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0123] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0124] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of the present application.

[0126] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An electric power steering control method, characterized in that: The electric power steering control method comprises: Performing validity check on the received high-pressure power steering pump operating status signal. If the validity check fails, sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering. The basic function layer of the vehicle controller determines whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating status of the high-pressure power steering oil pump; determining, by the software monitoring layer of the vehicle controller, whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump after validity verification; If the basic function layer and the software monitoring layer have inconsistent judgment results on whether to enable the low-pressure steering power oil pump, an enable request is sent to the low-pressure steering power control unit to enable the low-pressure steering power oil pump to perform steering assistance.

2. The electric power steering control method according to claim 1, wherein: The received high-pressure power steering pump operating status signal is validated. If the validation fails, a preset rated speed command signal is sent to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering, including: Performing validity verification on the received high-pressure power steering pump operating status signal according to a preset verification period; If the validity check fails, a fault indication signal of the high-pressure power steering oil pump operating status signal is generated; If the fault indication signal is generated for M consecutive verification cycles, the rated speed command signal is sent to the high-pressure steering power control unit to control the high-pressure steering power motor to run at the rated speed to enable the high-pressure steering power oil pump to provide steering assistance.

3. The electric power steering control method according to claim 2, wherein: The validity of the received high-pressure power steering pump operating status signal is verified according to the preset verification period, including: performing a timeout detection on the operating status signal of the high-pressure power steering oil pump, and determining that the validity check has failed if the operating status signal of the high-pressure power steering oil pump is not received for N consecutive verification cycles; otherwise, determining that the timeout detection has passed; After the timeout test passes, performing a cyclic redundancy check on the operating state signal of the high-pressure power steering oil pump; if the operating state signal of the high-pressure power steering oil pump fails the cyclic redundancy check, determining that the validity check fails; otherwise, determining that the cyclic redundancy check passes; After the cyclic redundancy test passes, a data integrity test is performed on the operating status signal of the high-pressure power steering oil pump. If the operating status signal of the high-pressure power steering oil pump fails the data integrity test, it is determined that the validity verification has failed; otherwise, it is determined that the validity verification has passed.

4. The electric power steering control method according to claim 2, wherein: After sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering oil pump to provide power steering, the method further includes: If the fault indication signal is not generated for L consecutive verification cycles, a real-time speed signal calculated based on the vehicle speed is sent to the high-pressure steering power control unit to control the high-pressure steering power motor to run at the calculated real-time speed to enable the high-pressure steering power oil pump to provide steering assistance.

5. The electric power steering control method according to claim 1, wherein: The method further includes: If the current vehicle speed is greater than a preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than a preset first speed threshold, and the operating state of the high-pressure power steering oil pump is a fault state, the basic function layer determines that the low-pressure power steering oil pump is enabled; otherwise, the low-pressure power steering oil pump is disabled. If the current vehicle speed is greater than the preset vehicle speed threshold, the current speed of the high-pressure power steering oil pump is less than the preset first speed threshold, and the operating status of the high-pressure power steering oil pump after validity verification is a fault state, then the judgment result of the software monitoring layer is to enable the low-pressure power steering oil pump; otherwise, the judgment result is to not enable the low-pressure power steering oil pump.

6. The electric power steering control method according to claim 1, wherein: The method further includes: Determine whether to send a downgrade instruction to the drive motor according to the current vehicle speed, the operating status of the high-pressure steering power pump, and the operating status of the low-pressure steering power pump through the basic function layer; Determining whether to send a downgrade instruction to the drive motor by a software monitoring layer based on the current vehicle speed, the operating status of the high-pressure steering power oil pump after validity verification, and the operating status of the low-pressure steering power oil pump; If the basic function layer and the software monitoring layer have inconsistent judgment results on whether to send a degradation instruction to the drive motor, a degradation instruction is sent to the drive motor to control the torque of the drive motor to be reduced to zero.

7. The electric power steering control method according to claim 6, wherein: The method further includes: If the current vehicle speed is greater than zero, the high-pressure power steering oil pump is in a faulty state, and the low-pressure power steering oil pump is in an operating state, the basic function layer determines that a demotion instruction is sent to the drive motor; otherwise, no demotion instruction is sent to the drive motor. If the current vehicle speed is greater than zero, the operating status of the high-pressure power steering oil pump after validity verification is a faulty state, and the operating status of the low-pressure power steering oil pump is an operating state, then the judgment result of the software monitoring layer is to send a downgrade instruction to the drive motor; otherwise, no downgrade instruction is sent to the drive motor.

8. An electric power steering control device, characterized in that: The electric power steering control device comprises: a verification module for verifying the validity of the received high-pressure power steering pump operating status signal, and if the validity verification fails, sending a preset rated speed command signal to the high-pressure power steering control unit to control the high-pressure power steering motor to operate at the rated speed to enable the high-pressure power steering pump to provide power steering; A first judgment module is used to judge whether to enable the low-pressure power steering oil pump according to the current vehicle speed, the current speed of the high-pressure power steering oil pump and the operating state of the high-pressure power steering oil pump through the basic function layer of the vehicle controller; a second judgment module, configured to judge whether to enable the low-pressure power steering oil pump based on the current vehicle speed, the current speed of the high-pressure power steering oil pump, and the operating state of the high-pressure power steering oil pump after validity verification through the software monitoring layer of the vehicle controller; The sending module is used to send an enable request to the low-pressure steering power control unit to enable the low-pressure steering power pump to provide steering assistance if the judgment results of the basic function layer and the software monitoring layer on whether to enable the low-pressure steering power pump are inconsistent.

9. An electric power steering control device, characterized in that: The electric power steering control device includes a processor, a memory, and an electric power steering control program stored in the memory and executable by the processor, wherein when the electric power steering control program is executed by the processor, the steps of the electric power steering control method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores an electric power steering control program, wherein when the electric power steering control program is executed by the processor, the steps of the electric power steering control method according to any one of claims 1 to 7 are implemented.

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