Four-wheel steering system corner response method, vehicle and storage medium

Abstract

The invention relates to a wheel steering mechanism, and discloses a four-wheel steering system steering angle response method, a vehicle and a storage medium, and the four-wheel steering system steering angle response method comprises the steps of obtaining a steering angle request; whether the four-wheel steering system fails or not is judged, and when the four-wheel steering system fails, the failure state of the four-wheel steering system is obtained; determining a corresponding response strategy according to the failure state; and judging whether the four-wheel steering system continues to execute the steering angle request or not according to the response strategy. According to the method, different response strategies are set to be matched with the failure states, so that the four-wheel steering system has respondable execution strategies in different failure states, and the problem that whether the steering angle request continues to be executed or not cannot be judged when signal interaction between the four-wheel control system and the whole vehicle control system goes wrong is effectively solved; therefore, the safety of automatic driving is improved.

Description

Technical Field

[0001] The invention relates to a steering mechanism of a vehicle, and in particular to a steering angle response method of a four-wheel steering system, a vehicle and a storage medium. Background Art

[0002] With the development of automobile steering technology, the power-assist form of passenger car steering systems has been upgraded from unassisted and hydraulic to electric power. The wire-controlled steering system based on electric power has achieved mechanical decoupling of the steering column and the steering gear on the basis of the traditional steering system. In addition, some vehicles are also equipped with a four-wheel independent steering system. By configuring an independent motor controller in each wheel steering system, the four wheels can rotate independently without interfering with each other. In conjunction with the driving system, the vehicle steering and driving states such as in-situ turning, oblique driving, crab driving, and fixed-point circling can be achieved, which greatly improves the steering and driving flexibility of the vehicle.

[0003] Compared with traditional steering systems, four-wheel independent steering systems have greater flexibility, and the possibility of electronic control-related failures is also much greater than that of traditional steering systems. In the current four-wheel independent steering system, there is a lack of identification of potential failure modes when the four-wheel independent steering system interacts with the vehicle control system. When problems occur in signal interaction, it is impossible to determine whether the next action can be taken. Therefore, there is an urgent need for a method that can clearly identify the angle response of the four-wheel independent steering system when it fails. Summary of the invention

[0004] The purpose of the present invention is to provide a four-wheel steering system angle response method, a vehicle and a storage medium to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0005] A four-wheel steering system turning angle response method according to an embodiment of the first aspect of the present invention comprises: Get steering angle request; Determining whether the four-wheel steering system fails, and when the four-wheel steering system fails, obtaining the failure state of the four-wheel steering system; Determine a corresponding response strategy according to the failure state; Determine whether the four-wheel steering system continues to execute the steering angle request according to the response strategy.

[0006] The technical solution has at least the following beneficial effects: when a steering angle request is obtained, it is determined whether the four-wheel steering system is failed. When the four-wheel steering system fails, that is, there is a failure problem when the four-wheel steering system interacts with the vehicle control system. At this time, there is a failed part in the four-wheel steering system, and it is impossible to achieve normal signal interaction with the vehicle control system. Therefore, the failure state of the four-wheel steering system is obtained, and the corresponding response strategy is determined according to the specific failure state obtained. At this time, it is determined according to this response strategy whether the four-wheel steering system can continue to execute the received steering angle request. In this way, by setting different response strategies and matching failure states, the four-wheel steering system has a responsive execution strategy under different failure states, which effectively solves the problem of being unable to determine whether to continue to execute the steering angle request when there is a problem in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0007] According to some embodiments of the present invention, the failure state includes: failure of vehicle speed information, inability to receive vehicle control decision signals, failure of torque angle sensor information, failure of motor rotor position sensor information, power supply failure and motor-related drive failure. The acquisition of the failure state of the four-wheel steering system includes: At least one of the failure in obtaining the vehicle speed information, the inability to receive the vehicle control decision signal, the failure in the torque angle sensor information, the failure in the motor rotor position sensor information, the power supply failure and the motor-related drive failure.

