Multi-vehicle-type configuration management method and control device for steering system, steering system and vehicle

Abstract

The invention relates to a multi-vehicle-type configuration management method for a vehicle steering system. The multi-vehicle-type configuration management method comprises the steps that a plurality of steering calibration parameter sets and a plurality of bus interface configurations are correspondingly stipulated according to a plurality of vehicle types; obtaining a configuration word for a vehicle steering system, wherein the configuration word comprises target vehicle type information; acquiring operation parameters of the vehicle; finding out the validity of the configuration word based on the obtained configuration word; ascertaining whether the vehicle is in a configuration setting state or not based on the operating parameters; if it is found that the configuration word is effective and the vehicle is in the configuration setting state, the obtained configuration word is stored; reading target vehicle type information in the stored configuration word; and determining an associated steering parameter configuration set and bus interface configuration based on the read target vehicle model information so as to operate the vehicle steering system based on the determined steering parameter configuration set and bus interface configuration. The invention further relates to a control device, a steering system and a vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering technology, and more specifically, to a multi-model configuration management method and control device for a vehicle steering system. In addition, the present application also relates to a steering system and a vehicle. Background Art

[0002] The vehicle's steering system is an important part of the vehicle's driving system. The function of the vehicle's steering system is to control the vehicle's driving direction according to the driver's intention. As an important assembly of the whole vehicle, the steering system is closely related to the vehicle's handling stability, comfort and driving safety. Common steering systems include mechanical steering systems, hydraulic power steering systems, electric power steering systems, electronically controlled hydraulic steering systems, and wire-controlled steering systems.

[0003] At present, it is usually necessary to develop special steering system software for specific models so that the steering system software can adapt to the design parameters of specific models (which can be divided into pure electric models, hybrid models, extended-range models, pure fuel models, etc. according to different power forms). However, with the increasing number of vehicle types, this traditional steering system software development model has brought great difficulties to the software configuration of the vehicle manufacturer and the subsequent software management and upgrade. Summary of the invention

[0004] Therefore, the purpose of this application is to provide a multi-model configuration management method, control device, steering system and vehicle for a vehicle steering system that can overcome at least one defect in the prior art. This allows the desired software functions to be configured for the target model in an efficient and flexible manner, providing convenient and flexible configuration for the client, such as the vehicle manufacturer, while also bringing convenience to software upgrade management.

[0005] According to the first aspect of the present application, a multi-model configuration management method for a vehicle steering system is provided, wherein multiple steering calibration parameter sets and multiple bus interface configurations are correspondingly specified for multiple models, so that each model is associated with a steering parameter configuration set and a bus interface configuration. The multi-model configuration management method may also include: obtaining a configuration word for a vehicle steering system, the configuration word including target model information; obtaining the operating parameters of the vehicle; determining the validity of the configuration word based on the obtained configuration word; determining whether the vehicle is in a configuration setting state based on the operating parameters; if it is determined that the configuration word is invalid or the vehicle is not in a configuration setting state, outputting a feedback signal; if it is determined that the configuration word is valid and the vehicle is in a configuration setting state, saving the obtained configuration word; reading the target model information in the saved configuration word; determining the associated steering parameter configuration set and bus interface configuration based on the read target model information, so as to operate the vehicle steering system based on the determined steering parameter configuration set and bus interface configuration.

[0006] In some embodiments, the configuration word also includes autonomous driving information, and the autonomous driving information includes information on whether autonomous driving is possible and / or autonomous driving level information.

[0007] In some embodiments, the multi-vehicle configuration management method also includes: reading the autonomous driving information in the saved configuration word; and activating the adapted functional module based on the read autonomous driving information to determine whether the vehicle can drive autonomously and / or the autonomous driving level of the vehicle.

[0008] In some embodiments, the multi-vehicle configuration management method also includes: adjusting the determined steering parameter configuration set and bus interface configuration based on whether the vehicle can be driven automatically and / or the vehicle's level of automatic driving, so as to operate the vehicle steering system based on the adjusted steering parameter configuration set and bus interface configuration.

[0009] In some embodiments, each steering parameter configuration set includes at least a portion of the following: a power assist parameter map; a safety limit parameter map, a return parameter map, a damping compensation parameter map, power assist left and right gains, angle control PID parameters, and angle control phase gain.

[0010] In some embodiments, each bus interface configuration includes at least a portion of the following: an ID identifier, a message sending and receiving format, a data length code, a data field, and a control field.

