Steering sensor fault diagnosis method and device, storage medium and vehicle

Abstract

The invention provides a steering sensor fault diagnosis method and device, a storage medium and a vehicle, and belongs to the technical field of vehicles. According to the embodiment of the invention, the appropriate angle difference threshold value of the steering sensor can be determined according to the first detection error range of the first driven gear and the second detection error range of the second driven gear; according to a first path angle signal collected by the first driven gear and a second path angle signal collected by the second driven gear, an absolute difference value between the first steering wheel angle and the second steering wheel angle is obtained through calculation, and then the absolute difference value is compared with the angle difference threshold value; accurate diagnosis of the abnormal angle fault of the steering sensor can be realized, so that the driving safety is effectively ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a steering sensor fault diagnosis method, device, storage medium and vehicle. Background Art

[0002] The steering sensor is one of the key components of the vehicle's EPS (Electric Power Steering). It is responsible for sensing the steering wheel's rotation angle and transmitting the angle information to the EPS so that the EPS can make accurate steering assistance control. When the driver turns the steering wheel, the steering sensor generates a corresponding electrical signal based on the rotation angle.

[0003] Steering sensors usually detect steering wheel angles based on the Hall principle. When there is a strong magnetic field outside, the detected value will differ from the actual value due to magnetic field interference, which will cause an error between the final calculated steering wheel angle and the actual steering wheel angle. When the deviation between the detected angle and the actual steering wheel angle is large, it will cause the vehicle to over-steer or under-steer, thus affecting driving safety.

[0004] Therefore, how to perform angle fault diagnosis on steering sensors is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a steering sensor fault diagnosis method, device, storage medium and vehicle to solve the problem that it is difficult to accurately diagnose the angle fault of the steering sensor.

[0006] In order to solve the above problems, this application adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a steering sensor fault diagnosis method, wherein the steering sensor includes a main gear, a first driven gear, and a second driven gear; the first driven gear and the second driven gear are respectively meshed with the main gear, and the main gear is connected to a manual input end gear shaft of a steering wheel, and the method includes:

[0008] determining an angle difference threshold of the steering sensor based on a first detection error range of the first driven gear and a second detection error range of the second driven gear;

[0009] Acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear;

[0010] Determine a first steering wheel angle of the steering wheel based on the first angle signal, and determine a second steering wheel angle of the steering wheel based on the second angle signal;

[0011] When the absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold, it is determined that an angle abnormality fault occurs in the steering sensor.

[0012] In one embodiment of the present application, the step of determining a first steering wheel angle of the steering wheel based on the first angle signal, and determining a second steering wheel angle of the steering wheel based on the second angle signal includes:

[0013] determining a first gear angle of the first driven gear based on the first angle signal, and determining a second gear angle of the second driven gear based on the second angle signal; wherein a first number of teeth of the first driven gear is different from a second number of teeth of the second driven gear;

[0014] A first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear are determined based on the first gear angle and the second gear angle.

[0015] In one embodiment of the present application, both the first angle signal and the second angle signal are SPC signals;

[0016] The step of determining a first gear angle of the first driven gear based on the first angle signal, and determining a second gear angle of the second driven gear based on the second angle signal comprises:

[0017] Obtaining a preset angle conversion relationship for the SPC signal;

[0018] Determining the first gear angle based on the first angle signal and the angle conversion relationship;

[0019] Based on the second angle signal and the angle conversion relationship, the second gear angle is determined.

[0020] In an embodiment of the present application, the step of determining a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle and the second gear angle includes:

[0021] Based on the first gear angle, the second gear angle and a vernier algorithm, a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear are obtained.

[0022] In one embodiment of the present application, the step of obtaining a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle, the second gear angle and a vernier algorithm includes:

[0023] determining a maximum range of the steering sensor based on a first number of teeth of the first driven gear, a second number of teeth of the second driven gear, and a third number of teeth of the master gear;

[0024] Determining a first maximum number of turns of the first driven gear within the maximum measuring range and a second maximum number of turns of the second driven gear within the maximum measuring range based on the first number of teeth and the second number of teeth;

[0025] determining an intermediate parameter based on the first maximum number of revolutions, the second maximum number of revolutions, the first gear angle, and the second gear angle;

[0026] Determining a first steering wheel angle corresponding to the first driven gear based on the intermediate parameter, the first maximum number of turns, the first gear angle, the first number of teeth, the third number of teeth, and the maximum range;

[0027] A second steering wheel angle corresponding to the second driven gear is determined based on the intermediate parameter, the second maximum number of turns, the second gear angle, the second number of teeth, the third number of teeth and the maximum range.

[0028] In an embodiment of the present application, the step of determining the angle difference threshold of the steering sensor based on the first detection error range of the first driven gear and the second detection error range of the second driven gear includes:

[0029] Obtaining a maximum positive error in the first detection error range and a minimum negative error in the second detection error range;

[0030] determining a first real angle of the first driven gear and a second real angle of the second driven gear when the steering wheel is at a target steering wheel angle;

[0031] determining a first error angle of the first driven gear based on the first true angle and the maximum positive error, and determining a second error angle of the second driven gear based on the second true angle and the minimum negative error;

[0032] Determining a first steering wheel error angle corresponding to the first driven gear and a second steering wheel error angle corresponding to the second driven gear based on the first error angle and the second error angle;

[0033] An absolute difference between the first steering wheel error angle and the second steering wheel error angle is determined as the angle difference threshold.

[0034] In an embodiment of the present application, the method further includes:

[0035] Determining a neutral angle threshold of the manual input-end gear shaft based on a first one-way maximum travel of the steering sensor, a second one-way maximum travel of the steering wheel, and the angle difference threshold;

[0036] When the rack of the electric power steering system is in the middle position of the rack travel, controlling the rack to disengage from the manual input end gear shaft;

[0037] The manual input end gear shaft is controlled to drive the main gear of the steering sensor to rotate. When the current steering wheel angle output by the steering sensor is less than or equal to the median angle threshold, the manual input end gear shaft is controlled to stop rotating, and the manual input end gear shaft is controlled to engage with the rack.