[0008] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is failure of the vehicle speed information, determining whether the standby controller can acquire the vehicle speed; When the backup controller can obtain the vehicle speed, the backup controller is controlled to control the four-wheel steering system to execute the steering angle request according to the currently obtained vehicle speed.

[0009] According to some embodiments of the present invention, determining whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot obtain the vehicle speed, the four-wheel steering system is controlled to execute the steering angle request at a preset speed.

[0010] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is the inability to receive the vehicle control decision signal, determining whether the standby controller can receive the vehicle control decision signal; When the standby controller can receive the vehicle control decision signal, the four-wheel steering system is controlled to continue to execute the steering angle request.

[0011] According to some embodiments of the present invention, determining whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot receive the vehicle control decision signal, the four-wheel steering system is controlled to stop steering.

[0012] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is that the torque angle sensor information fails, determining whether the standby controller can receive the wheel angle information; When the backup controller can receive the wheel angle information, the four-wheel steering system is controlled to continue to execute the steering angle request.

[0013] According to some embodiments of the present invention, determining whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot receive the wheel angle information, the four-wheel steering system is controlled to stop steering.

[0014] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is that the motor rotor position sensor information fails, acquiring first sine and cosine signals; Determining whether the first sine and cosine signals are within a preset normal operating threshold; When the first sine and cosine signals are within the preset normal working threshold, controlling the standby controller to obtain the second sine and cosine signals; Calculate an angle signal difference according to the first sine and cosine signal and the second sine and cosine signal; Determining whether the angle signal difference is within a preset signal difference threshold; When the angle signal difference is within the preset signal difference threshold, the four-wheel steering system is controlled to continue to execute the steering angle request.

[0015] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is the power supply failure, acquiring a voltage parameter of an electrical component, and acquiring a preset voltage threshold corresponding to the electrical component; Determine whether the voltage parameter is within the preset voltage threshold; When the voltage parameter is within the preset voltage threshold, the four-wheel steering system is controlled to continue to execute the steering angle request.

[0016] According to some embodiments of the present invention, the electrical components include an engine control unit, a microcontroller, a torque angle sensor, and a motor rotor position sensor, and obtaining voltage parameters of the electrical components includes: The voltage parameters of the engine control unit, the voltage parameters of the microcontroller, the voltage parameters of the torque angle sensor and the voltage parameters of the motor rotor position sensor are obtained.

[0017] According to some embodiments of the present invention, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes: When the acquired failure state is failure of the motor-related drive, acquiring the motor-related drive working state; Determine whether the motor-related drive working state is normal; When the motor-related driving working state is normal, the four-wheel steering system is controlled to continue to execute the steering angle request.

[0018] According to some embodiments of the present invention, the motor-related driving working state includes: metal oxide semiconductor field effect transistor temperature state, three-phase current state, pre-drive circuit output state, drive circuit output state, and obtaining the motor-related driving working state includes: The temperature state of the metal oxide semiconductor field effect transistor, the three-phase current state, the output state of the pre-drive circuit, and the output state of the drive circuit are obtained.

[0019] A vehicle according to an embodiment of the second aspect of the present invention comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein the program implements the above-mentioned four-wheel steering system angle response method when executed by the processor.

[0020] This technical solution has at least the following beneficial effects: when a vehicle uses this four-wheel steering system angle response method, by setting different response strategies and pairing them with failure states, the four-wheel steering system has a responsive execution strategy under different failure states, effectively solving the problem of being unable to determine whether to continue to execute the steering angle request when problems arise in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0021] According to the third aspect of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned four-wheel steering system angle response method.

[0022] This technical solution has at least the following beneficial effects: the above-mentioned four-wheel steering system angle response method can be implemented as a computer program and tangibly contained in a computer-readable storage medium. When the processor uses this computer-readable storage medium to perform the four-wheel steering system angle response method, by setting different response strategies and pairing them with failure states, the four-wheel steering system has a responsive execution strategy under different failure states, effectively solving the problem of being unable to determine whether to continue to execute the steering angle request when problems arise in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0023] Additional aspects and advantages of the present invention will be described in part in the following description and will be apparent from the following description. This disclosure may be apparent or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly describes the drawings required for use in the description of the embodiments. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0025] Figure 1 It is the overall flow chart of the turning angle response method of the four-wheel steering system of the present invention.