[0011] In some embodiments, the target vehicle model information includes one or more extended-range vehicle models, one or more pure electric vehicle models, one or more hybrid vehicle models, and / or one or more pure fuel vehicle models.

[0012] In some embodiments, the multi-vehicle configuration management method may include: specifying at least one first steering calibration parameter set and a first bus interface configuration for at least one extended-range vehicle model; specifying at least one second steering calibration parameter set and a second bus interface configuration for at least one pure electric vehicle model; specifying at least one third steering calibration parameter set and a third bus interface configuration for at least one hybrid vehicle model; and / or specifying at least one fourth steering calibration parameter set and a fourth bus interface configuration for at least one pure fuel vehicle model.

[0013] In some embodiments, obtaining the operating parameters of the vehicle includes: obtaining the vehicle speed; obtaining the vehicle wheel speed; obtaining the vehicle acceleration; and / or obtaining the vehicle yaw rate; and / or obtaining the vehicle turning rate; and / or obtaining the vehicle driving mode; and / or obtaining the vehicle battery state of charge and / or fuel remaining.

[0014] In some embodiments, determining whether the vehicle is in a configuration setting state based on the operating parameters includes: determining whether the vehicle speed is less than a first threshold; determining whether the vehicle wheel speed is less than a second threshold; and / or determining whether the vehicle yaw rate is less than a third threshold; and / or determining whether the vehicle turning rate is less than a fourth threshold; and / or determining whether the vehicle acceleration is less than a fifth threshold; and / or determining whether the vehicle battery state of charge is higher than a sixth threshold and / or whether the fuel remaining is higher than a seventh threshold; and / or determining whether the vehicle is in manual driving or at a specific level of automatic driving. If the determination result is affirmative, the vehicle is determined to be in the configuration setting state.

[0015] The configuration setting state can be understood as an operating state that meets the configuration purpose, and the operating state can ensure the reliable and safe conduct of the configuration process. In some embodiments, the configuration setting state may involve a vehicle stop state or a vehicle low speed driving state. Additionally or alternatively, the configuration setting state may involve a vehicle straight driving state. Additionally or alternatively, the configuration setting state may involve the vehicle being in manual driving or the automatic driving level being lower than a specific level. It should be understood that there may be multiple setting schemes for the configuration setting state, which can be set according to the needs of the client.

[0016] In some embodiments, the first threshold value may be between 1 kph and 10 kph, in particular between 1 kph and 5 kph. Additionally or alternatively, the second threshold value may be between 5 rpm and 20 rpm, in particular between 5 rpm and 10 rpm. Additionally or alternatively, the third threshold value may be between 0.01° / s and 1° / s or between 0.05° / s and 0.5° / s. Additionally or alternatively, the fourth threshold value may be between 1° / s and 5° / s. Additionally or alternatively, the fifth threshold value may be between 0.1 m / s 2 Up to 1m / s 2 or 0.2m / s 2 Up to 0.5m / s 2 Additionally or alternatively, the specific autonomous driving level may be, for example, L1 or L2 or other levels. Additionally or alternatively, the sixth threshold and the seventh threshold may be, for example, 10%, 20% or 30%, etc.

[0017] In some embodiments, a vehicle steering system is assigned master software and slave software that are capable of operating based on the determined steering parameter configuration set and bus interface configuration.

[0018] In some embodiments, the multi-vehicle configuration management method further includes: updating the main software based on the update of the universal function module for the vehicle steering system; and updating the slave software based on the update of the personalized function module for the vehicle steering system.

[0019] In some embodiments, the multi-vehicle configuration management method also includes: obtaining a query request for a configuration word; finding out the saved target vehicle model information and autonomous driving information based on the query request; finding out the software version information of the master software and the slave software based on the query request; combining the target vehicle model information, autonomous driving information, the software version information of the master software and the slave software into a synthesized configuration word; and outputting the synthesized configuration word.

[0020] According to a second aspect of the present application, a control device is provided, comprising: a processor; and a computer-readable memory coupled to the processor, wherein the computer-readable memory is configured to store a series of computer-executable instructions, wherein when the series of computer-executable instructions are executed by the processor, the processor executes the multi-vehicle configuration management method according to some embodiments of the present invention.

[0021] According to a third aspect of the present application, a steering system is provided, the steering system comprising a motor and a control device according to some embodiments of the present invention for controlling the motor.