[0038] In a second aspect, based on the same inventive concept, an embodiment of the present application provides a steering sensor fault diagnosis device, wherein the steering sensor comprises a main gear, a first driven gear and a second driven gear; the first driven gear and the second driven gear are respectively meshed with the main gear, and the main gear is connected to a gear shaft at a manual input end of a steering wheel, and the device comprises:

[0039] a threshold determination module, configured to determine an angle difference threshold of the steering sensor based on a first detection error range of the first driven gear and a second detection error range of the second driven gear;

[0040] A signal acquisition module, used to acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear;

[0041] an angle determination module, configured to determine a first steering wheel angle of the steering wheel based on the first angle signal, and to determine a second steering wheel angle of the steering wheel based on the second angle signal;

[0042] A fault determination module is used to determine that an angle abnormality fault occurs in the steering sensor when an absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold.

[0043] In an embodiment of the present application, the angle determination module includes:

[0044] a gear angle determination submodule, configured to determine a first gear angle of the first driven gear based on the first angle signal, and to determine a second gear angle of the second driven gear based on the second angle signal; wherein the first number of teeth of the first driven gear is different from the second number of teeth of the second driven gear;

[0045] The steering wheel angle determination submodule is used to determine a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle and the second gear angle.

[0046] In one embodiment of the present application, both the first angle signal and the second angle signal are SPC signals;

[0047] The gear angle determination submodule comprises:

[0048] An angle conversion relationship acquisition unit, used to acquire an angle conversion relationship preset for the SPC signal;

[0049] a first gear angle determination unit, configured to determine the first gear angle based on the first angle signal and the angle conversion relationship;

[0050] The second gear angle determination unit is used to determine the second gear angle based on the second angle signal and the angle conversion relationship.

[0051] In one embodiment of the present application, the steering wheel angle determination submodule includes:

[0052] A steering wheel angle determination unit is used to obtain a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle, the second gear angle and a vernier algorithm.

[0053] In one embodiment of the present application, the steering wheel angle determination unit includes:

[0054] a maximum range determination subunit, configured to determine a maximum range of the steering sensor based on a first number of teeth of the first driven gear, a second number of teeth of the second driven gear, and a third number of teeth of the master gear;

[0055] a maximum number of turns determining subunit, configured to determine a first maximum number of turns of the first driven gear within the maximum measuring range and a second maximum number of turns of the second driven gear within the maximum measuring range based on the first number of teeth and the second number of teeth;

[0056] an intermediate parameter determination subunit, configured to determine an intermediate parameter based on the first maximum number of revolutions, the second maximum number of revolutions, the first gear angle, and the second gear angle;

[0057] a first steering wheel angle determination subunit, configured to determine a first steering wheel angle corresponding to the first driven gear based on the intermediate parameter, the first maximum number of turns, the first gear angle, the first number of teeth, the third number of teeth, and the maximum range;

[0058] The second steering wheel angle determination subunit is used to determine a second steering wheel angle corresponding to the second driven gear based on the intermediate parameter, the second maximum number of turns, the second gear angle, the second number of teeth, the third number of teeth and the maximum range.

[0059] In one embodiment of the present application, the threshold determination module includes:

[0060] an error acquisition submodule, used to acquire a maximum positive error in the first detection error range and a minimum negative error in the second detection error range;

[0061] a real angle determination submodule, configured to determine a first real angle of the first driven gear and a second real angle of the second driven gear when the steering wheel is at a target steering wheel angle;

[0062] a first error angle determination submodule, configured to determine a first error angle of the first driven gear based on the first true angle and the maximum positive error, and to determine a second error angle of the second driven gear based on the second true angle and the minimum negative error;

[0063] a second error angle determination submodule, configured to determine a first steering wheel error angle corresponding to the first driven gear and a second steering wheel error angle corresponding to the second driven gear based on the first error angle and the second error angle;

[0064] The angle difference threshold determination submodule is used to determine the absolute difference between the first steering wheel error angle and the second steering wheel error angle as the angle difference threshold.

[0065] In one embodiment of the present application, the steering sensor fault diagnosis device further includes:

[0066] a deviation threshold determination module, configured to determine a neutral angle threshold of the manual input-end gear shaft based on a first unidirectional maximum travel of the steering sensor, a second unidirectional maximum travel of the steering wheel, and the angle difference threshold;

[0067] A rack control module, used for controlling the rack to disengage from the manual input end gear shaft when the rack of the electric power steering system is in the middle position of the rack travel;

[0068] The median angle adjustment module is used to control the manual input end gear shaft to drive the main gear of the steering sensor to rotate. When the current steering wheel angle output by the steering sensor is less than or equal to the median angle threshold, the manual input end gear shaft is controlled to stop rotating and the manual input end gear shaft is controlled to engage with the rack.

[0069] In a third aspect, based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium having an executable program stored thereon, which, when executed by a processor, implements the steering sensor fault diagnosis method proposed in the first aspect of the present application.

[0070] In a fourth aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle, including:

[0071] A memory for storing an executable program;

[0072] processor;

[0073] When the executable program is executed by the processor, the steering sensor fault diagnosis method proposed in the first aspect of the present application is implemented.

[0074] Compared with the prior art, this application has the following advantages:

[0075] A steering sensor fault diagnosis method provided in an embodiment of the present application first determines the angle difference threshold of the steering sensor based on the first detection error range of the first driven gear and the second detection error range of the second driven gear; then determines the first steering wheel angle of the steering wheel based on the first angle signal collected by the first driven gear, and determines the second steering wheel angle of the steering wheel based on the second angle signal collected by the second driven gear; finally, when the absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold, it is determined that the steering sensor has an angle abnormality fault. The embodiment of the present application can determine a suitable angle difference threshold according to the error range of the first driven gear and the second driven gear, and then by comparing the absolute difference between the first steering wheel angle and the second steering wheel angle with the angle difference threshold, it can achieve accurate diagnosis of the angle abnormality fault of the steering sensor, thereby effectively ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0077] Figure 1 is a flowchart of the steps of a steering sensor fault diagnosis method in one embodiment of the present application;

[0078] Figure 2 It is a functional module diagram of a steering sensor fault diagnosis device in one embodiment of the present application;

[0079] Figure 3 It is a structural schematic diagram of a vehicle in one embodiment of the present application. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 the present invention.

[0081] It should be noted that the steering sensor is usually installed on the manual input end of the steering wheel and is coaxially and fixedly connected to the gear shaft. When the driver turns the steering wheel, the steering sensor will generate a corresponding angle signal according to the turning angle, and send the angle signal to the PPU (Power pack unit) of the EPS. After receiving the angle signal, the PPU can calculate the corresponding steering wheel angle and perform steering control based on the steering wheel angle.

[0082] The current steering sensors lack the corresponding angle fault diagnosis mechanism. When the deviation between the angle measurement value of the steering sensor and the actual value exceeds the error range allowed by the steering sensor design, the existing EPS software logic cannot detect such faults. If the vehicle still uses the wrong steering wheel angle for control, it will bring risks to driving.