[0026] Figure 2 It is a flow chart of an embodiment 1 of the present invention for judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy.

[0027] Figure 3 This is a flow chart of Embodiment 2 of the present invention for determining whether the four-wheel steering system continues to execute a steering angle request based on a response strategy.

[0028] Figure 4 This is a flow chart of Embodiment 3 of the present invention for determining whether the four-wheel steering system continues to execute a steering angle request based on a response strategy.

[0029] Figure 5 This is a flow chart of Embodiment 4 of the present invention for determining whether the four-wheel steering system continues to execute a steering angle request based on a response strategy.

[0030] Figure 6This is a flow chart of Embodiment 5 of the present invention for determining whether the four-wheel steering system continues to execute a steering angle request based on a response strategy.

[0031] Figure 7 This is a flow chart of Example 6 of the present invention for determining whether the four-wheel steering system continues to execute a steering angle request based on a response strategy. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0035] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0036] The four-wheel steering system is a redundant steering system, that is, it consists of two groups of controllers and two groups of motors. The two groups of controllers are the main controller and the backup controller. When one group of power assist fails, the other group can still provide 50% power assist, so that the functional safety level reaches ASIL-D, which greatly reduces the hardware failure rate. During normal automatic steering, the upper-level automatic driving system of the independent steering system is the vehicle control system. The vehicle control system sends a steering angle command to the four-wheel steering system. The four-wheel steering system converts the actual wheel angle according to the steering angle request value of the vehicle control system (the steering angle of the front left wheel, the steering angle of the front right wheel, the steering angle of the rear left wheel, and the steering angle of the rear right wheel) and the torque angle sensor analysis angle, and obtains the actual wheel angle through transmission ratio conversion. After the difference is made, the target speed is obtained through position proportional control. When the motor speed is enabled, the actual steering wheel speed is obtained by converting the motor speed through the transmission ratio. When the motor speed is not enabled, the actual steering wheel speed is obtained through the torque angle sensor, and the speed difference is obtained by subtracting the steering wheel target speed from the actual speed. The speed difference is controlled by proportional integral in the speed loop to obtain the angle closed-loop torque. After the end protection effect, the torque is superimposed with the torque of the compensation function and corrected to obtain the motor torque request, which generates the corresponding current in the motor, thereby adjusting the direction of the vehicle and realizing the corresponding wheel steering.

[0037] Reference Figure 1 According to the four-wheel steering system angle response method of the first embodiment of the present invention, the method includes but is not limited to the following steps: Step S100, obtaining a steering angle request. At this time, the vehicle control system sends a steering angle instruction to the four-wheel steering system, and the four-wheel steering system receives and obtains the steering angle request.

[0038] Step S200, determine whether the four-wheel steering system fails; when the four-wheel steering system fails, enter step S300 to obtain the failure state of the four-wheel steering system. Determine whether the four-wheel steering system and the vehicle control system can achieve normal signal interaction. When the four-wheel steering system and the vehicle control system can achieve normal signal interaction, the four-wheel steering system can normally execute the steering angle request; when the four-wheel steering system and the vehicle control system cannot achieve normal signal interaction, there is an abnormality in the four-wheel steering system, that is, there is a failure in the four-wheel steering system, and the specific failure state of the four-wheel steering system needs to be obtained.

[0039] Step S400, determining a corresponding response strategy according to the failure state. Different failure states have different execution modes. When the failure state is serious, the steering angle request cannot be executed. Therefore, the response strategy to be executed at this time is determined according to the specific failure state in the four-wheel steering system at this time.

[0040] Step S500, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy. By corresponding to the response strategy in the failure state at this time, it can be accurately judged whether to continue to execute the steering angle request when the four-wheel control system and the vehicle control system signal cannot interact normally, thereby improving the execution ability and safety of the four-wheel steering system during automatic driving.