[0022] According to a fourth aspect of the present application, a vehicle is provided, the vehicle comprising a steering system according to some embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present application will be described in more detail below with reference to the accompanying drawings and by means of specific embodiments. The schematic drawings are briefly described as follows:

[0024] Figure 1 A partial schematic diagram of a vehicle according to some embodiments of the present application is shown, which includes a steering system according to some embodiments of the present application;

[0025] Figure 2 A flowchart of a multi-vehicle configuration management method for a steering system according to some embodiments of the present application is shown;

[0026] Figure 3 A flowchart of a multi-vehicle configuration management method for a steering system according to some further improved embodiments of the present application is shown;

[0027] Figure 4 A schematic diagram of the synthesized configuration word is shown. DETAILED DESCRIPTION

[0028] The present application will be described below with reference to the accompanying drawings, wherein the accompanying drawings illustrate several embodiments of the present application. However, it should be understood that the present application can be presented in a variety of different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present application more complete and fully explain the scope of protection of the present application to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0029] In the various embodiments described in different ways, the same elements are assigned the same reference numerals or the same element names, wherein the disclosure contained in the entire specification can be transferred to the elements assigned the same reference numerals or the same element names according to the meaning. In addition, in various embodiments, the number, implementation and / or arrangement structure of the elements are not limited to the examples shown, but other numbers, implementations and / or arrangements can be selected according to actual needs.

[0030] As used herein, spatial relational terms such as "upper," "lower," "left," "right," "front," "rear," "higher," "lower," etc. may describe the relationship of one feature to another feature in the accompanying drawings. It should be understood that the spatial relational terms encompass different orientations of the device in use or operation in addition to the orientation shown in the accompanying drawings. For example, features previously described as being "below" other features may now be described as being "above" the other features when the device in the accompanying drawings is turned over. The device may also be otherwise oriented (rotated 90 degrees or in other orientations), and the relative spatial relationships will be interpreted accordingly.

[0031] Herein, the term "A or B" includes "A and B" and "A or B" rather than exclusively including only "A" or only "B", unless specifically stated otherwise.

[0032] In this document, the terms "illustrative" or "exemplary" mean "used as an example, instance or illustration" rather than as a "model" to be exactly copied. Any implementation described as an example herein is not necessarily to be interpreted as preferred or advantageous over other implementations. Moreover, this application is not limited by any expressed or implied theory given in the above technical field, background technology, invention content or detailed description.

[0033] As used herein, the term "substantially" is intended to include any minor variations due to design or manufacturing defects, tolerances of devices or components, environmental influences, and / or other factors.

[0034] In this document, the term "part" may be a part of any proportion, for example, greater than 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, or 90%.

[0035] In addition, the terms "first", "second" and the like may also be used herein for reference purposes only, and thus are not intended to be limiting. For example, the terms "first", "second" and other such numerical terms referring to structures or elements do not imply a sequence or order unless the context clearly indicates otherwise.

[0036] Next, various aspects of the present application are described in detail with reference to the accompanying drawings.

[0037] Reference Figure 1 , Figure 1 A partial schematic diagram of a vehicle 100 according to some embodiments of the present application is shown, in which a steering system 10 according to some embodiments of the present application is integrated. In the current embodiment, a commercial vehicle is used as an example for introduction. It should be understood that in the present application, the vehicle 100 can be any motor vehicle, such as a car, a bus, a truck, a van, or other movable tools.

[0038] like Figure 1 As shown, the vehicle 100 of the present application adopts an electronically controlled hydraulic steering system 10 , which can realize hydraulic power steering with the help of a hydraulic steering assembly 5 on the one hand, and can also realize electric power steering with the help of an electric steering assembly 2 on the other hand.

[0039] The hydraulic steering assembly 5 may include, for example, a hydraulic pot 501 (eg, an oil pot), a hydraulic pipe 502 and a hydraulic pump 503. The hydraulic pot 501 may provide hydraulic assistance to the steering gear input shaft 3 by means of the hydraulic pump 503 and the hydraulic pipe 502.