[0083] In the related art, some steering sensors have built-in self-diagnosis functions, which monitor whether their output signals are within the normal range. If they exceed the set threshold, a fault code will be triggered. However, the diagnostic accuracy of this method is low, and the fault will usually only be reported when a serious fault occurs in the steering sensor.

[0084] In response to the current problem that it is difficult to accurately diagnose the angle fault of a steering sensor, the present application aims to provide a steering sensor fault diagnosis method, which can determine a suitable angle difference threshold value of the steering sensor based on a first detection error range of a first driven gear and a second detection error range of a second driven gear; and then after calculating the absolute difference between the first steering wheel angle and the second steering wheel angle based on a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear, by comparing the absolute difference with the angle difference threshold value, it is possible to accurately diagnose the abnormal angle fault of the steering sensor, thereby effectively ensuring driving safety.

[0085] Reference Figure 1 , shows a steering sensor fault diagnosis method of the present application, which may include the following steps:

[0086] S101: Determine an angle difference threshold of a steering sensor based on a first detection error range of a first driven gear and a second detection error range of a second driven gear.

[0087] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, or an electronic device with the above functions such as a driving computer, a vehicle-mounted computer, etc., such as an ECU (Electronic Control Unit), a VCU (Vehicle Control Unit), an EPS, etc. This implementation does not specifically limit the type of the execution subject, and the following will be described using EPS as the execution subject.

[0088] In this embodiment, in order to improve the detection reliability of the steering sensor, the steering sensor is built with three gears, namely, a main gear, a first driven gear and a second driven gear. Among them, the first driven gear and the second driven gear are respectively meshed with the main gear, and the main gear is connected to the manual input end gear shaft of the steering wheel. The manual input end gear shaft has the same rotation angle as the steering wheel, so the rotation angle of the main gear is the steering wheel angle. When the driver turns the steering wheel, the manual input end gear shaft drives the first driven gear and the second driven gear to rotate through the main gear, so that the first driven gear and the second driven gear can output two angle signals according to the Hall principle, and send the two angle signals to the PPU respectively. After receiving the two angle signals, the PPU can calculate the real-time large gear angle, which is the steering wheel angle.

[0089] It should be noted that, ideally, when the manual input end gear shaft drives the first driven gear and the second driven gear to rotate through the main gear, the first driven gear and the second driven gear should output two identical angle signals, and the PPU should calculate the same steering wheel angle after receiving the two angle signals output by the first driven gear and the second driven gear. However, considering the material, design, manufacturing process and installation of the steering sensor, when the steering sensor detects the real-time angle of the first driven gear and the second driven gear based on the Hall principle, there will inevitably be detection errors, which will lead to inconsistencies calculated based on the two angle signals.

[0090] In this embodiment, by comprehensively considering the first detection error range of the first driven gear and the second detection error range of the second driven gear, a suitable angle difference threshold can be determined. The angle difference threshold is used to determine whether the difference in steering wheel angles calculated based on the first driven gear and the second driven gear is within the operating error range. Specifically, the smaller the first detection error range and / or the second detection error range, the smaller the angle difference threshold. At this time, the absolute difference between the two steering wheel angles calculated by the first driven gear and the second driven gear is required to be smaller.

[0091] In this embodiment, after the angle difference threshold of the steering sensor is determined, the angle difference threshold is stored in the memory, so that after the EPS is powered on, it can directly read the angle difference threshold from the memory to detect the abnormal angle failure of the steering sensor.

[0092] S102: Acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear.

[0093] In this embodiment, when the steering wheel rotates, the gear shaft at the manual input end will drive the first driven gear and the second driven gear to rotate synchronously through the main gear. During the rotation of the first driven gear and the second driven gear, the first driven gear and the second driven gear respectively use the built-in Hall sensor to detect the gear angles of the first driven gear and the second driven gear, and send the first angle signal collected for the first driven gear and the second angle signal collected for the second driven gear to the EPS.

[0094] In this embodiment, by using the first driven gear and the second driven gear to respectively detect the steering wheel angle, the accuracy and reliability of angle detection can be significantly improved, providing the EPS system with more accurate and safe steering wheel angle information, thereby improving the vehicle's handling performance and safety.

[0095] S103: Determine a first steering wheel angle of the steering wheel based on the first angle signal, and determine a second steering wheel angle of the steering wheel based on the second angle signal.

[0096] In this implementation, after receiving the first angle signal and the second angle signal, the EPS will calculate the first steering wheel angle and the second steering wheel angle based on the two signals respectively.

[0097] It should be noted that, under ideal conditions, the first steering wheel angle and the second steering wheel angle should be the same; however, during actual detection, due to detection errors, a certain difference between the first steering wheel angle and the second steering wheel angle is allowed.

[0098] S104: When the absolute difference between the first steering wheel angle and the second steering wheel angle is greater than an angle difference threshold, it is determined that an angle abnormality fault occurs in the steering sensor.

[0099] In this embodiment, since the angle difference threshold is determined based on the first detection error range of the first driven gear and the second detection error range of the second driven gear, the maximum error allowed between the first steering wheel angle and the second steering wheel angle can be accurately calculated. In this way, by comparing the absolute difference with the angle difference threshold, an accurate diagnosis of an abnormal angle fault of the steering sensor can be achieved, thereby effectively ensuring driving safety.

[0100] In this embodiment, compared with setting a fixed angle difference threshold based on experience, the angle difference threshold can be accurately calculated based on the actual detection error range corresponding to the first driven gear and the second driven gear. Then, using the angle difference threshold, a complete steering sensor angle fault diagnosis mechanism for the two-way detection signal can be constructed, potential risks can be discovered in time, thereby improving the diagnostic coverage of steering sensor angle faults, and effectively improving the reliability and safety of EPS.

[0101] In a feasible implementation, S103 may specifically include the following sub-steps:

[0102] S103-1: Determine a first gear angle of a first driven gear based on a first angle signal, and determine a second gear angle of a second driven gear based on a second angle signal.

[0103] In this embodiment, the EPS obtains the first gear angle of the first driven gear and the second gear angle of the second driven gear according to the two angle signals.

[0104] It should be noted that the first gear angle represents the current angle of the first driven gear, and the second gear angle represents the current angle of the second driven gear. The ranges of the first gear angle and the second gear angle are both 0° to 360°.

