Fault processing method and device, vehicle and computer readable storage medium

Abstract

The invention provides a fault processing method and device, a vehicle and a computer readable storage medium. The method comprises the steps that at least one health state signal sent by a steer-by-wire system of a vehicle is received, and the at least one health state signal is used for indicating the health state of at least one controller in the steer-by-wire system; determining a fault type of the steer-by-wire system according to the health state of the at least one controller; and controlling the vehicle to execute a fault processing strategy corresponding to the fault type according to the fault type. The health state of the controller is determined through one or more health state signals sent by the steer-by-wire system, and a reliable health state result can be obtained. According to the method, the fault type is determined based on the reliable health state result, and fault processing is performed in a targeted manner based on the fault type, so that safety hazards caused by abnormality of the steer-by-wire system can be effectively reduced, and the safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, an apparatus, a vehicle and a computer-readable storage medium for handling a fault. Background Art

[0002] In recent years, the use of steer-by-wire systems in vehicles has gradually become a market focus. Unlike previous mechanical steering systems, steer-by-wire systems eliminate the mechanical connection between the steering wheel actuator and the wheel actuator, and control the vehicle steering through electronic signals. However, if the vehicle has a steer-by-wire system failure, it will cause the vehicle steering function to be abnormal, which will seriously affect the safety of the vehicle. Summary of the invention

[0003] The present application provides a method, device, vehicle and computer-readable storage medium for handling faults to improve the safety of the vehicle.

[0004] In a first aspect, a method for handling a fault is provided, comprising: receiving at least one health status signal sent by a vehicle's steer-by-wire system, the at least one health status signal being used to indicate the health status of at least one controller in the steer-by-wire system; determining a fault type of the steer-by-wire system based on the health status of the at least one controller; and controlling the vehicle to execute a fault handling strategy corresponding to the fault type based on the fault type.

[0005] In one possible implementation, the at least one controller includes at least one of the following controllers: a first controller, which is a main controller of a steering wheel actuator; a second controller, which is a main controller of a wheel steering actuator; a third controller, which is a backup controller of the steering wheel actuator; and a fourth controller, which is a backup controller of the wheel steering actuator.

[0006] In one possible implementation, the at least one health status signal includes at least one of the following: a first health status signal, the first health status signal is a health status signal sent by the first controller, and the first health status signal is used to indicate the health status signal of the first controller and / or the second controller; a second health status signal, the second health status signal is a health status signal sent by the second controller, and the second health status signal is used to indicate the health status signal of the second controller and / or the fourth controller; a third health status signal, the third health status signal is a health status signal sent by the third controller, and the third health status signal is used to indicate the health status signal of the third controller and / or the fourth controller; a fourth health status signal, the fourth health status signal is a health status signal sent by the fourth controller, and the fourth health status signal is used to indicate the health status signal of the fourth controller and / or the second controller.

[0007] In one possible implementation, the method further includes: if the first health status signal indicates that the first controller is in a non-fault state, determining that the first controller is in a non-fault state; otherwise, determining that the first controller is in a fault state; and / or, if the first health status signal indicates that the second controller is in a fault state, the second health status signal indicates that the second controller is in a fault state, the fourth health status signal indicates that the second controller is in a fault state, or at least two of the first health status signal, the second health status signal and the fourth health status signal indicate that the second controller is in an offline state, determining that the second controller is in a fault state; otherwise, determining that the second controller is in a fault state. is in a non-fault state; and / or, if the third health status signal indicates that the third controller is in a non-fault state, then the third controller is determined to be in a non-fault state; otherwise, the third controller is determined to be in a fault state; and / or, if the second health status signal indicates that the fourth controller is in a fault state, the third health status signal indicates that the fourth controller is in a fault state, the fourth health status signal indicates that the fourth controller is in a fault state, or at least two of the second health status signal, the third health status signal and the fourth health status signal indicate that the fourth controller is in an offline state, then the fourth controller is determined to be in a fault state; otherwise, the fourth controller is determined to be in a non-fault state.