[0040] The electric steering assembly 2 may include a motor 6 for electric power assistance, a control device 50 for controlling the motor 6, and a power supply (not shown) for feeding the motor 6. The control device 50 may be configured to control the motor 6 according to the acquired steering angle so that the torque provided by the motor 6 can be provided to the steering input shaft 3 via the transmission mechanism 62 for electric power assistance. In some embodiments, the motor 6 for electric power assistance may be a DC motor, such as a brushless DC motor. At this time, the power supply for feeding the motor 6 may be constituted as a battery in the vehicle 100 and a corresponding DC / DC converter. In some embodiments, the motor 6 for electric power assistance may be an AC motor. At this time, the power supply for feeding the motor 6 may be constituted as a battery in the vehicle 100 and a corresponding DC / AC converter.

[0041] The use of the electronically controlled hydraulic steering system 10 is advantageous, as it can have not only a hydraulic power-assisting function but also an electric power-assisting function, so that the power-assisting characteristics of the steering system 10 can be flexibly and efficiently adjusted to better adapt to the current driving state. Furthermore, when there is no steering operation, the electric steering assembly 2 can stop running, thereby advantageously reducing energy consumption, which is more advantageous for commercial vehicles that usually have a high load. It should be understood that the configuration of the electronically controlled hydraulic steering system 10 can have a variety of variations and is not limited to the illustrated embodiment.

[0042] It should be understood that the present application takes the electronically controlled hydraulic steering system 10 as an example for description. However, the steering system 10 of the present application can also be applied to an electric power steering system, a wire control steering system or other forms of steering systems.

[0043] Next reference Figure 2 , a multi-model configuration management method for a vehicle steering system 10 according to some embodiments of the present application is described in detail. It should be understood that the steps of the method presented below are intended to be illustrative. In some embodiments, the method may be completed with one or more additional undescribed steps, and / or without one or more of the steps discussed. In addition, the order of the steps of the method shown in the figures and described below is not intended to be limiting. In some embodiments, one or more steps may be alternative or preferred to achieve further advantageous technical effects.

[0044] At least a portion of the method steps of the multi-vehicle configuration management method can be executed by the control device of the present application, and the control device may include one or more processors; and one or more computer-readable memories coupled to the one or more processors, the computer-readable memories being configured to store a series of computer-executable instructions, wherein the series of computer-executable instructions, when executed by the one or more processors, causes the one or more processors to execute at least a portion of the method steps of the multi-vehicle configuration management method of the present application.

[0045] In some embodiments, the control device for executing the multi-vehicle configuration management method may be related to the above-mentioned control device for controlling the motor 50. Additionally or alternatively, the control device may be related to a domain processor of the vehicle, such as a vehicle processor, which may communicate with the control device for controlling the motor 50.

[0046] like Figure 2 As shown, the multi-model configuration management method of the present application may include:

[0047] Step S01: specifying a plurality of steering calibration parameter sets and a plurality of bus interface configurations for a plurality of vehicle models, such that each vehicle model is associated with a steering parameter configuration set and a bus interface configuration.

[0048] In some embodiments, each steering parameter configuration set may include at least a portion of the following contents: power assist parameter map; safety limit parameter map, return parameter map, damping compensation parameter map, power assist left and right gain, angle control PID parameter, and angle control phase gain. Each bus interface configuration may include at least a portion of the following contents: ID identifier, message sending and receiving format, data length code, data field, control field.

[0049] In some improved embodiments, step S01 may further include: specifying a first steering calibration parameter set and a first bus interface configuration for an extended-range vehicle; specifying a second steering calibration parameter set and a second bus interface configuration for a pure electric vehicle; specifying a third steering calibration parameter set and a third bus interface configuration for a hybrid vehicle; and / or specifying a fourth steering calibration parameter set and a fourth bus interface configuration for a pure fuel vehicle. In some improved embodiments, step S01 may further include: specifying multiple first steering calibration parameter sets and multiple first bus interface configurations for multiple extended-range vehicles, respectively; specifying multiple second steering calibration parameter sets and multiple second bus interface configurations for multiple pure electric vehicles, respectively; specifying multiple third steering calibration parameter sets and multiple third bus interface configurations for multiple hybrid vehicles, respectively; and / or specifying multiple fourth steering calibration parameter sets and multiple fourth bus interface configurations for multiple pure fuel vehicles, respectively.

[0050] It should be understood that each steering calibration parameter set (e.g., between the first steering calibration parameter set and the second steering calibration parameter set, and between the two first calibration parameter sets) and each bus interface configuration (e.g., between the first bus interface configuration and the second bus interface configuration, and between the two first bus interface configurations) may be configured at least partially differently. The vehicle steering system software may implement specific steering characteristics adapted to the target vehicle model based on these differently configured steering calibration parameter sets and bus interface configurations.

