Diagnostic method, device and equipment for steer-by-wire system and storage medium

Abstract

The invention provides a diagnosis method, device and equipment for a steer-by-wire system and a storage medium, and the method comprises the steps: obtaining a first steering angle generated by a steering execution module according to a control instruction issued by a control module, obtaining a second steering angle obtained by the control instruction through a second-order system model, and determining the change rate of the first steering angle; according to the residual error of the first steering angle and the second steering angle and the change rate of the first steering angle, whether the steer-by-wire system fails or not is determined. The residual error of a first steering angle generated by a steering execution module according to the control instruction and a second steering angle obtained from a second-order system model is used as a first index for failure judgment, the change rate of the first steering angle is used as a second index for failure judgment, and whether the steer-by-wire system fails or not is judged by combining the two indexes; according to the invention, the frequency of wrong judgment on the failure of the steer-by-wire system can be reduced, so that the accuracy of judgment on the failure of the steer-by-wire system can be improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology in mines, and in particular to a diagnostic method, device, equipment and storage medium for a wire-controlled steering system. Background Art

[0002] Smart mines have become an inevitable trend in the development of the mining industry. Smart mine solutions aim to achieve intelligent, efficient, and green mines by integrating advanced technologies such as the Internet of Things, cloud computing, big data, and artificial intelligence, thereby promoting the sustainable development of the mining industry.

[0003] Among them, self-driving mine trucks are the most critical participants in smart mines. However, due to the harsh conditions in mining scenes, the operation of mine trucks is easily affected by factors such as terrain and climate. Their steering by wire (SBW) systems will fail due to the above influences. The failure of the steering by wire system will lead to the failure of the lateral control of the mine truck, which will affect driving safety.

[0004] In related technologies, the failure judgment method of the wire-controlled steering system is usually based on a single indicator, and the threshold for judging failure is difficult to determine. There are a large number of misjudgments, missed judgments, and wrong judgments, which cannot meet the actual working requirements of autonomous driving mining vehicles. Summary of the Invention

[0005] In view of this, the present application provides a diagnostic method, apparatus, device and storage medium for a wire-controlled steer system to address the deficiencies in the related art.

[0006] In a first aspect of the present application, a diagnostic method for a steer-by-wire system is provided. The steer-by-wire system includes a control module and a steering execution module, including:

[0007] Acquire a first steering angle generated by the steering execution module according to the control instruction issued by the control module;

[0008] Obtaining a second steering angle obtained by the control instruction via a preset second-order system model of the steer-by-wire system;

[0009] determining a rate of change of the first steering angle;

[0010] Whether the steer-by-wire system fails is determined based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

[0011] According to one embodiment of the present application, the method further includes:

[0012] Obtaining a transfer function of the second-order system model;

[0013] Determine the parameters in the transfer function based on input data and corresponding output data; wherein the input data includes control instructions of different frequencies generated by the control module, the output data includes the steering angle generated by the steering execution module based on the control instructions of different frequencies, and the parameters include the natural frequency and damping ratio of the wire-controlled steering system.

[0014] According to one embodiment of the present application, determining the parameters in the transfer function based on the input data and the corresponding output data includes:

[0015] Align the input data and the corresponding output data in time series;

[0016] Data fitting is performed on the input data and the corresponding output data aligned in time series to determine the parameters in the transfer function.

[0017] According to one embodiment of the present application, determining the rate of change of the first steering angle includes:

[0018] Obtaining a first steering angle generated by the steering execution module at a first time and a second time according to the control instruction issued by the control module, wherein the first time is earlier than the second time;

[0019] A change rate of the first steering angle is determined according to a difference between the first steering angle at a first time and a second time, and a difference between the second time and the first time.