[0008] In a possible implementation, determining the fault type of the steer-by-wire system according to the health status of the at least one controller includes at least one of the following: if at least two of the first controller, the third controller, and the steering wheel angle sensor provided outside the steer-by-wire system are in a non-fault state, at least one of the first control link and the second control link is in a non-fault state, and at least one of the first controller to the fourth controller is in a fault state, then determining that the fault type is a first fault type; if at least one of the first controller, the third controller, and the steering wheel angle sensor are in a non-fault state, and one of the second controller and the fourth controller is in a non-fault state state, another controller is in a fault state, and the first control link and the second control link are both in a fault state, then the fault type is determined to be the second fault type; if at least one of the first controller, the third controller and the steering wheel angle sensor is in a non-fault state, and the second controller and the fourth controller are both in a fault state, then the fault type is determined to be the third fault type; if the first controller, the third controller and the steering wheel angle sensor are all in a fault state, then the fault type is determined to be the fourth fault type; wherein, the first control link is a control link formed by the first controller and the second controller, and the second control link is a control link formed by the third controller and the fourth controller.

[0009] In one possible implementation, according to the fault type, controlling the vehicle to execute a fault handling strategy corresponding to the fault type includes at least one of the following: if the fault type is the first fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a first threshold; if the fault type is the second fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a second threshold; if the fault type is the third fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a third threshold; if the fault type is the fourth fault type, controlling the vehicle to brake; wherein the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

[0010] In a possible implementation, the method further includes: if the fault type is the third fault type, and the first controller, the third controller, and the device in the steering wheel angle sensor that is in a fault-free state receive a steering instruction, then controlling the steering of the vehicle based on a differential braking method.

[0011] In a possible implementation, the method further includes: if the first controller, the second controller, the third controller, and the fourth controller are all in a fault-free state, determining that the steer-by-wire system is fault-free.

[0012] In a second aspect, a device for handling faults is provided, comprising: a receiving module for receiving at least one health status signal sent by a vehicle's steer-by-wire system, wherein the at least one health status signal is used to indicate the health status of at least one controller in the steer-by-wire system; a determining module for determining a fault type of the steer-by-wire system based on the health status of the at least one controller; and a control module for controlling the vehicle to execute a fault handling strategy corresponding to the fault type based on the fault type.

[0013] In a third aspect, a vehicle is provided, comprising: a memory for storing program instructions; and a processor for executing the program instructions to execute the method as described in the first aspect or any possible implementation of the first aspect.

[0014] According to a fourth aspect, a computer-readable storage medium is provided, on which a code is stored, wherein the code is used to execute the method as described in the first aspect or any possible implementation manner of the first aspect.

[0015] According to a fifth aspect, a computer program product is provided, comprising a computer program, wherein the computer program is used to execute the method as described in the first aspect or any possible implementation manner of the first aspect.

[0016] In the embodiment of the present application, the health status of the controller is determined by one or more health status signals sent by the wire steering system, and a relatively reliable health status result can be obtained. The fault type is determined based on the reliable health status result, and the fault is handled in a targeted manner based on the fault type, which can effectively reduce the safety hazards caused by abnormalities of the wire steering system, thereby improving the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0018] Figure 1 It is a schematic flowchart of a method for handling faults provided in an embodiment of the present application.

[0019] Figure 2This is an example diagram of the working architecture of the main controller and the backup controller provided in an embodiment of the present application.

[0020] Figure 3 This is an example diagram of the fault handling process provided in an embodiment of the present application.

[0021] Figure 4 It is a structural diagram of a fault handling device provided in an embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0024] In recent years, the use of steer-by-wire systems in vehicles has gradually become a market focus. Unlike previous mechanical steering systems, the steer-by-wire system eliminates the mechanical connection between the steering wheel actuator and the wheel actuator, and controls the vehicle steering through electronic signals. The steer-by-wire system is free from the limitations of mechanical firmware, which enables it to shorten the operating stroke, improve response speed, shorten dynamic delay, reduce road disturbance, and have a simple and flexible layout, which is more in line with the development trend of intelligent and automated electric vehicles. Although the steer-by-wire system has many advantages in controlling vehicle steering, when the steer-by-wire system fails during high-speed driving, it will cause the vehicle's steering function to be abnormal, which will seriously affect the safety of the vehicle.