[0105] In this embodiment, the steering sensor can specifically adopt TAS (Torque and Angle Sensor), and the first angle signal and the second angle signal can adopt SPC signal. SPC signal is an enhanced communication protocol based on SENT (Single Edge Nibble Transmission) protocol, which has the advantages of high resolution and strong anti-interference ability. It realizes data transmission through the pulse width between the falling edges of two adjacent cycles. The minimum time unit (Tick) of the SPC signal represents the basis for determining the pulse width encoding in the SPC protocol, which determines the time interval between two adjacent falling edges, thereby determining the transmitted data value.

[0106] In a specific implementation, S103-1 may specifically include the following sub-steps: obtaining an angle conversion relationship preset for the SPC signal; determining the first gear angle based on the first angle signal and the angle conversion relationship; determining the second gear angle based on the second angle signal and the angle conversion relationship.

[0107] Specifically, the value range of the SPC signal is 0 to 4094, and the angle conversion relationship can be obtained as follows:

[0108] A = SPC * 360 / 4095 (1);

[0109] Wherein, A represents the gear angle, unit: degree; SPC represents the SPC value corresponding to the angle signal.

[0110] Let the first angle signal be SPC1, based on formula (1), the first gear angle can be calculated to be A1=SPC1*360 / 4095; let the second angle signal be SPC2, based on formula (1), the second gear angle can be calculated to be A2=SPC2*360 / 4095.

[0111] S103 - 2 : Based on the first gear angle and the second gear angle, determine a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear.

[0112] It should be noted that the first angle signal can only reflect the real-time angle of the first driven gear, and cannot directly reflect the number of turns the first driven gear has rotated; the same is true for the second gear angle. Therefore, in order to detect the steering wheel angle, the first number of teeth of the first driven gear and the second number of teeth of the second driven gear are set to be different, for example, the first number of teeth is set to 26 and the second number of teeth is set to 28.

[0113] In this embodiment, by setting different numbers of teeth for the first driven gear and the second driven gear, when the main gear rotates a certain angle within the maximum range, the first driven gear and the second driven gear will output different angle signals, that is, they are at different gear angles. Based on this characteristic, the first steering wheel angle corresponding to the first driven gear and the second steering wheel angle corresponding to the second driven gear can be solved.

[0114] In a specific implementation, a vernier algorithm may be used to obtain a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle and the second gear angle.

[0115] Specifically, based on the cursor algorithm, S103-2 may include the following sub-steps:

[0116] S103-2-1: Determine the maximum range of the steering sensor based on the first number of teeth of the first driven gear, the second number of teeth of the second driven gear, and the third number of teeth of the main gear.

[0117] It should be noted that the maximum range of the steering sensor can be determined according to the number of teeth of the first driven gear, the second driven gear and the main gear. Since the rotation angle of the main gear is the steering wheel angle, within the maximum range of the steering sensor, the steering wheel angle has a unique corresponding relationship with the angles of the first driven gear and the second driven gear.

[0118] In a specific implementation, the maximum range of the steering sensor can be determined according to the following formula:

[0119] Amax=G1*G2 / (G1, G2) / G0*360 (2);

[0120] Among them, Amax represents the maximum range of the steering sensor, unit: degree; G1 represents the first number of teeth of the first driven gear; G2 represents the second number of teeth of the second driven gear; G0 represents the third number of teeth of the main gear; (G1, G2) represents the greatest common divisor of G1 and G2.

[0121] For example, if G0=65, G1=26, G2=28, since the greatest common divisor of G1 and G2 is 2, it can be determined that the maximum range of the steering sensor Amax=26*28 / 2 / 65*360°=2016°.

[0122] It should be noted that, since the steering wheel turns left and right, when the maximum range of the steering sensor is Amax, the maximum unidirectional travel of the steering sensor is Amax / 2. For example, when Amax is 2016°, the maximum unidirectional travel of the steering sensor is 1008°.

[0123] S103-2-2: Based on the first number of teeth and the second number of teeth, determine a first maximum number of turns of the first driven gear within the maximum range and a second maximum number of turns of the second driven gear within the maximum range.

[0124] In this embodiment, since the first driven gear and the second driven gear are both gear-connected to the main gear, the first maximum number of turns of the first driven gear and the second maximum number of turns of the second driven gear can be calculated based on the first number of teeth and the second number of teeth, respectively.

[0125] Specifically, the first maximum number of turns and the second maximum number of turns can be determined according to the following formula:

[0126] C1=G2 / (G1, G2) (3);

[0127] C2 = G1 / (G1, G2) (4);

[0128] Among them, C1 is the first maximum number of turns of the first driven gear; C2 is the second maximum number of turns of the second driven gear; G1 represents the first number of teeth of the first driven gear; G2 represents the second number of teeth of the second driven gear.

[0129] For example, if G0=65, G1=26, G2=28, C1 is 14 and C2 is 13. That is, when the main gear reaches the maximum range of 2016°, the first driven gear will rotate 14 circles and the second driven gear will rotate 13 circles.

[0130] S103-2-3: Determine intermediate parameters based on the first maximum number of revolutions, the second maximum number of revolutions, the first gear angle, and the second gear angle.

[0131] In this embodiment, since the first gear angle and the second gear angle can determine a unique steering wheel angle within the maximum range, based on the first gear angle and the second gear angle, the first maximum number of revolutions and the second maximum number of revolutions are further considered to obtain an intermediate parameter, which is used to solve the actual number of revolutions of the first driven gear and the second driven gear.

[0132] Specifically, the intermediate parameters can be determined according to the following formula:

[0133] K=int((C1*A2﹣C2*A1) / 360) (5);

[0134] Among them, K represents an intermediate parameter; int() is a rounding function; C1 represents the first maximum number of turns of the first driven gear; C2 represents the second maximum number of turns of the second driven gear; A1 represents the first gear angle of the first driven gear; A2 represents the second gear angle of the second driven gear.

[0135] S103-2-4: Determine a first steering wheel angle corresponding to the first driven gear based on the intermediate parameters, the first maximum number of turns, the first gear angle, the first number of teeth, the third number of teeth and the maximum range.

[0136] Specifically, the first steering wheel angle corresponding to the first driven gear may be determined according to the following formula:

[0137] ASU1=(mod(﹣1*K,C1)*360+A1)*G1 / G0﹣Amax / 2 (6);

[0138] Among them, ASU1 represents the first steering wheel angle corresponding to the first driven gear; mod(x, y) is the remainder function; K represents the intermediate parameter; C1 represents the first maximum number of circles; A1 represents the first gear angle of the first driven gear; G1 represents the first number of teeth of the first driven gear; G0 represents the third number of teeth of the main gear; Amax represents the maximum range of the steering sensor.