[0041] From the above, it can be seen that when a steering angle request is obtained, it is determined whether the four-wheel steering system is failed. When the four-wheel steering system fails, that is, there is a failure problem when the four-wheel steering system interacts with the vehicle control system. At this time, there is a failed part in the four-wheel steering system, and it is impossible to achieve normal signal interaction with the vehicle control system. Therefore, the failure state of the four-wheel steering system is obtained, and the corresponding response strategy is determined according to the specific failure state determined. At this time, it is determined according to this response strategy whether the four-wheel steering system can continue to execute the received steering angle request. In this way, by setting different response strategies and matching failure states, the four-wheel steering system has a responsive execution strategy under different failure states, which effectively solves the problem of being unable to determine whether to continue to execute the steering angle request when there is a problem in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0042] In the control logic of the four-wheel steering system, the state machine of the automatic driving mode control of the four-wheel steering system receives the steering angle request interface state and request value, fault state, vehicle speed, and request response function mode from the vehicle control system through CAN communication. The torque calculation module of the wheel angle control in the four-wheel steering system receives the angle request value and direction, vehicle speed, wheel angle, motor speed and other information, and is controlled by the state machine to output the motor request torque according to the angle closed-loop function. Therefore, according to the control logic of this four-wheel steering system, the failure state involved is determined, and the failure state includes: failure of vehicle speed information, inability to receive vehicle control decision signals, failure of torque angle sensor information, failure of motor rotor position sensor information, power supply failure and motor-related drive failure. In step 300, the failure state of the four-wheel steering system is obtained, including but not limited to the following steps: At least one of the following conditions is met: failure to obtain vehicle speed information, failure to receive vehicle control decision signals, failure of torque angle sensor information, failure of motor rotor position sensor information, failure of power supply, and failure of motor-related drive. When the four-wheel steering system fails, it is necessary to obtain a specific one of the following conditions: failure to obtain vehicle speed information, failure to receive vehicle control decision signals, failure of torque angle sensor information, failure of motor rotor position sensor information, failure of power supply, and failure of motor-related drive, so as to determine which link in the control logic of the four-wheel steering system affects the normal interaction between the four-wheel steering system and the vehicle control system.

[0043] In step 300, as an example of a failure state, Figure 2 As shown, when the acquired invalid vehicle speed is the vehicle speed information invalid, in step S500, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes but is not limited to the following steps: Step S511, determine whether the backup controller can obtain the vehicle speed. The four-wheel steering system is a redundant steering system. When in normal use, the internal main controller receives the vehicle speed. When the main controller cannot obtain the vehicle speed, that is, the acquisition of the vehicle speed information fails, the backup controller needs to determine whether the vehicle speed can be obtained to determine whether the steering angle request can continue to be executed.

[0044] When the standby controller can obtain the vehicle speed, the process proceeds to step S512, where the standby controller is controlled to control the four-wheel steering system to execute the steering angle request according to the currently acquired vehicle speed. At this time, the standby controller can obtain the vehicle speed, and according to the vehicle speed obtained by the standby controller, the standby controller can configure the four-wheel steering system with a corresponding vehicle speed corresponding to the vehicle speed, thereby executing the steering angle request.

[0045] When the standby controller cannot obtain the vehicle speed, the process proceeds to step S513, and the four-wheel steering system is controlled to execute the steering angle request at a preset speed. At this time, the standby controller also cannot normally obtain the vehicle speed. In this case, the execution of the steering angle request by the four-wheel steering system is not affected. Therefore, the four-wheel steering control system executes at a preset speed, for example, executing the steering angle request at a lower vehicle speed, to ensure the safety of automatic steering.

[0046] In step 300, as a second embodiment of the failure state, Figure 3 As shown, when the acquired failure speed is unable to receive the vehicle control decision signal, in step 500, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes but is not limited to the following steps: Step S521, determine whether the standby controller can receive the vehicle control decision signal. Since the four-wheel steering system is a redundant steering system, the internal main controller receives the vehicle control decision signal during normal use. When the main controller cannot obtain the vehicle control decision signal, that is, it cannot receive the vehicle control decision signal, the standby controller needs to determine whether the vehicle control decision signal can be obtained to determine whether the steering angle request can continue to be executed.