[0025] In response to the above problems, an embodiment of the present application proposes a method for handling faults. That is, based on at least one health status signal sent by the vehicle's steer-by-wire system, the health status of at least one controller in the steer-by-wire system is determined, and then based on the health status of the at least one controller, the fault type of the steer-by-wire system is determined, and the corresponding fault handling strategy is executed on the vehicle according to the fault type. By determining the health status of the controller through one or more health status signals sent by the steer-by-wire system, a more reliable health status result can be obtained. Determining the fault type based on a reliable health status result and performing targeted fault handling based on the fault type can effectively reduce the safety hazards caused by abnormalities in the steer-by-wire system, thereby improving the safety of the vehicle.

[0026] For ease of understanding, the following Figure 1 , the embodiments of the present application are illustrated in more detail.

[0027] Figure 1 A schematic flowchart of a method for handling a fault provided in an embodiment of the present application.

[0028] See also Figure 1 In step S110, at least one health status signal sent by a steer-by-wire system of a vehicle is received, where the at least one health status signal is used to indicate a health status of at least one controller in the steer-by-wire system.

[0029] The controller is the core of the steer-by-wire system, which determines the control effect of the steer-by-wire system. The main function of the controller is to analyze and process various signals. The controller in the steer-by-wire system can determine the driver's steering intention and output corresponding control commands. There can be many types of controllers in the steer-by-wire system. For example, the controller can be the main controller of the steering wheel actuator (for the convenience of description, the main controller can be referred to as the first controller below), or it can be the main controller of the wheel steering actuator (for the convenience of description, the main controller can be referred to as the second controller below). The first controller can obtain the driver's steering intention and send the driver's desired steering wheel angle signal to the second controller. After receiving the signal from the first controller, the second controller can send a control command to the wheel steering actuator and control the wheel steering actuator to perform wheel steering. However, if the first controller or the second controller of a vehicle using the steer-by-wire system fails, the vehicle will be in an extremely dangerous state. In order to improve the reliability of the steer-by-wire system, a spare controller can be set in the steer-by-wire system. When the first controller or the second controller fails, there can also be a spare controller that can take over and work in time. The backup controller may be, for example, a backup controller for a steering wheel actuator (for ease of description, the backup controller may be referred to as the third controller hereinafter), or a backup controller for a wheel steering actuator (for ease of description, the backup controller may be referred to as the fourth controller hereinafter). When the first controller fails, the third controller may take over the first controller to operate. When the second controller fails, the fourth controller may take over the second controller to operate. Figure 2A diagram showing an example of the working architecture of a main controller and a backup controller is given. The first controller and the second controller communicate via a private controller area network (CAN). Private CAN refers to a closed, dedicated communication network. Private CAN is used to transmit signals between controllers in a wire-controlled steering system, which can ensure the safety and reliability of the signals. After the first controller obtains the driver's steering intention, it sends the signal to the second controller via private CAN. After the second controller receives the signal from the first controller via private CAN, it converts the signal into a control instruction of the wheel actuator to control the wheel to steer. The controller of the wheel actuator can also feed back the steering state of the wheel to the controller of the steering wheel actuator via private CAN, forming a closed loop. The third controller and the fourth controller, the first controller and the third controller, and the second controller and the fourth controller also communicate via private CAN. The process of communication between the third controller and the fourth controller via private CAN is the same as the process of communication between the first controller and the second controller via private CAN, which will not be repeated here. The first controller and the third controller can take over each other via private CAN. For example: when the first controller fails but the second controller is not faulty, the third controller detects a fault in the first controller through the private CAN, and can take over the first controller and communicate with the second controller through the private CAN to control the vehicle steering. When the second controller fails but the first controller is not faulty, the fourth controller detects a fault in the second controller through the private CAN, and can take over the second controller and communicate with the first controller through the private CAN to control the vehicle steering. By setting up redundancy for the controller, the reliability of the controller can be improved, and thus the safety of the vehicle can be improved.

[0030] The health status of the controller refers to the current operating status of the controller. There are many types of health status of the controller, such as fault-free status, faulty status, offline status, etc. The controller is in offline status, which means that it is currently uncertain whether the controller is normal, or the controller cannot communicate with other systems or devices. The controller is in offline status because the controller itself may be faulty, or it may not be faulty, but the communication path with other devices is broken, causing it to fail to work normally.