[0139] It should be noted that, based on the intermediate parameters and the first maximum number of revolutions, the first actual number of revolutions of the first driven gear can be obtained by performing a modulo operation using the modulo function mod(x, y); and then, combining the first actual number of revolutions and the first gear angle, the first steering wheel angle corresponding to the first driven gear can be calculated.

[0140] S103-2-5: Determine the second steering wheel angle corresponding to the second driven gear based on the intermediate parameter, the second maximum number of circles, the second gear angle, the second number of teeth, the third number of teeth and the maximum range.

[0141] Specifically, the second steering wheel angle corresponding to the second driven gear can be determined according to the following formula:

[0142] ASU2=(mod(﹣1*K,C2)*360+A2)*G2 / G0﹣Amax / 2 (6);

[0143] Among them, ASU2 represents the second steering wheel angle corresponding to the second driven gear; mod(x, y) is the remainder function; K represents the intermediate parameter; C2 represents the second maximum number of circles; A2 represents the second gear angle of the second driven gear; G2 represents the second number of teeth of the second driven gear; G0 represents the third number of teeth of the main gear; Amax represents the maximum range of the steering sensor.

[0144] It should be noted that, based on the intermediate parameters and the second maximum number of revolutions, the second actual number of revolutions of the second driven gear can be obtained by performing a modulo operation using the modulo function mod(x, y); and then, combined with the second actual number of revolutions and the second gear angle, the second steering wheel angle corresponding to the second driven gear can be calculated.

[0145] In a specific implementation, EPS pre-stores fixed parameters including the maximum range Amax, the first number of teeth G1 of the first driven gear, the second number of teeth G2 of the second driven gear, the first maximum number of circles C1 of the first driven gear, the second maximum number of circles C2 of the second driven gear, and the third number of teeth G0 of the main gear. Therefore, after determining the first gear angle and the second gear angle by formula (1), EPS can directly substitute the first gear angle and the second gear angle into formulas (5) to (7) to calculate the first steering wheel angle and the second steering wheel angle of the steering wheel.

[0146] In a feasible implementation, S101 may specifically include the following sub-steps:

[0147] S101 - 1 : Obtain the maximum positive error in the first detection error range and the minimum negative error in the second detection error range.

[0148] In this embodiment, in order to obtain the maximum error that the absolute difference between the first steering wheel angle and the second steering wheel angle can reach, the maximum positive error in the first detection error range is selected and the minimum negative error in the second detection error range is calculated.

[0149] Exemplarily, if the first detection error range of the first angle signal is -5.625° to 5.625°, the maximum positive error Err1max=5.625° is determined; if the second detection error range of the second angle signal is -5.223° to 5.223°, the minimum negative error Err2min=-5.223° is determined.

[0150] In this embodiment, by selecting the maximum positive error and the minimum negative error, the maximum angle difference threshold can be obtained. In this way, once it is detected that the absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold, it means that the steering sensor has exceeded the maximum error range allowed by the design, and then it is determined that the steering sensor has an angle abnormality fault.

[0151] S101 - 2 : When the steering wheel is at the target steering wheel angle, determine a first real angle of the first driven gear and a second real angle of the second driven gear.

[0152] In this embodiment, any angle other than the travel boundary of the steering sensor can be selected as the target steering wheel angle, such as 0°, 20°, 300°, 500°, etc. The following will be explained by selecting the target steering wheel angle SWA=0°.

[0153] In this embodiment, when the actual angle of the steering wheel is known, the first real angle of the first driven gear and the second real angle of the second driven gear can be calculated according to the following formula:

[0154] A1=mod((SWA+Amax / 2)*G0 / G1, 360) (8);

[0155] A2=mod((SWA+Amax / 2)*G0 / G2, 360) (9);

[0156] Among them, A1 represents the first true angle of the first driven gear; A2 represents the second true angle of the second driven gear; SWA represents the actual steering wheel angle; Amax represents the maximum range of the steering sensor; G1 represents the first number of teeth of the first driven gear; G2 represents the second number of teeth of the second driven gear; G0 represents the third number of teeth of the main gear.

[0157] When SWA = 0°, based on formula (8) and formula (9), it can be calculated that A1 = 0° and A2 = 180° respectively.

[0158] S101 - 3 : Determine a first error angle of the first driven gear based on the first true angle and the maximum positive error, and determine a second error angle of the second driven gear based on the second true angle and the minimum negative error.

[0159] In a specific implementation, the sum of the first true angle and the maximum positive error can be determined as the first error angle of the first driven gear; and the sum of the second true angle and the minimum negative error can be determined as the second error angle of the second driven gear.

[0160] Exemplarily, considering that after superimposing the maximum positive error or the minimum negative error, the numerical range of 0° to 360° will be exceeded, the error angle can be determined according to the following formula:

[0161] A' = mod (A + Err, 360) (10);

[0162] Wherein, A' represents the error angle; mod(x, y) is the modulo function; A represents the true angle; Err represents the selected error value.

[0163] In this embodiment, based on the first true angle and the maximum positive error, based on formula (10), the first error angle A1'=mod(A1+Err1max, 360)=mod(0+5.625, 360)=5.625° can be calculated; based on the second true angle and the minimum negative error, based on formula (10), the second error angle A2'=mod(A2+Err2min, 360)=mod(180-5.223, 360)=174.777° can be calculated.

[0164] S101 - 4 : Based on the first error angle and the second error angle, determine a first steering wheel error angle corresponding to the first driven gear and a second steering wheel error angle corresponding to the second driven gear.

[0165] In this embodiment, after the first error angle and the second error angle are calculated, reference is made to step S103 to calculate the first steering wheel error angle and the second steering wheel error angle.

[0166] Specifically, when the first error angle A1'=5.625° and the second error angle A2'=174.777°, according to formula (2) to formula (7), it can be calculated that the first steering wheel error angle ASU1'=2.25° corresponding to the first driven gear and the second steering wheel error angle ASU2'=-2.25° corresponding to the second driven gear.

[0167] S101 - 5 : Determine an absolute difference between the first steering wheel error angle and the second steering wheel error angle as an angle difference threshold.

[0168] In this embodiment, the absolute difference represents the absolute value of the difference between the first steering wheel error angle and the second steering wheel error angle. Therefore, the angle difference threshold value=|ASU1′−ASU2′|=4.5° can be calculated.