[0047] When the standby controller can receive the vehicle control decision signal, the process proceeds to step S522 to control the four-wheel steering system to continue to execute the steering angle request. At this time, the standby controller can normally receive the vehicle control decision signal, obtain the steering angle request, and use the standby controller for communication, so that the four-wheel steering system can continue to execute the steering angle request.

[0048] When the standby controller cannot receive the vehicle control decision signal, the process proceeds to step S523 to control the four-wheel steering system to stop steering. At this time, in the four-wheel steering system, both the main controller and the standby controller cannot receive the steering angle request, and the four-wheel steering system and the vehicle control system cannot achieve normal signal interaction. Therefore, it is necessary to stop the four-wheel steering system from executing the steering angle request.

[0049] The torque angle sensor sends the wheel steering angle position information to the ISS through the SENT protocol. The angle information sent by the torque angle sensor is parsed through the angle following and cursor algorithm. This angle information is used for angle feedback control after being converted by the transmission ratio. At the same time, the wheel angle position can be fed back. In step 300, as the third embodiment of the failure state, Figure 4 As shown, when the acquired failure vehicle speed is the torque angle sensor information failure, in step S500, it is determined whether the four-wheel steering system continues to execute the steering angle request according to the response strategy, including but not limited to the steps: Step S531, determine whether the standby controller can receive wheel angle information. Since the four-wheel steering system is a redundant steering system, in normal use, the wheel angle information is received by the torque angle sensor in the internal main controller. When the torque angle sensor in the main controller has a SENT protocol failure, a signal overlimit failure, a TAS angle synchronization check failure, a cursor confidence failure, etc., the angle of the torque angle sensor will be judged to be invalid. At this time, when the main controller cannot obtain the wheel angle information, that is, the acquisition of the torque sensor information fails, the standby controller needs to first determine whether the wheel angle information can be obtained to determine whether the steering angle request can continue to be executed.

[0050] When the standby controller can receive the wheel angle information, the process proceeds to step S532 to control the four-wheel steering system to continue to execute the steering angle request. At this time, the standby controller can normally receive the wheel angle information, obtain the steering angle request, and switch to the standby controller for communication, thereby enabling the four-wheel steering system to continue to execute the steering angle request.

[0051] When the standby controller cannot receive the wheel angle information, the process proceeds to step S533 to control the four-wheel steering system to stop steering. At this time, in the four-wheel steering system, both the main controller and the standby controller cannot receive the wheel angle information and respond to the steering angle request, and the four-wheel steering system and the vehicle control system cannot achieve normal signal interaction. Therefore, it is necessary to stop the four-wheel steering system from executing the steering angle request.

[0052] In step 300, as a fourth embodiment of the failure state, when the acquired failure vehicle speed is the failure of the motor rotor position sensor information, such as Figure 5As shown, in step S500, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes but is not limited to the following steps: Step S541, obtaining first sine and cosine signals. Since the four-wheel steering system is a redundant steering system, the first sine and cosine signals are first obtained by a main controller in the four-wheel steering system.

[0053] Step S542, determine whether the first sine and cosine signals are within a preset normal working threshold. In normal operation, the first sine and cosine signals are within the preset normal working threshold, for example, the preset normal working threshold is [0, 2750]. Therefore, determine whether the first sine and cosine signals exceed the normal working threshold, so as to preliminarily determine whether the motor rotor position sensor information is normal.

[0054] When the first sine and cosine signals are within the preset normal working threshold, the process proceeds to step S543, and the standby controller is controlled to obtain the second sine and cosine signals. For example, when the first sine and cosine signals are within the normal working threshold [0, 2750], the standby controller is used to obtain the second sine and cosine signals for further judgment.

[0055] Step S544, calculate the angle signal difference according to the first sine and cosine signal and the second sine and cosine signal. The angle signal difference is obtained by comparing the information obtained by the motor rotor position sensor in the main controller with the information obtained by the motor rotor position sensor in the standby controller, so as to determine whether the motor rotor position sensor signal inspection has a fault.