[0031] The controller in the wire steering system can send its own health status signal, or monitor the health status of other controllers and send out health status signals. For example: the first controller can send its own health status signal, or send the health status signal of the second controller it monitors (for the convenience of description, the health status signal sent by the first controller is referred to as the first health status signal below). The second controller can send its own health status signal, or send the health status signal of the fourth controller it monitors (for the convenience of description, the health status signal sent by the second controller is referred to as the second health status signal below). The third controller can send its own health status signal, or send the health status signal of the fourth controller it monitors (for the convenience of description, the health status signal sent by the third controller is referred to as the third health status signal below). The fourth controller can send its own health status signal, or send the health status signal of the second controller it monitors (for the convenience of description, the health status signal sent by the fourth controller is referred to as the fourth health status signal below). The controller sends the health status of other controllers it monitors and sends out health status signals. The other controllers here can be one or more, and the application does not limit the number of controllers here. The health status signal can indicate the health status of at least one controller in the wire steering system.

[0032] There are many ways to present the health status signal sent by the controller. For example, it can be presented through the fault code sent by the controller, or it can be presented through the status code sent by the controller. Taking the fault code sent by the controller as an example, the controller can send a fault code to indicate its own health status signal, or it can send a fault code to indicate the health status signal of itself and the controller it monitors. The following example illustrates the situation where the fault code sent by the controller can simultaneously indicate the health status signal of itself and the controller it monitors. For example, the fault code sent by the controller can be defined as follows: when the fault code sent by the controller is "0", it means that the current controller and the controller it monitors are both fault-free; when the fault code sent by the controller is "1", it means that the current controller has a fault; when the fault code sent by the controller is "2", it means that another controller monitored by the current controller has a fault; when the fault code sent by the controller is "3", it means that the current controller and another controller monitored by it have a fault; when the fault code sent by the controller is "4", it means that the current controller is in an offline state. The fault code sent by the controller and the health status signal of the corresponding controller are just an example. The fault code may be in various forms, such as numbers, letters, or a combination of numbers and letters, etc. Different health status signals may correspond to different fault codes.

[0033] After obtaining the health status signal sent by the controller in the wire steering system, the health status of the controller can be confirmed according to the health status signal. For example, the first controller can determine whether it has a fault through the first health status signal sent by itself. If the first health status signal indicates that the first controller is in a non-fault state, it is determined that the first controller is in a non-fault state. Otherwise, it is determined that the first controller is in a fault state. The second controller can determine whether the second controller has a fault through the second health status signal sent by itself, the first health status signal sent by the first controller, and the fourth health status signal sent by the fourth controller. If the first health status signal, the second health status signal, and the fourth health status signal all indicate that the second controller is in a fault state, or at least two of the three health status signals indicate that the second controller is in an offline state, it is determined that the second controller is in a fault state. Otherwise, it is determined that the second controller is in a non-fault state. The third controller can determine whether it has a fault through the third health status signal sent by itself. If the third health status signal indicates that the third controller is in a non-fault state, it is determined that the third controller is in a fault state. Otherwise, it is determined that the third controller is in a fault state. The fourth controller can determine whether the fourth controller has a fault through the fourth health status signal sent by itself, the second health status signal sent by the second controller, and the third health status signal sent by the third controller. If the second health status signal, the third health status signal, and the fourth health status signal all indicate that the fourth controller is in a fault state, or at least two of the three health status signals indicate that the fourth controller is in an offline state, it is determined that the fourth controller is in a fault state. Otherwise, it is determined that the fourth controller is in a non-fault state.