[0051] Step S02: Obtain the configuration word for the vehicle steering system.

[0052] In some embodiments, when configuring a vehicle at a client, such as a vehicle manufacturer, the configuration word for the vehicle steering system to be configured may be input via a configuration interface, such as a universal diagnostic service (UDS). Additionally or alternatively, when configuring a vehicle at a client, such as a vehicle manufacturer, the configuration word for the vehicle steering system to be configured may be input via an air configuration interface by means of wireless communication. The control device may obtain the configuration word for the vehicle steering system from the configuration interface, and the configuration word may include at least target vehicle model information. In some improved embodiments, the configuration word may also include autonomous driving information, and the autonomous driving information may include information on whether autonomous driving is possible and / or autonomous driving level information.

[0053] Step S03: Obtain the operating parameters of the vehicle.

[0054] In some embodiments, the control device may obtain the current operating parameters of the vehicle to be configured. In some embodiments, the operating parameters of the vehicle may relate to the speed of the vehicle. Additionally or alternatively, the operating parameters of the vehicle may relate to the wheel speed of the vehicle. Additionally or alternatively, the operating parameters of the vehicle may relate to the yaw rate of the vehicle. Additionally or alternatively, the operating parameters of the vehicle may relate to the steering rate of the vehicle. Additionally or alternatively, the operating parameters of the vehicle may relate to the acceleration of the vehicle. Additionally or alternatively, the operating parameters of the vehicle may relate to the current driving mode of the vehicle, such as a manual driving mode or a specific autonomous driving level (e.g., L1, L2, L2.5, L3, L4, etc.). Additionally or alternatively, the operating parameters of the vehicle may relate to the battery state of charge and / or fuel remaining of the vehicle.

[0055] Step S04: Checking the validity of the configuration word based on the acquired configuration word.

[0056] In some embodiments, the control device can determine, based on the acquired configuration word, whether the target vehicle model contained in the configuration word belongs to a vehicle model in a predefined vehicle model set, thereby determining the validity of the configuration word.

[0057] Step S05: Determine whether the vehicle is in a configuration setting state based on the operating parameters.

[0058] The configuration setting state can be understood as an operating state that meets the configuration purpose, and the operating state can ensure the reliable and safe conduct of the configuration process. In some embodiments, the configuration setting state may involve a vehicle stop state or a vehicle low-speed driving state. Additionally or alternatively, the configuration setting state may involve a vehicle straight-line driving state. Additionally or alternatively, the configuration setting state may involve the vehicle being in manual driving or the automatic driving level being lower than a specific level. It should be understood that there may be multiple setting schemes for the configuration setting state, and it should not be limited to the situation described in the current embodiment.

[0059] In some embodiments, step S05 may include: determining whether the vehicle speed is less than a first threshold; determining whether the wheel speed of the vehicle is less than a second threshold; and / or determining whether the yaw angular velocity of the vehicle is less than a third threshold; and / or determining whether the turning rate of the vehicle is less than a fourth threshold; and / or determining whether the acceleration of the vehicle is less than a fifth threshold; and / or determining whether the vehicle is in manual driving or in a specific level of automatic driving; and / or determining whether the battery state of charge of the vehicle is higher than a sixth threshold and / or whether the fuel remaining is higher than a seventh threshold. If the result of the determination is affirmative, it is determined that the vehicle is in a configuration setting state.

[0060] In some embodiments, the first threshold value may be between 1 kph and 10 kph, in particular between 1 kph and 5 kph. Additionally or alternatively, the second threshold value may be between 5 rpm and 20 rpm, in particular between 5 rpm and 10 rpm. Additionally or alternatively, the third threshold value may be between 0.01° / s and 1° / s or between 0.05° / s and 0.5° / s. Additionally or alternatively, the fourth threshold value may be between 1° / s and 5° / s. Additionally or alternatively, the fifth threshold value may be between 0.1 m / s 2 Up to 1m / s 2 or 0.2m / s 2 Up to 0.5m / s 2 Additionally or alternatively, the specific autonomous driving level may be, for example, L1 or L2. Additionally or alternatively, the sixth threshold and the seventh threshold may be, for example, 10%, 20%, 30%, etc.