[0169] It should be noted that even if different target steering wheel angles or different first real angles and second real angles are selected, a unique angle difference threshold can be obtained after the above calculations. The angle difference threshold is the maximum error that the absolute difference between the first steering wheel angle and the second steering wheel angle can reach.

[0170] Two examples are selected below to illustrate the effectiveness of EPS in diagnosing steering sensor angle signal deviation faults.

[0171] Example 1: The situation where the steering wheel angle detected by the steering sensor is not near the boundary of the angular travel.

[0172] The steering sensor usage condition of Example 1: the actual steering wheel angle is SWA = 0°, and the angle detection error of the first driven gear is 6° due to strong magnetic field interference or chip abnormality, that is, Err1 = 6°, and the angle detection error of the second driven gear is -5.223°, that is, Err2 = -5.223°.

[0173] (1) First, calculate the A1 and A2 values ​​without detection bias according to formula (8) and formula (9).

[0174] A1=0°;

[0175] A2=180°;

[0176] (2) Calculate the values ​​of the two angle signals A1' and A2' actually received by EPS.

[0177] A1'=mod(A1+Err1,360)=6°;

[0178] A2'=mod(A2+Err2,360)=174.777°;

[0179] (3) Calculate |ASU1-ASU2|.

[0180] According to formula (2) to formula (7), the first steering wheel angle ASU1=2.4 is calculated from A1'.

[0181] According to formula (2) to formula (7), the second steering wheel angle ASU2 calculated from A2' is -2.25°.

[0182] (4) Fault determination.

[0183] Since |ASU1-ASU2|=4.65°>4.5°, that is, the absolute difference is greater than the angle difference threshold, EPS will report an abnormal steering sensor angle fault and stop using the steering wheel angle information output by the steering sensor for steering control. It can be seen that when the steering wheel angle is not near the angle travel boundary, this embodiment can accurately detect the fault caused by the angle detection deviation.

[0184] Example 2: The situation where the steering wheel angle detected by the steering sensor is near the boundary of the angular travel.

[0185] Example 2 steering sensor operating conditions: Take the actual steering wheel angle SWA = 1007°, close to the travel limit of the steering sensor (the maximum range of the steering sensor is Amax = 2016°, the steering wheel angle is divided into two directions, that is, the angle range of the steering sensor is -1008 to +1008°). The angle detection error of the first driven gear is 4°, that is, Err1 = 4°; the angle detection error of the second driven gear is 0°, that is, Err2 = 0°.

[0186] (1) First, calculate the A1 and A2 values ​​without detection bias according to formula (8) and formula (9).

[0187] A1=357.5°;

[0188] A2=357.68°;

[0189] (2) Calculate the values ​​of the two angle signals A1' and A2' actually received by EPS.

[0190] A1'=mod(A1+Err1, 360)=1.5°;

[0191] A2'=mod(A2+Err2, 360)=357.68°;

[0192] (3) Calculate |ASU1-ASU2|.

[0193] According to formula (2) to formula (7), the first steering wheel angle ASU1 calculated from A1' is -1007.4°.

[0194] According to formula (2) to formula (7), the second steering wheel angle ASU2 calculated by A2' is -2.25°

[0195] (4) Fault determination.

[0196] Since |ASU1-ASU2|=2014.4°>4.5°, that is, the absolute difference is greater than the angle difference threshold, EPS will report a steering sensor angle abnormality fault and stop using the steering wheel angle information output by the steering sensor for steering control. However, at this time, the detection errors of the first driven gear and the second driven gear are within the design allowable range and should not report a fault.

[0197] It can be seen that there are certain limitations when fault judgment is based on the vernier algorithm: when the steering sensor is located near the stroke boundary, a false alarm may occur. Therefore, the installation angle of the steering sensor needs to be limited during EPS production to avoid using the steering sensor at an angle that reaches the stroke boundary.

[0198] In this embodiment, in order to avoid the false alarm fault in the above example 2, it can be set that the travel boundary angle of the steering sensor is not allowed to be used during the life cycle of the EPS. Usually, the steering wheel angle range of the vehicle is between -780 and +780°, which is much smaller than the angular travel range of the steering sensor. Therefore, as long as the steering sensor is assembled near 0 angle when the rack is in the middle position of the rack travel, the use of the angular travel boundary position of the steering sensor can be avoided. For example, when the rack moves to the end of the mechanical travel, such as +780°, the angle of the TAS is near +780°, which will be far from the boundary of the angular travel of the steering sensor, thereby effectively avoiding the occurrence of false alarm faults.

[0199] In a specific implementation, in order to avoid false alarms, the steering sensor fault diagnosis method may further include the following steps:

[0200] S201: Determine a neutral angle threshold of the manual input end gear shaft based on a first one-way maximum travel of a steering sensor, a second one-way maximum travel of a steering wheel, and an angle difference threshold.

[0201] It should be noted that the manual input end gear shaft is coaxial with and fixedly connected to the large gear of the steering sensor. When the manual input end gear shaft rotates, the angle of the steering sensor will change accordingly. The manual input end gear shaft is connected to the rack by means of gear-rack meshing. When the manual input end gear shaft and the rack are in meshing state, the rotation of the manual input end gear shaft will drive the rack to move linearly, so as to drive the wheel to steer through the rack; when the manual input end gear shaft and the rack are out of meshing state, the manual input end gear shaft rotates and the rack does not move.

[0202] In this implementation, the median angle threshold may be specifically calculated in the following manner: median angle threshold=first unidirectional maximum stroke−second unidirectional maximum stroke−angle difference threshold.

[0203] For example, if the first unidirectional maximum travel of the steering sensor is 1008°, the angle difference threshold is 4.5°, and the second unidirectional maximum travel of the steering wheel is 780°, then the median angle threshold = 1008° - 780° - 4.5° = 223.5°.

[0204] S202: When the rack of the electric power steering system is in the middle position of the rack stroke, the rack is controlled to be disengaged from the manual input end gear shaft.

[0205] It should be noted that when the rack of the electric power steering system is in the middle of the rack travel, the wheels on both sides of the vehicle are in the return state. In order to avoid affecting the rack during the adjustment of the installation angle, the rack will be controlled to disengage from the manual input end gear shaft. At this time, the manual input end gear shaft rotates and the rack does not move.

[0206] S203: Control the manual input end gear shaft to drive the main gear of the steering sensor to rotate. When the current steering wheel angle output by the steering sensor is less than or equal to the median angle threshold, control the manual input end gear shaft to stop rotating and control the manual input end gear shaft to engage with the rack.