[0034] As mentioned above, the health status signal can be presented through the fault code. The following is a detailed description of how to indicate the health status of the controller in the wire steering system through the health status signal in combination with the fault code. For example: for the first controller, if the fault code issued by the first controller is 0 or 2, it means that the first controller is in a non-fault state. If the fault code issued by the first controller is not 0 or 2, it means that the first controller is in a fault state. For the second controller, if the fault code issued by the first controller is 2 or 3, or the fault code issued by the second controller is 1 or 3, or the fault code issued by the fourth controller is 2 or 3, or the fault code issued by at least two of the first controller, the second controller and the fourth controller is 4, it means that the second controller is in a fault state. Otherwise, it means that the second controller is in a non-fault state. For the third controller, if the fault code issued by the third controller is 0 or 2, it means that the third controller is in a non-fault state. If the fault code issued by the third controller is not 0 or 2, it means that the third controller is in a fault state. For the fourth controller, if the fault code sent by the second controller is 2 or 3, or the fault code sent by the third controller is 2 or 3, or the fault code sent by the fourth controller is 1 or 3, or the fault code sent by at least two of the second controller, the third controller and the fourth controller is 4, it indicates that the fourth controller is in a fault state. Otherwise, it indicates that the fourth controller is in a non-fault state.

[0035] In the above example, the health status of the second controller and the fourth controller is monitored by multiple controllers. Since the second controller and the fourth controller are both controllers that control the steering of the wheels, once a fault occurs, the vehicle may be unable to steer, so the accuracy of the health status of the second controller and the fourth controller is very important. By jointly verifying the health status of a controller through the health status signals of multiple controllers, the health status of the determined controller can be more accurate. Based on the accurate judgment of the health status of the controller, the subsequent fault handling strategy can be more targeted, thereby improving the safety of the vehicle.

[0036] In step S120 , a fault type of the steer-by-wire system is determined according to a health status of at least one controller.

[0037] When the first controller, the second controller, the third controller and the fourth controller in the steer-by-wire system are all in a fault-free state, it is determined that the steer-by-wire system is fault-free. However, when at least one of the first controller, the second controller, the third controller and the fourth controller fails, the vehicle has a safety hazard. In order to improve the safety of the vehicle, in addition to using the controller in the steer-by-wire system, a steering wheel angle sensor provided outside the steer-by-wire system can also be used to obtain the driver's steering intention. When both the first controller and the third controller fail, the steering wheel angle sensor can send the driver's desired steering wheel angle signal to the controller of the wheel steering actuator to control the wheel steering.

[0038] The following exemplary classification of the fault types of the wire steering system is carried out in combination with the health status of the controller in the wire steering system and the health status of the steering wheel angle sensor set outside the wire steering system. The first controller and the second controller can complete the entire information transmission process from obtaining the driver's steering intention to sending the driver's desired steering wheel angle signal to the wheel steering actuator and controlling the wheel steering, thereby forming a complete control link (for the convenience of description, this link is referred to as the first control link below). The third controller and the fourth controller as spare controllers can also form a complete control link (for the convenience of description, this link is referred to as the second control link below). When at least two of the first controller, the third controller and the steering wheel angle sensor set outside the wire steering system are in a fault-free state, at least one of the first control link and the second control link is in a fault-free state, and at least one of the first controller to the fourth controller is in a faulty state, this fault type can be determined as the first fault type. Compared with the situation where all controllers in the wire steering system are fault-free, although the safety of the vehicle is slightly weaker in the first fault type, sufficient steering capability can still be guaranteed. When at least one of the first controller, the third controller and the steering wheel angle sensor is in a fault-free state, and one of the second controller and the fourth controller is in a fault-free state but the other controller is in a faulty state, and both the first control link and the second control link are in a faulty state, this fault type can be determined as a second fault type. In the second fault type, the same control link is in a faulty state, but controllers with the same function in different links can take over each other, so wheel steering can also be completed. The second fault type, because it involves the interaction of different control links, will increase the processing burden of the controller and affect the performance of the wire steering system. For example, it may cause the controller's control steering ability to weaken. For example, in the case of sufficient steering ability, the wire steering system can control the wheel angle of 45 degrees, but in the case of relatively weak steering ability, although the wire steering system can also control the wheel steering, the controllable wheel angle may be less than 45 degrees. For another example, compared with the case of sufficient steering ability, in the case of relatively weak wire steering system ability, the time for the wire steering system to control the wheel steering will be delayed. When at least one of the first controller, the third controller, and the steering wheel angle sensor is in a non-fault state, and the second controller and the fourth controller are both in a fault state, this fault type can be determined as the third fault type. In the third fault type, both the main controller and the backup controller of the wheel steering actuator are faulty. In this case, although the vehicle can still obtain the driver's steering intention, it cannot perform wheel steering, which is a relatively dangerous state. When the first controller, the third controller, and the steering wheel angle sensor are all in a fault state, this fault type can be determined as the fourth fault type.The fourth fault type is that the controller and sensor for obtaining the driver's steering intention are both faulty. At this time, the vehicle can neither obtain the driver's steering intention nor perform wheel steering, which is a particularly dangerous state.