[0020] According to one embodiment of the present application, determining the rate of change of the first steering angle includes:

[0021] Obtaining a first steering angle generated by the steering execution module at a first sampling point and a second sampling point according to the control instruction issued by the control module, wherein the time of the first sampling point is earlier than the time of the second sampling point;

[0022] determining a time interval between the first sampling point and the second sampling point according to a sampling interval and a number of sampling intervals between the first sampling point and the second sampling point;

[0023] The change rate of the first steering angle is determined according to the difference between the first steering angles at the first sampling point and the second sampling point and the time interval.

[0024] According to one embodiment of the present application, the number of sampling intervals between the first sampling point and the second sampling point is 10.

[0025] According to one embodiment of the present application, determining whether the steer-by-wire system has failed based on the residual of the first steering angle and the second steering angle and the rate of change of the first steering angle includes:

[0026] When a residual difference between the first steering angle and the second steering angle is greater than a first threshold and a rate of change of the first steering angle is less than a second threshold, it is determined that the steer-by-wire system has failed.

[0027] According to one embodiment of the present application, the method further includes:

[0028] When it is determined that the steer-by-wire system has failed, a feedback signal is generated and braking is performed, wherein the feedback signal includes an error code, an error code level, and error information.

[0029] In a second aspect of the present application, a diagnostic device for a steer-by-wire system is provided. The steer-by-wire system includes a control module and a steering execution module, including:

[0030] a first acquiring unit, configured to acquire a first steering angle generated by the steering execution module according to a control instruction issued by the control module;

[0031] a second acquiring unit, configured to acquire a second steering angle obtained by the control instruction via a preset second-order system model of the steer-by-wire system;

[0032] a determining unit, configured to determine a rate of change of the first steering angle;

[0033] A diagnostic unit is configured to determine whether the steer-by-wire system has failed based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

[0034] In a third aspect of the present application, an electronic device is provided, comprising a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor is configured to execute the machine-executable instructions to implement the steps of the method proposed in the above embodiment.

[0035] In a fourth aspect of the present application, a machine-readable storage medium is provided, wherein the machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the steps of the method proposed in the above embodiment are implemented.

[0036] In a fifth aspect of the present application, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the method proposed in the above embodiment when executed by a processor.

[0037] As can be seen from the above technical solution, by obtaining the first steering angle generated by the steering execution module according to the control instruction issued by the control module, obtaining the second steering angle obtained by the control instruction via the preset second-order system model of the steer-by-wire system, determining the rate of change of the first steering angle, and determining whether the steer-by-wire system has failed based on the residual of the first steering angle and the second steering angle and the rate of change of the first steering angle. The first steering angle generated by the steering execution module according to the control instruction and the residual of the second steering angle obtained from the second-order system model are used as the first indicator for judging the failure of the steer-by-wire system, and the rate of change of the first steering angle is used as the second indicator for judging the failure of the steer-by-wire system. By combining the above two indicators to judge whether the steer-by-wire system has failed, the number of erroneous judgments on the failure of the steer-by-wire system can be reduced, thereby improving the accuracy of the judgment on the failure of the steer-by-wire system.

[0038] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 1 is a flow chart of a diagnostic method for a steer-by-wire system provided in an embodiment of the present application;

[0040] Figure 2 is a schematic diagram of a second-order system model of a steer-by-wire system provided in an embodiment of the present application;

[0041] Figure 3 1 is a flow chart of a diagnostic method for a steer-by-wire system provided in an embodiment of the present application;

[0042] Figure 4 1 is a schematic structural diagram of a diagnostic device for a steer-by-wire system provided in an embodiment of the present application;

[0043] Figure 5 It is a schematic diagram of the hardware structure of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0044] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0045] The terms used in this application are for the purpose of describing particular embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0046] In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application, and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0047] Failure of the steering-by-wire (SBW) system will result in a loss of lateral control, further impacting driving safety. Therefore, timely and accurate determination of SBW failure is crucial. Conventional methods for determining SBW failure typically rely on a single indicator, and the threshold for determining failure is difficult to determine. This leads to numerous misjudgments, missed detections, and incorrect judgments, making them inadequate for the practical operation of autonomous mining vehicles.