[0061] Step S06: If it is found that the configuration word is valid and the vehicle is in the configuration setting state, the acquired configuration word is saved, thereby realizing the process of writing the configuration word at the client, such as the vehicle manufacturer.

[0062] According to the present application, the multi-vehicle configuration management method may further include step S07: if it is found that the configuration word is invalid or the vehicle is not in the configuration setting state, a feedback signal is output.

[0063] In some embodiments, the feedback signal may feed back the result of the configuration word writing failure to the client in the form of a message, and preferably the message may also additionally include the failure factor and suggestions for eliminating the failure factor. It should be understood that the implementation of the prompt system may be diverse and is not limited to the current specific embodiment. Additionally or alternatively, the feedback signal may be fed back to the client in the form of a light signal and / or an acoustic signal. Additionally or alternatively, if it is determined that the vehicle is not in the configuration setting state, the feedback signal may trigger a control instruction for transferring the vehicle to the configuration setting state, and the control instruction may be configured, for example, to stop the vehicle or slow down the vehicle to below a predetermined threshold after receiving confirmation.

[0064] After completing the configuration word writing process, the multi-vehicle configuration management method can start the configuration word reading process. Figure 2 As shown, the multi-model configuration management method may also include:

[0065] Step S08: Read the target vehicle model information in the saved configuration word;

[0066] Step S09: determining the associated steering parameter configuration set and bus interface configuration based on the read target vehicle model information, so as to operate the vehicle steering system based on the determined steering parameter configuration set and bus interface configuration.

[0067] In some improved embodiments, step S08 may also include reading the automatic driving information in the saved configuration word. Step S09 may also include activating the adapted functional module by ascertaining whether the vehicle can automatically drive and / or the automatic driving level of the vehicle based on the read automatic driving information. In some embodiments, if it is ascertained that the vehicle can automatically drive and the possible automatic driving level, the adapted functional module, such as the fault detection module, may be activated accordingly.

[0068] In some improved embodiments, it may be provided that: the determined steering parameter configuration set and bus interface configuration are adjusted based on whether the vehicle can drive automatically and / or the vehicle's level of automatic driving, so as to operate the vehicle steering system based on the adjusted steering parameter configuration set and bus interface configuration. In some embodiments, if it is found that the vehicle can drive automatically and the possible level of automatic driving, the steering parameters and bus interface configuration adapted thereto may be adjusted accordingly. This allows the behavior of the vehicle steering system to be more consistent with the automatic driving scenario.

[0069] In some improved embodiments, in order to meet the redundant electrical and electronic architecture of electric steering assistance at a specific level of autonomous driving, at least two redundant steering control schemes may be specified, such as controlling the main steering component by the main processor of the control device via the first fieldbus network; controlling the auxiliary steering component by the main processor of the control device via the second fieldbus network; controlling the main steering component by the auxiliary processor of the control device via the first fieldbus network; and controlling the auxiliary steering component by the auxiliary processor of the control device via the second fieldbus network. To this end, it is allowed to activate the adapted functional modules, such as the software modules stored in the corresponding processors (such as the main processor or the auxiliary processor), and the adapted bus interface configuration (such as access to the first fieldbus network or the second fieldbus network).

[0070] In some improved embodiments, it can be provided that: a master software and a slave software are allocated to the vehicle steering system, and the master software and the slave software can be operated based on the determined steering parameter configuration set and bus interface configuration. Advantageously, the master software can be configured as a universal function module, and the slave software can be configured as a personalized function module. If the software to be updated belongs to the universal function module, the master software can be updated. On the contrary, if the software to be updated belongs to the personalized function module, only the slave software belonging to a specific vehicle model can be updated. Efficient software update management can be achieved in this way. To this end, the multi-vehicle configuration management method can also include: updating the master software based on the update of the universal function module for the vehicle steering system; updating the slave software based on the update of the personalized function module for the vehicle steering system.

[0071] In some improved embodiments, Figure 3 As shown, in order to facilitate the client to query the current configuration word information of the vehicle steering system, the multi-vehicle configuration management method may further include a configuration word query step S10, which may include, for example:

[0072] S100: Obtaining a query request for a configuration word;

[0073] S101: Finding the stored target vehicle model information and autonomous driving information based on the query request;

[0074] S102: Finding software version information of the master software and the slave software based on the query request;

[0075] S103: combining the target vehicle model information, the automatic driving information, and the software version information of the master software and the slave software into a synthesized configuration word, and outputting the synthesized configuration word.