[0039] In step S130, according to the fault type, the vehicle is controlled to execute the fault handling strategy corresponding to the fault type. When the vehicle's wire steering system fails, the safety of the vehicle can be improved by limiting the vehicle speed. Different fault types can correspond to different speed limits. The higher the risk factor that may be caused by the fault of the wire steering system, the lower the speed of the controlled vehicle. For example: the threshold of the vehicle speed corresponding to the first fault type can be set to the first threshold. The threshold of the vehicle speed corresponding to the second fault type can be set to the second threshold. The threshold of the vehicle speed corresponding to the third fault type can be set to the third threshold. Since the fourth fault type belongs to a particularly dangerous state, no threshold can be set, and emergency braking can be directly performed to control the vehicle brake. The specific data of the first threshold, the second threshold, and the third threshold are set to what, and this application does not limit it, but the threshold needs to meet the following conditions: the first threshold is greater than the second threshold, and the second threshold is greater than the third threshold. The threshold can be data determined according to industry standards, or it can be relatively reasonable data determined based on experience or experiments. When it is confirmed that the wire steering system is fault-free, no processing of the vehicle is required. When it is confirmed that the fault type of the steer-by-wire system belongs to the first fault type, if the current vehicle speed is higher than the first threshold, the vehicle speed can be controlled so that the vehicle speed is less than or equal to the first threshold. When it is confirmed that the fault type of the steer-by-wire system belongs to the second fault type, if the current vehicle speed is higher than the second threshold, the vehicle speed can be controlled so that the vehicle speed is less than or equal to the second threshold. When it is confirmed that the fault type of the steer-by-wire system belongs to the third fault type, if the current vehicle speed is higher than the third threshold, the vehicle speed can be controlled so that the vehicle speed is less than or equal to the third threshold. Different speed limits are set based on different fault types, which makes the formulated fault handling strategy more targeted, and can effectively reduce the safety hazards caused by abnormalities in the steer-by-wire system, thereby improving the safety of the vehicle.

[0040] Optionally, in some embodiments, when encountering the third fault type, if the controller of the steering wheel actuator or the steering wheel angle sensor receives a steering command, the vehicle steering can be controlled by differential braking. Differential braking refers to steering by controlling the rotation speed of the left and right drive wheels. When the rotation speeds of the drive wheels are different, the vehicle can be turned even if the steering wheel is not moving. In the case where the wire control steering system fails and the wheel steering cannot be achieved, differential braking provides a way to achieve vehicle steering when the driver has the intention to steer, thereby improving the safety of the vehicle.

[0041] The above article introduces the method of handling faults in detail. Figure 3, the fault handling process in the embodiment of the present application is described in more detail. Among them, the health status of the controller includes a fault-free state, a faulty state, and an offline state, and the vehicle speed limit thresholds are V1, V2, and V3, respectively, and V1>V2>V3. It should be noted that this example is only to help those skilled in the art understand the embodiments of the present application, and is not intended to limit the embodiments of the present application to the specific types or scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given below, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0042] The controller in the steer-by-wire system sends a health status signal. The health status of the controller is determined based on the fault code sent by the steer-by-wire system. The controller includes: a first controller (main controller of the steering wheel actuator), a second controller (main controller of the wheel steering actuator), a third controller (backup controller of the steering wheel actuator) and a fourth controller (backup controller of the wheel steering actuator). The controllers communicate with each other through a private CAN. The health status signal of the main controller is sent through the main CAN, and the health status signal of the backup controller is sent through the secondary CAN.