[0056] Step S545, determine whether the angle signal difference is within a preset signal difference threshold. In normal operation, the angle signal difference is within the preset signal difference threshold, for example, determine whether the angle signal difference is greater than 4.1°, so as to further verify the electronic rotor position sensor.

[0057] When the angle signal difference is within the preset signal difference threshold, the process proceeds to step S546, and the four-wheel steering system is controlled to continue to execute the steering angle request. When the angle signal difference is within 4.1°, the four-wheel steering system has passed the inspection and can respond to the steering angle request, so the four-wheel steering system is controlled to continue to execute the steering angle request.

[0058] In addition, in step S542, when the first sine and cosine signals are not within the preset normal working threshold, it is determined in the preliminary detection that the steering angle request cannot be responded to; or in step S545, when the angle signal difference is not within the preset signal difference threshold, it is detected again that the angle signal difference exceeds 4.1°, and it is determined that the steering angle request cannot be responded to, and step S547 is entered to control the four-wheel steering system to stop steering.

[0059] In step 300, as the fifth embodiment of the failure state, when the acquired failure vehicle speed is a power failure, as shown in FIG. Figure 6 As shown, in step S500, judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy includes but is not limited to the following steps: Step S551, obtaining voltage parameters of electrical components and obtaining preset voltage thresholds of corresponding electrical components. In this embodiment, it is necessary to determine whether the power supply is normal, therefore, it is necessary to obtain voltage parameters of main electrical components for subsequent voltage comparison and determination.

[0060] Step S552, determine whether the voltage parameter is within the preset voltage threshold. Different electrical components have different preset voltage thresholds. Therefore, it is determined whether the voltage of the electrical component is within the corresponding preset voltage threshold. When the voltage parameter is within the preset voltage threshold, the power supply is normal; when the voltage parameter is not within the preset voltage threshold, the power supply fails.

[0061] When the voltage parameter is within the preset voltage threshold, the process proceeds to step S553 to control the four-wheel steering system to continue to execute the steering angle request. In the case where the electrical components are not detected to have power failure, the four-wheel steering system can continue to execute the steering angle request.

[0062] The electrical components include a variety of specific execution components, including an engine control unit, a microcontroller, a torque angle sensor and a motor rotor position sensor. Therefore, in step S551, the voltage parameters of the electrical components are obtained, including: obtaining the voltage parameters of the engine control unit, the voltage parameters of the microcontroller, the voltage parameters of the torque angle sensor and the voltage parameters of the motor rotor position sensor.

[0063] When the voltage parameter of the engine control unit is obtained, it is judged in step S552 that the corresponding preset voltage threshold is between 9V and 18V. When the voltage parameter is not within the preset voltage threshold, it enters step S554 to send a general fault alarm and control the power-assistance degradation of the four-wheel steering system. When the voltage parameter of the microcontroller is obtained, it is judged in step S552 that the corresponding preset voltage threshold does not exceed 3V; when the voltage parameter of the torque angle sensor and the voltage parameter of the motor rotor position sensor are obtained, it is judged in step S552 that the corresponding preset voltage threshold is between 4.9V and 5.15V. When any one of the voltage parameter of the engine control unit, the voltage parameter of the microcontroller, and the voltage parameter of the torque angle sensor exceeds the preset voltage threshold, it enters step S555 to control the four-wheel steering system to stop steering.

[0064] In step 300, as a sixth embodiment of the failure state, when the acquired failure vehicle speed is a motor-related drive failure, in step S500, it is determined whether the four-wheel steering system continues to execute the steering angle request according to the response strategy, including but not limited to the following steps: Step S561, obtaining the working state of the motor-related drive. In this embodiment, it is necessary to judge the working state of the motor-related drive, so it is necessary to obtain the working state of the motor-related drive first.

[0065] Step S562, determine whether the working state of the motor-related drive is normal. When the motor-related drive is working normally, the entire motor-related drive part can work normally. When there is a partial operating failure, the working state of the corresponding motor-related drive part is abnormal.