[0048] In view of this, an embodiment of the present application discloses a diagnostic method for a steer-by-wire system to address the deficiencies in the related art.

[0049] like Figure 1 As shown, Figure 1 This is a flow chart of a diagnostic method for a wire-controlled steering system provided in an embodiment of the present application. The wire-controlled steering system includes a control module and a steering execution module.

[0050] The diagnostic method of the steer-by-wire system may include the following steps:

[0051] S101: Acquire a first steering angle generated by the steering execution module according to a control instruction issued by the control module.

[0052] The steer-by-wire system can control the vehicle's steering through its control module and steering execution module.

[0053] In some embodiments, a control module of a steer-by-wire system can generate and issue control instructions. More specifically, the control module can receive steering input information, such as steering wheel rotation angle and rotation speed, and perform calculations and analysis based on the steering input information to generate control instructions of different frequencies. The control module can then issue the generated control instructions to the steering execution module.

[0054] In some embodiments, the steering execution module of the wire-controlled steering system can receive control instructions issued by the control module, and generate steering parameters by parsing the above control instructions. The above steering parameters may include information related to vehicle steering, such as a first steering angle, steering direction, and steering angular velocity.

[0055] The steering execution module may include a steering motor or other actuator, which may control the vehicle's wheels to rotate according to the steering parameters so that the vehicle's wheels rotate to the first steering angle.

[0056] In some embodiments, the data generated by the steering execution module can be collected in real time to obtain the first steering angle generated by the steering execution module according to the control instruction issued by the control module, or the information actively fed back by the steering execution module can be received to obtain the first steering angle generated by the steering execution module according to the control instruction issued by the control module.

[0057] S102: Obtain a second steering angle obtained by using the control instruction via a preset second-order system model of the steer-by-wire system.

[0058] In an embodiment of the present application, a control instruction issued by the control module in S101 may be obtained, and the control instruction may be input into a preset second-order system model of the steer-by-wire system to obtain a second steering angle.

[0059] The second-order system model of a steer-by-wire system is a mathematical model based on second-order linear ordinary differential equations. It describes the system's dynamic response to input data and estimates the corresponding output data. In other words, the second-order system model describes the system's dynamic behavior and establishes the mathematical relationship between input and output.

[0060] like Figure 2 As shown, Figure 2 is a schematic diagram of a second-order system model of a steer-by-wire system provided by an embodiment of the present application, wherein R(s) represents the input, i.e., the s-transform of the control command; G(s) represents the transfer function of the second-order system model of the steer-by-wire system, which can describe the relationship between the input and output of the steer-by-wire system; C(s) represents the output, i.e., the s-transform of the second steering angle, which is the estimated value of the steering angle generated by the steering execution module based on the control command;

[0061] In some embodiments, input data and corresponding output data of a steer-by-wire system in an operating state may be obtained, wherein the input data includes control instructions of different frequencies generated by a control module, and the output data includes steering angles generated by a steering execution module based on the control instructions of different frequencies.

[0062] A transfer function of the second-order system model is obtained. At this time, parameters in the transfer function are not determined. The parameters may include the natural frequency and damping ratio of the steer-by-wire system.

[0063] The transfer function G(s) of the above second-order system model can be expressed as follows:

[0064]

[0065] The parameters of the transfer function G(s) can include ω n and ξ, where ω n is the natural frequency of the steer-by-wire system, and ξ is the damping ratio of the steer-by-wire system. In the transfer function G(s), s (abbreviated as complex frequency) is a complex variable used to describe the frequency domain characteristics of the system in the Laplace transform.

[0066] According to the above input data and the corresponding output data, the parameters in the transfer function are determined, that is, the natural frequency ω of the steer-by-wire system in the transfer function G(s) is determined. n and the damping ratio ξ of the steer-by-wire system. After determining the parameters in the transfer function, the preset second-order system model of the steer-by-wire system can be obtained.