[0043] The fault type of the steer-by-wire system is classified in combination with the health status of the controller and the external steering wheel angle sensor. When all the controllers in the steer-by-wire system are in a fault-free state, the steer-by-wire system is determined to be in a fault-free state. When at least two of the first controller, the third controller, and the steering wheel angle sensor provided outside the steer-by-wire system are in a fault-free state, at least one of the first control link and the second control link is in a fault-free state, and at least one of the first to fourth controllers is in a fault state, the steer-by-wire system is determined to be a first fault type. When at least one of the first controller, the third controller, and the steering wheel angle sensor is in a fault-free state, and one of the second and fourth controllers is in a fault-free state but the other is in a fault state, and both the first control link and the second control link are in a fault state, the steer-by-wire system is determined to be a second fault type. When at least one of the first controller, the third controller, and the steering wheel angle sensor is in a fault-free state, and both the second controller and the fourth controller are in a fault state, the steer-by-wire system is determined to be a third fault type. When the first controller, the third controller, and the steering wheel angle sensor are all in a fault state, the steer-by-wire system is determined to be a fourth fault type.

[0044] Strategies such as vehicle speed limit, differential braking, and vehicle braking are implemented according to the fault type. For the first fault type, the vehicle speed is limited to below V1 (including V1); for the second fault type, the vehicle speed is limited to below V2 (including V2); for the third fault type, the vehicle speed is limited to below V3 (including V3). If the driver's intention to turn is obtained, differential braking control is implemented; for the fourth fault type, emergency braking is implemented to stop the vehicle.

[0045] Combination of the above Figures 1 to 3 , described the method embodiment of the present application in detail, and the device embodiment of the present application is described in detail below. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the part not described in detail can refer to the previous method embodiment.

[0046] Figure 4 4 is a schematic diagram of the structure of the device for handling faults provided in an embodiment of the present application. The device 400 includes a receiving module 410, a determining module 420 and a control module 430. The receiving module 410 is used to receive at least one health status signal sent by the vehicle's steer-by-wire system, and the at least one health status signal is used to indicate the health status of at least one controller in the steer-by-wire system. The determining module 420 is used to determine the fault type of the steer-by-wire system according to the health status of at least one controller. The control module 430 is used to control the vehicle to execute a fault handling strategy corresponding to the fault type according to the fault type.

[0047] Figure 5 5 is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 500 includes a memory 510 and a processor 520. The memory 510 is used to store program instructions. The processor 520 is used to execute program instructions to execute the method for handling a fault in any of the above embodiments.

[0048] An embodiment of the present application further provides a computer-readable storage medium, on which codes are stored, and the codes are used to execute the method for handling faults in any of the above embodiments.

[0049] An embodiment of the present application also provides a computer program product, including a computer program, and the computer program is used to execute the method for handling faults in any of the above embodiments.

[0050] It should be understood that in the embodiment of the present application, determining B based on A does not mean determining B only based on A, but B can also be determined based on A and / or other information.

[0051] It should be understood that in the embodiment of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0052] It should be understood that the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0053] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0054] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0055] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0056] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0057] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can read or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. Available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, digital video discs (DVD)), or semiconductor media (eg, solid state disks (SSD)).

[0058] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for handling a fault, characterized in that: include: Receiving at least one health status signal sent by a steer-by-wire system of a vehicle, wherein the at least one health status signal is used to indicate a health status of at least one controller in the steer-by-wire system; determining a fault type of the steer-by-wire system based on a health status of the at least one controller; According to the fault type, the vehicle is controlled to execute a fault handling strategy corresponding to the fault type.

2. The method according to claim 1, characterized in that The at least one controller includes at least one of the following controllers: a first controller, the first controller being a main controller of the steering wheel actuator; a second controller, the second controller being a main controller of the wheel steering actuator; a third controller, the third controller being a backup controller for the steering wheel actuator; A fourth controller, wherein the fourth controller is a backup controller of the wheel steering actuator.

3. The method according to claim 2, characterized in that The at least one health status signal includes at least one of the following: a first health status signal, wherein the first health status signal is a health status signal sent by the first controller, and the first health status signal is used to indicate a health status signal of the first controller and / or the second controller; A second health status signal, where the second health status signal is a health status signal sent by the second controller, and the second health status signal is used to indicate a health status signal of the second controller and / or the fourth controller; a third health status signal, wherein the third health status signal is a health status signal sent by the third controller, and the third health status signal is used to indicate a health status signal of the third controller and / or the fourth controller; A fourth health status signal, wherein the fourth health status signal is a health status signal sent by the fourth controller, and the fourth health status signal is used to indicate a health status signal of the fourth controller and / or the second controller.