[0207] In the specific implementation, after the EPS is powered on and it is confirmed that there is no steering sensor-related fault in the EPS, the gear shaft at the manual input end can be controlled to rotate uniformly in one direction, and the changes in the current steering wheel angle SWA output by the EPS can be monitored. When |SWA|≤the median angle threshold, the gear shaft at the manual input end is stopped, and then the gear shaft at the manual input end of the EPS is meshed with the rack to complete the assembly.

[0208] For example, taking the median angle threshold of 223.5° as an example, it is only necessary to adjust the steering wheel angle SWA to the range of [-223.5°, 223.5°] when the rack is in the middle position of the rack stroke to avoid false alarms of angle abnormality failures.

[0209] In this embodiment, based on the angle difference threshold, the median angle threshold can be further calculated, and then the steering sensor is assembled according to the median angle threshold, which can effectively avoid the false alarm fault shown in the above example 2, and effectively solve the limitation problem of fault judgment based on the vernier algorithm. In this way, during the use of the vehicle, it can be ensured that the travel boundary angle of the steering sensor will not be used, thereby ensuring the accuracy and reliability of fault diagnosis.

[0210] In the second aspect, based on the same inventive concept, refer to Figure 2 The embodiment of the present application provides a steering sensor fault diagnosis device, the steering sensor includes a main gear, a first driven gear and a second driven gear; the first driven gear and the second driven gear are respectively meshed with the main gear, the main gear is connected to the manual input end gear shaft of the steering wheel, the steering sensor fault diagnosis device 200 includes:

[0211] A threshold determination module 201, configured to determine an angle difference threshold of a steering sensor based on a first detection error range of a first driven gear and a second detection error range of a second driven gear;

[0212] A signal acquisition module 202, used to acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear;

[0213] An angle determination module 203, used to determine a first steering wheel angle of the steering wheel based on the first angle signal, and to determine a second steering wheel angle of the steering wheel based on the second angle signal;

[0214] The fault determination module 204 is configured to determine that an angle abnormality fault occurs in the steering sensor when an absolute difference between the first steering wheel angle and the second steering wheel angle is greater than an angle difference threshold.

[0215] In one embodiment of the present application, the angle determination module 203 includes:

[0216] a gear angle determination submodule, for determining a first gear angle of a first driven gear based on a first angle signal, and determining a second gear angle of a second driven gear based on a second angle signal; wherein a first number of teeth of the first driven gear and a second number of teeth of the second driven gear are different;

[0217] The steering wheel angle determination submodule is used to determine a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle and the second gear angle.

[0218] In one embodiment of the present application, the first angle signal and the second angle signal are both SPC signals;

[0219] The gear angle determination submodule includes:

[0220] An angle conversion relationship acquisition unit, used to acquire an angle conversion relationship preset for an SPC signal;

[0221] A first gear angle determination unit, used for determining a first gear angle based on a first angle signal and an angle conversion relationship;

[0222] The second gear angle determination unit is used to determine the second gear angle based on the second angle signal and the angle conversion relationship.

[0223] In one embodiment of the present application, the steering wheel angle determination submodule includes:

[0224] The steering wheel angle determination unit is used to obtain a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle, the second gear angle and a vernier algorithm.

[0225] In one embodiment of the present application, the steering wheel angle determination unit includes:

[0226] a maximum range determination subunit, for determining a maximum range of the steering sensor based on a first number of teeth of the first driven gear, a second number of teeth of the second driven gear, and a third number of teeth of the main gear;

[0227] a maximum number of turns determining subunit, for determining a first maximum number of turns of the first driven gear within a maximum measuring range and a second maximum number of turns of the second driven gear within a maximum measuring range based on the first number of teeth and the second number of teeth;

[0228] an intermediate parameter determination subunit, configured to determine an intermediate parameter based on the first maximum number of revolutions, the second maximum number of revolutions, the first gear angle, and the second gear angle;

[0229] a first steering wheel angle determination subunit, configured to determine a first steering wheel angle corresponding to the first driven gear based on the intermediate parameter, the first maximum number of turns, the first gear angle, the first number of teeth, the third number of teeth, and the maximum range;

[0230] The second steering wheel angle determination subunit is used to determine the second steering wheel angle corresponding to the second driven gear based on the intermediate parameter, the second maximum number of turns, the second gear angle, the second number of teeth, the third number of teeth and the maximum range.

[0231] In an embodiment of the present application, the threshold determination module 201 includes:

[0232] An error acquisition submodule, used to acquire a maximum positive error in a first detection error range and a minimum negative error in a second detection error range;

[0233] a real angle determination submodule, for determining a first real angle of the first driven gear and a second real angle of the second driven gear when the steering wheel is at a target steering wheel angle;

[0234] a first error angle determination submodule, configured to determine a first error angle of a first driven gear based on a first true angle and a maximum positive error, and to determine a second error angle of a second driven gear based on a second true angle and a minimum negative error;

[0235] A second error angle determination submodule, configured to determine a first steering wheel error angle corresponding to the first driven gear and a second steering wheel error angle corresponding to the second driven gear based on the first error angle and the second error angle;

[0236] The angle difference threshold determination submodule is used to determine the absolute difference between the first steering wheel error angle and the second steering wheel error angle as the angle difference threshold.

[0237] In one embodiment of the present application, the steering sensor fault diagnosis device 200 further includes:

[0238] a deviation threshold determination module, used for determining a neutral angle threshold of the manual input end gear shaft based on a first unidirectional maximum travel of a steering sensor, a second unidirectional maximum travel of a steering wheel, and an angle difference threshold;

[0239] A rack control module, used to control the rack to disengage from the manual input end gear shaft when the rack of the electric power steering system is in the middle position of the rack travel;

[0240] The mid-angle adjustment module is used to control the manual input end gear shaft to drive the main gear of the steering sensor to rotate. When the current steering wheel angle output by the steering sensor is less than or equal to the mid-angle threshold, the manual input end gear shaft is controlled to stop rotating and the manual input end gear shaft is controlled to engage with the rack.

[0241] It should be noted that the specific implementation of the steering sensor fault diagnosis device 200 in the embodiment of the present application refers to the specific implementation of the steering sensor fault diagnosis method proposed in the first aspect of the embodiment of the present application, and will not be repeated here.

[0242] In the third aspect, based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium on which an executable program is stored. When the executable program is executed by a processor, the steering sensor fault diagnosis method proposed in the first aspect of the present application is implemented.