[0066] When the motor-related drive working state is normal, step S563, the four-wheel steering system is controlled to continue to execute the steering angle request. When the motor-related drive is detected to be normal, the four-wheel steering system can continue to execute the steering angle request.

[0067] The motor-related driving working state includes: the temperature state of the metal oxide semiconductor field effect transistor, the three-phase current state, the pre-drive circuit output state, and the drive circuit output state. Therefore, in step S561, the motor-related driving working state is obtained, including: obtaining the temperature state of the metal oxide semiconductor field effect transistor, the three-phase current state, the pre-drive circuit output state, and the drive circuit output state.

[0068] When it is determined in step S563 that the temperature state of the metal oxide semiconductor field effect transistor is abnormal, that is, the temperature of the metal oxide semiconductor field effect transistor exceeds the limit, then the process proceeds to step S564, sends a general fault alarm, and controls the power assistance of the four-wheel steering system to be degraded. When it is determined in step S563 that any one of the three-phase current state, the pre-drive circuit output state, and the drive circuit output state is abnormal, that is, the three-phase current exceeds the limit, the pre-drive circuit output fails, the drive circuit output fails or is stuck, then the four-wheel steering system cannot work normally, so the process proceeds to step S565, and the four-wheel steering system is controlled to stop steering.

[0069] A vehicle according to an embodiment of the second aspect of the present invention includes a memory, a processor, and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the above-mentioned four-wheel steering system angle response method. The vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, minivan or large trailer. The vehicle needs to have an electric motor that can output power or store mechanical energy as a generator. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0070] When the vehicle uses this four-wheel steering system angle response method, by setting different response strategies and pairing them with failure states, the four-wheel steering system has a responsive execution strategy under different failure states, effectively solving the problem of being unable to determine whether to continue to execute the steering angle request when problems occur in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0071] According to the third aspect of the present invention, a computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the above-mentioned four-wheel steering system angle response method.

[0072] The above-mentioned four-wheel steering system angle response method can be implemented as a computer program and tangibly included in a computer-readable storage medium. When the processor uses this computer-readable storage medium to perform the four-wheel steering system angle response method, by setting different response strategies and pairing them with failure states, the four-wheel steering system has a responsive execution strategy under different failure states, effectively solving the problem of being unable to determine whether to continue to execute the steering angle request when problems arise in the signal interaction between the four-wheel control system and the vehicle control system, thereby improving the safety of autonomous driving.

[0073] It is worth noting that since the computer-readable storage medium of the embodiment of the present invention can execute the four-wheel steering system angle response method of any of the above-mentioned embodiments, the specific implementation manner and technical effects of the computer-readable storage medium of the embodiment of the present invention can refer to the specific implementation manner and technical effects of the four-wheel steering system angle response method of any of the above-mentioned embodiments.

[0074] In addition, an embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, the computer program or computer instructions are stored in a computer-readable storage medium, the processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned four-wheel steering system angle response method.

[0075] It is worth noting that since the computer program product of the embodiment of the present invention can execute the four-wheel steering system angle response method of any of the above-mentioned embodiments, the specific implementation manner and technical effects of the computer program product of the embodiment of the present invention can refer to the specific implementation manner and technical effects of the four-wheel steering system angle response method of any of the above-mentioned embodiments.

[0076] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0077] An embodiment of the present invention further provides a vehicle control device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the four-wheel steering system angle response method of the above embodiment.

[0078] Take the example that the processor and memory in the vehicle control device can be connected through a bus. The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk memory, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the control processor, and these remote memories may be connected to the control device via a network.

[0079] The non-transient software program and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the four-wheel steering system angle response method in the above embodiment is executed.

[0080] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] The preferred embodiments of the present invention are specifically described above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A four-wheel steering system angle response method, characterized in that: include: Get steering angle request; Determining whether the four-wheel steering system fails, and when the four-wheel steering system fails, obtaining the failure state of the four-wheel steering system; Determine a corresponding response strategy according to the failure state; Determine whether the four-wheel steering system continues to execute the steering angle request according to the response strategy.