4. The method according to claim 3, characterized in that The method further comprises: If the first health status signal indicates that the first controller is in a non-fault state, then determining that the first controller is in a non-fault state; otherwise, determining that the first controller is in a fault state; and / or, If the first health status signal indicates that the second controller is in a fault state, the second health status signal indicates that the second controller is in a fault state, the fourth health status signal indicates that the second controller is in a fault state, or at least two of the first health status signal, the second health status signal and the fourth health status signal indicate that the second controller is in an offline state, then it is determined that the second controller is in a fault state; otherwise, it is determined that the second controller is in a non-fault state; and / or, If the third health status signal indicates that the third controller is in a non-fault state, then determining that the third controller is in a non-fault state; otherwise, determining that the third controller is in a fault state; and / or, If the second health status signal indicates that the fourth controller is in a fault state, the third health status signal indicates that the fourth controller is in a fault state, the fourth health status signal indicates that the fourth controller is in a fault state, or at least two of the second health status signal, the third health status signal and the fourth health status signal indicate that the fourth controller is in an offline state, then it is determined that the fourth controller is in a fault state; otherwise, it is determined that the fourth controller is in a non-fault state.

5. The method according to any one of claims 2 to 4, characterized in that Determining the fault type of the steer-by-wire system according to the health status of the at least one controller comprises at least one of the following: If at least two of the first controller, the third controller, and the steering wheel angle sensor provided outside the steer-by-wire system are in a non-fault state, at least one of the first control link and the second control link is in a non-fault state, and at least one of the first to fourth controllers is in a fault state, then determining that the fault type is a first fault type; If at least one of the first controller, the third controller and the steering wheel angle sensor is in a non-fault state, one of the second controller and the fourth controller is in a non-fault state and the other controller is in a fault state, and both the first control link and the second control link are in a fault state, then determining that the fault type is a second fault type; If at least one of the first controller, the third controller and the steering wheel angle sensor is in a non-fault state, and both the second controller and the fourth controller are in a fault state, determining that the fault type is a third fault type; If the first controller, the third controller and the steering wheel angle sensor are all in a fault state, determining that the fault type is a fourth fault type; The first control link is a control link formed by the first controller and the second controller, and the second control link is a control link formed by the third controller and the fourth controller.

6. The method according to claim 5, characterized in that The controlling the vehicle to execute a fault handling strategy corresponding to the fault type according to the fault type includes at least one of the following: If the fault type is the first fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a first threshold; If the fault type is the second fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a second threshold; If the fault type is the third fault type, controlling the speed of the vehicle so that the speed of the vehicle is less than or equal to a third threshold; If the fault type is the fourth fault type, controlling the vehicle to brake; The first threshold is greater than the second threshold, and the second threshold is greater than the third threshold.

7. The method according to claim 5, characterized in that The method further comprises: If the fault type is the third fault type, and the first controller, the third controller, and the device in the steering wheel angle sensor that is in a non-fault state receive a steering instruction, the vehicle steering is controlled based on a differential braking method.

8. The method according to any one of claims 2 to 4, characterized in that The method further comprises: If the first controller, the second controller, the third controller, and the fourth controller are all in a non-fault state, it is determined that the steer-by-wire system has no fault.

9. A device for handling a fault, characterized in that: include: a receiving module, configured to receive at least one health status signal sent by a steer-by-wire system of a vehicle, wherein the at least one health status signal is used to indicate a health status of at least one controller in the steer-by-wire system; a determination module, configured to determine a fault type of the steer-by-wire system according to a health status of the at least one controller; A control module is used to control the vehicle to execute a fault handling strategy corresponding to the fault type according to the fault type.

10. A vehicle, characterized in that: include: A memory for storing program instructions; A processor, configured to execute the program instructions to perform the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores codes for executing the method according to any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that The computer program is used to execute the method according to any one of claims 1 to 8.

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