[0067] In some embodiments, the input data and the corresponding output data can be aligned in time series. Specifically, for each of the control instructions of different frequencies, the control instruction and the steering angle generated by the steering execution module based on the control instruction are aligned in time series. By aligning the input data and the corresponding output data in time series, the efficiency and accuracy of data processing and analysis can be improved, thereby enhancing the precision of the second-order system model.

[0068] Then, data fitting is performed on the input data and the corresponding output data aligned in time series to determine the parameters in the transfer function.

[0069] In some embodiments, the input data and the corresponding output data may be time-aligned using linear interpolation. The embodiments of the present application do not specifically limit the method for aligning the input data and the corresponding output data in time series. For example, Fourier interpolation, machine learning, and other methods may also be used to align the input data and the corresponding output data in time series.

[0070] In some embodiments, the least squares method can be used to fit the time-series aligned input data and the corresponding output data. The fitting result is a transfer function G(s) that includes the natural frequency and damping ratio of the steer-by-wire system. The embodiments of this application do not specifically limit the method for performing data fitting. For example, neural networks, Bayesian estimation methods, and other methods can also be used to fit the time-series aligned input data and the corresponding output data to determine the parameters of the transfer function.

[0071] S103: Determine a rate of change of the first steering angle.

[0072] In an embodiment of the present application, S101 can be used to obtain the first steering angle generated by the steering execution module according to the control instruction issued by the control module, and the change rate of the first steering angle can be determined based on the first steering angles obtained at different time points.

[0073] In some embodiments, the first steering angle generated by the steering execution module at a first time and a second time according to the control instruction issued by the control module can be obtained, wherein the first time is less than the second time;

[0074] A rate of change of the first steering angle is determined based on a difference between the first steering angle at a first time and the first steering angle at a second time, and a difference between the second time and the first time.

[0075] In some embodiments, the control module may generate a control instruction for diagnosing whether the steer-by-wire system has failed at a preset time interval, and send the control instruction to the steering execution module.

[0076] In some embodiments, the data generated by the steering execution module may be collected according to a preset sampling interval.

[0077] Obtaining a first steering angle generated by the steering execution module at a first sampling point and a second sampling point according to the control instruction issued by the control module, wherein the time of the first sampling point is less than the time of the second sampling point;

[0078] Determine the time interval between the first sampling point and the second sampling point according to the sampling interval and the number of sampling intervals between the first sampling point and the second sampling point;

[0079] A rate of change of the first steering angle is determined based on a difference between the first steering angle at the first sampling point and the first steering angle at the second sampling point, and the time interval.

[0080] In some embodiments, the number of sampling intervals between the first sampling point and the second sampling point may be a preset number, that is, the first sampling point and the second sampling point are separated by a preset number of sampling intervals.

[0081] Preferably, the number of sampling intervals between the first sampling point and the second sampling point may be 10. Of course, the embodiments of the present application do not specifically limit the number of sampling intervals between the first sampling point and the second sampling point. For example, the number of sampling intervals between the first sampling point and the second sampling point may also be 15, 20, etc.

[0082] In some embodiments, the rate of change of the first steering angle can be determined according to the following formula:

[0083]

[0084] in, is the first steering angle obtained after the xth sampling, that is, the first steering angle at the second sampling point, is the first steering angle obtained after the yth sampling, that is, the first steering angle at the first sampling point, n is the number of sampling intervals between the first sampling point and the second sampling point, and Δt is the sampling interval.

[0085] For example, the sampling interval Δt is 0.1 seconds, that is, the data generated by the steering execution module is sampled once every 0.1 seconds. Assuming that the first steering angle obtained after the 10th sampling is 10° ( is 10°), and the first steering angle obtained after the 20th sampling is 40° ( is 40°), the number of sampling intervals n can be determined to be 10, thereby determining the rate of change of the first steering angle is 30° / second.

[0086] S104: Determine whether the steer-by-wire system has failed based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

[0087] The residual of the first steering angle and the second steering angle is the angle difference between the first steering angle and the second steering angle. In some embodiments, the residual R of the first steering angle θ1 and the second steering angle θ2 can be determined according to the following formula:

[0088] R=|θ1-θ2|

[0089] In some embodiments, the steer-by-wire system is determined to be failed when a residual difference between the first steering angle and the second steering angle is greater than a first threshold and a rate of change of the first steering angle is less than a second threshold.