[0243] It should be noted that the specific implementation of the computer-readable storage medium of the embodiment of the present application refers to the specific implementation of the steering sensor fault diagnosis method proposed in the first aspect of the embodiment of the present application, and will not be repeated here.

[0244] Fourthly, refer to Figure 3 Based on the same inventive concept, the embodiment of the present application provides a vehicle 300, including:

[0245] Memory 301, used for storing executable programs;

[0246] Processor 302;

[0247] When the executable program is executed by the processor 302 , the steering sensor fault diagnosis method proposed in the first aspect of the present application is implemented.

[0248] It should be noted that the specific implementation of the vehicle 300 in the embodiment of the present application refers to the specific implementation of the steering sensor fault diagnosis method proposed in the first aspect of the embodiment of the present application, and will not be repeated here.

[0249] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0250] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0251] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0252] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0253] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0254] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0255] The above is a detailed introduction to a steering sensor fault diagnosis method, device, storage medium and vehicle provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A steering sensor fault diagnosis method, It is characterized in that The steering sensor comprises a main gear, a first driven gear and a second driven gear; the first driven gear and the second driven gear are respectively meshed with the main gear, the main gear is connected to a gear shaft at a manual input end of a steering wheel, and the method comprises: determining an angle difference threshold of the steering sensor based on a first detection error range of the first driven gear and a second detection error range of the second driven gear; Acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear; Determine a first steering wheel angle of the steering wheel based on the first angle signal, and determine a second steering wheel angle of the steering wheel based on the second angle signal; When the absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold, it is determined that an angle abnormality fault occurs in the steering sensor.

2. The steering sensor fault diagnosis method according to claim 1, It is characterized in that The step of determining a first steering wheel angle of the steering wheel based on the first angle signal, and determining a second steering wheel angle of the steering wheel based on the second angle signal comprises: determining a first gear angle of the first driven gear based on the first angle signal, and determining a second gear angle of the second driven gear based on the second angle signal; wherein a first number of teeth of the first driven gear is different from a second number of teeth of the second driven gear; A first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear are determined based on the first gear angle and the second gear angle.

3. The steering sensor fault diagnosis method according to claim 2, It is characterized in that The first angle signal and the second angle signal are both SPC signals; The step of determining a first gear angle of the first driven gear based on the first angle signal, and determining a second gear angle of the second driven gear based on the second angle signal comprises: Obtaining a preset angle conversion relationship for the SPC signal; Determining the first gear angle based on the first angle signal and the angle conversion relationship; Based on the second angle signal and the angle conversion relationship, the second gear angle is determined.

4. The steering sensor fault diagnosis method according to claim 2, It is characterized in that The step of determining a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle and the second gear angle comprises: Based on the first gear angle, the second gear angle and a vernier algorithm, a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear are obtained.

5. The steering sensor fault diagnosis method according to claim 4, It is characterized in that The step of obtaining a first steering wheel angle corresponding to the first driven gear and a second steering wheel angle corresponding to the second driven gear based on the first gear angle, the second gear angle and a vernier algorithm comprises: determining a maximum range of the steering sensor based on a first number of teeth of the first driven gear, a second number of teeth of the second driven gear, and a third number of teeth of the master gear; Determining a first maximum number of turns of the first driven gear within the maximum range and a second maximum number of turns of the second driven gear within the maximum range based on the first number of teeth and the second number of teeth; determining an intermediate parameter based on the first maximum number of revolutions, the second maximum number of revolutions, the first gear angle, and the second gear angle; Determining a first steering wheel angle corresponding to the first driven gear based on the intermediate parameter, the first maximum number of turns, the first gear angle, the first number of teeth, the third number of teeth, and the maximum range; A second steering wheel angle corresponding to the second driven gear is determined based on the intermediate parameter, the second maximum number of turns, the second gear angle, the second number of teeth, the third number of teeth and the maximum range.

6. The steering sensor fault diagnosis method according to claim 2, It is characterized in that The step of determining the angle difference threshold of the steering sensor based on a first detection error range of the first driven gear and a second detection error range of the second driven gear comprises: Obtaining a maximum positive error in the first detection error range and a minimum negative error in the second detection error range; determining a first real angle of the first driven gear and a second real angle of the second driven gear when the steering wheel is at a target steering wheel angle; determining a first error angle of the first driven gear based on the first true angle and the maximum positive error, and determining a second error angle of the second driven gear based on the second true angle and the minimum negative error; Determining a first steering wheel error angle corresponding to the first driven gear and a second steering wheel error angle corresponding to the second driven gear based on the first error angle and the second error angle; An absolute difference between the first steering wheel error angle and the second steering wheel error angle is determined as the angle difference threshold.

7. The steering sensor fault diagnosis method according to claim 1, It is characterized in that The method further comprises: Determining a neutral angle threshold of the manual input-end gear shaft based on a first one-way maximum travel of the steering sensor, a second one-way maximum travel of the steering wheel, and the angle difference threshold; When the rack of the electric power steering system is in the middle position of the rack travel, controlling the rack to disengage from the manual input end gear shaft; The manual input end gear shaft is controlled to drive the main gear of the steering sensor to rotate. When the current steering wheel angle output by the steering sensor is less than or equal to the median angle threshold, the manual input end gear shaft is controlled to stop rotating, and the manual input end gear shaft is controlled to engage with the rack.

8. A steering sensor fault diagnosis device, It is characterized in that The steering sensor comprises a main gear, a first driven gear and a second driven gear; the first driven gear and the second driven gear are respectively meshed with the main gear, the main gear is connected to the manual input end gear shaft of the steering wheel, and the device comprises: a threshold determination module, configured to determine an angle difference threshold of the steering sensor based on a first detection error range of the first driven gear and a second detection error range of the second driven gear; A signal acquisition module, used to acquire a first angle signal collected by the first driven gear and a second angle signal collected by the second driven gear; an angle determination module, configured to determine a first steering wheel angle of the steering wheel based on the first angle signal, and to determine a second steering wheel angle of the steering wheel based on the second angle signal; A fault determination module is used to determine that an angle abnormality fault occurs in the steering sensor when an absolute difference between the first steering wheel angle and the second steering wheel angle is greater than the angle difference threshold.

9. A computer-readable storage medium having an executable program stored thereon, It is characterized in that When the executable program is executed by the processor, the steering sensor fault diagnosis method according to any one of claims 1 to 7 is implemented.

10. A vehicle, It is characterized in that include: A memory for storing an executable program; processor; When the executable program is executed by the processor, the steering sensor fault diagnosis method according to any one of claims 1 to 7 is implemented.

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