2. The four-wheel steering system angle response method according to claim 1, characterized in that: The failure states include: failure of vehicle speed information, failure to receive vehicle control decision signals, failure of torque angle sensor information, failure of motor rotor position sensor information, power supply failure and motor-related drive failure. The failure state of the four-wheel steering system is obtained, including: At least one of the failure in obtaining the vehicle speed information, the inability to receive the vehicle control decision signal, the failure in the torque angle sensor information, the failure in the motor rotor position sensor information, the power supply failure and the motor-related drive failure.

3. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is failure of the vehicle speed information, determining whether the standby controller can acquire the vehicle speed; When the backup controller can obtain the vehicle speed, the backup controller is controlled to control the four-wheel steering system to execute the steering angle request according to the currently obtained vehicle speed.

4. The four-wheel steering system angle response method according to claim 3, characterized in that: The step of judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot obtain the vehicle speed, the four-wheel steering system is controlled to execute the steering angle request at a preset speed.

5. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is the inability to receive the vehicle control decision signal, determining whether the standby controller can receive the vehicle control decision signal; When the standby controller can receive the vehicle control decision signal, the four-wheel steering system is controlled to continue to execute the steering angle request.

6. The four-wheel steering system angle response method according to claim 5, characterized in that: The step of judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot receive the vehicle control decision signal, the four-wheel steering system is controlled to stop steering.

7. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is that the torque angle sensor information fails, determining whether the standby controller can receive the wheel angle information; When the backup controller can receive the wheel angle information, the four-wheel steering system is controlled to continue to execute the steering angle request.

8. The four-wheel steering system angle response method according to claim 7, characterized in that: The step of judging whether the four-wheel steering system continues to execute the steering angle request according to the response strategy further includes: When the backup controller cannot receive the wheel angle information, the four-wheel steering system is controlled to stop steering.

9. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is that the motor rotor position sensor information fails, acquiring first sine and cosine signals; Determining whether the first sine and cosine signals are within a preset normal operating threshold; When the first sine and cosine signals are within the preset normal working threshold, controlling the standby controller to obtain the second sine and cosine signals; Calculate an angle signal difference according to the first sine and cosine signal and the second sine and cosine signal; Determining whether the angle signal difference is within a preset signal difference threshold; When the angle signal difference is within the preset signal difference threshold, the four-wheel steering system is controlled to continue to execute the steering angle request.

10. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is the power supply failure, acquiring a voltage parameter of an electrical component, and acquiring a preset voltage threshold corresponding to the electrical component; Determine whether the voltage parameter is within the preset voltage threshold; When the voltage parameter is within the preset voltage threshold, the four-wheel steering system is controlled to continue to execute the steering angle request.

11. The four-wheel steering system angle response method according to claim 10, characterized in that: The electrical components include an engine control unit, a microcontroller, a torque angle sensor, and a motor rotor position sensor. The voltage parameters of the electrical components are obtained, including: The voltage parameters of the engine control unit, the voltage parameters of the microcontroller, the voltage parameters of the torque angle sensor and the voltage parameters of the motor rotor position sensor are obtained.

12. The four-wheel steering system angle response method according to claim 2, characterized in that: The determining, according to the response strategy, whether the four-wheel steering system continues to execute the steering angle request comprises: When the acquired failure state is failure of the motor-related drive, acquiring the motor-related drive working state; Determine whether the motor-related drive working state is normal; When the motor-related driving working state is normal, the four-wheel steering system is controlled to continue to execute the steering angle request.

13. The four-wheel steering system angle response method according to claim 12, characterized in that: The motor-related driving working state includes: metal oxide semiconductor field effect transistor temperature state, three-phase current state, pre-drive circuit output state, drive circuit output state, and obtaining the motor-related driving working state includes: The temperature state of the metal oxide semiconductor field effect transistor, the three-phase current state, the output state of the pre-drive circuit, and the output state of the drive circuit are obtained.

14. A vehicle, characterized in that: The invention comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the four-wheel steering system turning angle response method as claimed in any one of claims 1 to 13 is implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the four-wheel steering system turning angle response method according to any one of claims 1 to 13.

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