[0090] In some embodiments, it can be determined that the steer-by-wire system has not failed if the residual difference between the first steering angle and the second steering angle is less than or equal to a first threshold and / or the rate of change of the first steering angle is greater than or equal to a second threshold.

[0091] It should be noted that if a single evaluation indicator is used to determine whether the steer-by-wire system has failed, that is, only the residual between the steering angle output by the second-order system model and the steering angle generated by the steering execution module is used to determine whether the steer-by-wire system has failed, due to the inherent system characteristics of the steer-by-wire system such as delay, it is relatively common for the residual to be greater than the first threshold during the operation of the steer-by-wire system. If the steer-by-wire system is deemed to be in a failed state at this time, a large number of misjudgments and erroneous judgments will occur.

[0092] Therefore, in an embodiment of the present application, a second evaluation indicator is introduced, namely the rate of change of the steering angle generated by the steering execution module. If the residual is greater than the first threshold, it is necessary to superimpose the rate of change of the steering angle to judge. If the rate of change of the steering angle is greater than or equal to the second threshold at this time, it indicates that the wire-controlled steering system can respond to the control instruction, and it is determined that the wire-controlled steering system has not failed. If the rate of change of the steering angle is less than the second threshold at this time, combined with the situation that the residual is greater than the first threshold, it indicates that the wire-controlled steering system can no longer execute the control instruction, and it is determined that the wire-controlled steering system has failed.

[0093] Of course, the embodiments of the present application do not specifically limit the manner in which the failure of the steer-by-wire system is determined based on the residual of the first steering angle and the second steering angle and the rate of change of the first steering angle. For example, the residual of the first steering angle and the second steering angle and the rate of change of the first steering angle can be input into a pre-trained neural network, and the neural network can be used to output a determination result on whether the steer-by-wire system has failed. Alternatively, a K-Nearest Neighbor (KNN) algorithm can be used to compare the residual of the current first steering angle and the second steering angle and the rate of change of the first steering angle with labeled instances in historical data, and the failure of the steer-by-wire system can be determined based on the categories of the K nearest historical data points (for example, if the number of failure points in the K historical data points exceeds a certain proportion, the steer-by-wire system is determined to have failed), etc.

[0094] In some embodiments, when it is determined that the steer-by-wire system has failed, a feedback signal may be generated and the vehicle may be braked, the feedback signal including an error code, an error code level, error information, and the like.

[0095] In an embodiment of the present application, a first steering angle generated by the steering execution module according to a control instruction issued by the control module is obtained, a second steering angle obtained by the control instruction via a preset second-order system model of the steer-by-wire system is obtained, and a rate of change of the first steering angle is determined. Based on the residual between the first steering angle and the second steering angle and the rate of change of the first steering angle, it is determined whether the steer-by-wire system has failed. The first steering angle generated by the steering execution module according to the control instruction and the residual of the second steering angle obtained from the second-order system model are used as a first indicator for determining failure of the steer-by-wire system, and the rate of change of the first steering angle is used as a second indicator for determining failure of the steer-by-wire system. By combining the above two indicators to determine whether the steer-by-wire system has failed, the number of erroneous judgments of failure of the steer-by-wire system can be reduced, thereby improving the accuracy of the judgment of failure of the steer-by-wire system.

[0096] like Figure 3 As shown, Figure 3 The present invention provides a flowchart of a diagnostic method for a steer-by-wire system, including a control module and a steering execution module. The control module of the steer-by-wire system can send control instructions to the steering execution module at preset intervals for diagnosing whether the steer-by-wire system has failed. The control module can collect the actual value of the steering angle fed back by the steering execution module of the steer-by-wire system in real time, calculate the rate of change of the actual value of the steering angle at the preset intervals, and simultaneously input the control instructions into a preset second-order system model of the steer-by-wire system to obtain an estimated value of the steering angle output by the second-order system model, and calculate the residual between the estimated value of the steering angle and the actual value of the steering angle. If the residual is less than or equal to a first threshold and / or the rate of change of the actual value of the steering angle is greater than or equal to a second threshold, the steer-by-wire system is determined to be intact. If the residual is greater than the first threshold and the rate of change of the actual value of the steering angle is less than the second threshold, the steer-by-wire system is determined to be faulty.

[0097] In an embodiment of the present application, the residual between the estimated value of the steering angle and the actual value of the steering angle is used as the first indicator for judging the failure of the steering-by-wire system, and the rate of change of the actual value of the steering angle is used as the second indicator for judging the failure of the steering-by-wire system. By combining the above two indicators to judge whether the steering-by-wire system has failed, the number of erroneous judgments on the failure of the steering-by-wire system can be reduced, thereby improving the accuracy of the judgment on the failure of the steering-by-wire system.

[0098] The above content describes the method provided by this application. The following describes the device provided by this application:

[0099] See Figure 4 , is a structural schematic diagram of a diagnostic device for a wire-controlled steering system provided in an embodiment of the present application.

[0100] like Figure 4 As shown, the device may include:

[0101] A first acquisition unit 410 is configured to acquire a first steering angle generated by the steering execution module according to a control instruction issued by the control module;

[0102] A second acquisition unit 420 is configured to acquire a second steering angle obtained by the control instruction via a preset second-order system model of the steer-by-wire system;

[0103] a determining unit 430, configured to determine a rate of change of the first steering angle;

[0104] The diagnostic unit 440 is configured to determine whether the steer-by-wire system has failed based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

[0105] In some embodiments, the apparatus further comprises an establishing unit, specifically configured to:

[0106] Obtaining a transfer function of the second-order system model;

[0107] Determine the parameters in the transfer function based on input data and corresponding output data; wherein the input data includes control instructions of different frequencies generated by the control module, the output data includes the steering angle generated by the steering execution module based on the control instructions of different frequencies, and the parameters include the natural frequency and damping ratio of the wire-controlled steering system.

[0108] In some embodiments, the establishing unit is specifically configured to:

[0109] Align the input data and the corresponding output data in time series;

[0110] Data fitting is performed on the input data and the corresponding output data aligned in time series to determine the parameters in the transfer function.

[0111] In some embodiments, the determining unit 430 is specifically configured to:

[0112] Obtaining a first steering angle generated by the steering execution module at a first time and a second time according to the control instruction issued by the control module, wherein the first time is less than the second time;

[0113] A change rate of the first steering angle is determined according to a difference between the first steering angle at a first time and a second time, and a difference between the second time and the first time.

[0114] In some embodiments, the determining unit 430 is specifically configured to:

[0115] Obtaining a first steering angle generated by the steering execution module at a first sampling point and a second sampling point according to the control instruction issued by the control module, wherein the time of the first sampling point is less than the time of the second sampling point;

[0116] determining a time interval between the first sampling point and the second sampling point according to a sampling interval and a number of sampling intervals between the first sampling point and the second sampling point;

[0117] The change rate of the first steering angle is determined according to the difference between the first steering angles at the first sampling point and the second sampling point and the time interval.

[0118] In some embodiments, the diagnosis unit 440 is specifically configured to:

[0119] When a residual difference between the first steering angle and the second steering angle is greater than a first threshold and a rate of change of the first steering angle is less than a second threshold, it is determined that the steer-by-wire system has failed.

[0120] In some embodiments, the device further includes a post-failure processing unit, specifically configured to:

[0121] When it is determined that the steer-by-wire system has failed, a feedback signal is generated and braking is performed, wherein the feedback signal includes an error code, an error code level, and error information.

[0122] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0123] The embodiment of the present application also provides a hardware structure. Figure 5 , Figure 5 This is a structural diagram of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the hardware structure may include: a processor and a machine-readable storage medium, the machine-readable storage medium storing machine-executable instructions that can be executed by the processor; the processor is used to execute the machine-executable instructions to implement the method disclosed in the above example of this application.

[0124] Based on the same application concept as the above method, an embodiment of the present application also provides a machine-readable storage medium, on which a number of computer instructions are stored. When the computer instructions are executed by a processor, the method disclosed in the above example of the present application can be implemented.

[0125] Exemplarily, the machine-readable storage medium may be any electronic, magnetic, optical, or other physical storage device that may contain or store information, such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, a storage drive (such as a hard disk drive), a solid-state drive, any type of storage disk (such as a CD, DVD, etc.), or similar storage media, or a combination thereof.

[0126] It should be noted that, in this document, relational terms such as target and objective are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0127] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A diagnostic method for a steer-by-wire system, characterized in that: The wire control steering system includes a control module and a steering execution module, and the method includes: Acquire a first steering angle generated by the steering execution module according to a control instruction issued by the control module; Acquire a second steering angle obtained by the control instruction via a preset second-order system model of the wire-controlled steering system; determining a rate of change of the first steering angle; Whether the steer-by-wire system fails is determined based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining a transfer function of the second-order system model; Determine the parameters in the transfer function based on the input data and the corresponding output data; wherein the input data includes the control instructions of different frequencies generated by the control module, the output data includes the steering angle generated by the steering execution module according to the control instructions of different frequencies, and the parameters include the natural frequency and damping ratio of the wire-controlled steering system.

3. The method according to claim 2, characterized in that Determining the parameters in the transfer function according to the input data and the corresponding output data includes: Align the input data and the corresponding output data in time series; Data fitting is performed on the input data and the corresponding output data aligned in time series to determine the parameters in the transfer function.

4. The method according to claim 1, characterized in that: Determining the rate of change of the first steering angle includes: Acquire a first steering angle generated by the steering execution module at a first time and a second time according to the control instruction issued by the control module, wherein the first time is earlier than the second time; The change rate of the first steering angle is determined according to a difference between the first steering angle at a first time and a second time, and a difference between the second time and the first time.

5. The method according to claim 1, characterized in that Determining the rate of change of the first steering angle includes: Acquire a first steering angle generated by the steering execution module at a first sampling point and a second sampling point according to the control instruction issued by the control module, wherein the time of the first sampling point is earlier than the time of the second sampling point; determining a time interval between the first sampling point and the second sampling point according to a sampling interval and the number of sampling intervals between the first sampling point and the second sampling point; The change rate of the first steering angle is determined according to the difference between the first steering angle at the first sampling point and the second sampling point and the time interval.

6. The method according to claim 5, characterized in that The number of sampling intervals between the first sampling point and the second sampling point is 10.

7. The method according to claim 1, characterized in that The determining whether the steer-by-wire system fails according to the residual of the first steering angle and the second steering angle and the rate of change of the first steering angle includes: When the residual difference between the first steering angle and the second steering angle is greater than a first threshold and the rate of change of the first steering angle is less than a second threshold, it is determined that the steer-by-wire system has failed.

8. The method according to claim 1, characterized in that The method further comprises: In the case where it is determined that the steer-by-wire system fails, a feedback signal is generated and braking is performed, wherein the feedback signal includes an error code, an error code level, and error information.

9. A diagnostic device for a steer-by-wire system, characterized in that: The wire control steering system includes a control module and a steering execution module, and the device includes: A first acquisition unit, used for acquiring a first steering angle generated by the steering execution module according to a control instruction issued by the control module; A second acquisition unit, used for acquiring a second steering angle obtained by the control instruction via a preset second-order system model of the steer-by-wire system; a determining unit, configured to determine a rate of change of the first steering angle; A diagnostic unit is used to determine whether the steer-by-wire system fails based on a residual between the first steering angle and the second steering angle and a rate of change of the first steering angle.

10. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the method according to any one of claims 1 to 8.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions, and when the machine-executable instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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