[0076] In some embodiments, a query request for a configuration word may be inputted on the client side via a query interface, such as a universal diagnostic service (UDS). The control device may find out the saved target vehicle model information and autonomous driving information based on the query request, that is, the currently valid target vehicle model information and autonomous driving information. Additionally, the control device may find out the software version information of the master software and the slave software based on the query request. Thus, the target vehicle model information, autonomous driving information, and the software version information of the master software and the slave software may be combined into a synthesized configuration word. Figure 4 As shown, an exemplary composition of the synthesized configuration word that is finally fed back to the client is shown. This is particularly advantageous for the configuration management of the client.

[0077] Although some specific embodiments of the present application have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are intended only for illustration and not for limiting the scope of the present application. The various embodiments disclosed herein may be combined in any manner without departing from the spirit and scope of the present application. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A multi-model configuration management method for a vehicle steering system, characterized in that: A plurality of steering calibration parameter sets and a plurality of bus interface configurations are correspondingly specified for a plurality of vehicle models, so that each vehicle model is associated with a steering parameter configuration set and a bus interface configuration, and the multi-vehicle model configuration management method comprises: Acquire a configuration word for a vehicle steering system, wherein the configuration word includes target vehicle model information; Obtaining vehicle operating parameters; Ascertaining validity of the configuration word based on the acquired configuration word; determining whether the vehicle is in a configuration setting state based on the operating parameters; If it is found that the configuration word is invalid or the vehicle is not in the configuration setting state, a feedback signal is output; If it is found that the configuration word is valid and the vehicle is in the configuration setting state, the obtained configuration word is saved; Read the target vehicle model information in the saved configuration word; The associated steering parameter configuration set and bus interface configuration are determined based on the read target vehicle model information, so as to operate the vehicle steering system based on the determined steering parameter configuration set and bus interface configuration.

2. The multi-model configuration management method according to claim 1, characterized in that: The configuration word also includes automatic driving information, and the automatic driving information includes automatic driving capability information and / or automatic driving level information, and the multi-vehicle configuration management method also includes: Read the autopilot information in the saved configuration word; Based on the read autonomous driving information, it is determined whether the vehicle can be driven autonomously and / or the level of autonomous driving of the vehicle to activate the adapted functional module. Preferably, the determined steering parameter configuration set and bus interface configuration are adjusted based on the ascertained ability of the vehicle to be autonomously driven and / or the autonomous driving level of the vehicle, so as to operate the vehicle steering system based on the adjusted steering parameter configuration set and bus interface configuration.

3. The multi-model configuration management method according to claim 1, characterized in that: Each steering parameter configuration set includes at least a portion of the following: power assist parameter map; safety limit parameter map, return parameter map, damping compensation parameter map, power assist left and right gains, angle control PID parameters, and angle control phase gain; Each bus interface configuration includes at least a portion of the following: ID identifier, message sending and receiving format, data length code, data field, and control field.

4. The multi-model configuration management method according to claim 3 is characterized in that: The target vehicle model information includes at least one extended-range vehicle model, at least one pure electric vehicle model, at least one hybrid vehicle model, and / or at least one pure fuel vehicle model, wherein the multi-vehicle model configuration management method includes: specifying at least one first steering calibration parameter set and a first bus interface configuration for at least one extended-range vehicle type; Specifying at least one second steering calibration parameter set and a second bus interface configuration for at least one pure electric vehicle model; Specifying at least one third steering calibration parameter set and a third bus interface configuration for at least one hybrid vehicle type; and / or At least one fourth steering calibration parameter set and a fourth bus interface configuration are specified for at least one pure fuel vehicle type.

5. The multi-model configuration management method according to claim 1, characterized in that: Obtaining the vehicle's operating parameters includes: Get the vehicle speed; Get the wheel speed of the vehicle; Obtaining the vehicle's acceleration; and / or Obtaining the vehicle's yaw rate; and / or Obtaining the vehicle's steering rate; and / or Obtaining the vehicle's driving mode; and / or Get the vehicle's battery state of charge and / or fuel level, Wherein, determining whether the vehicle is in a configuration setting state based on the operating parameters includes: Find out whether the speed of the vehicle is less than a first threshold; Find out whether the wheel speed of the vehicle is less than a second threshold; and / or Determine whether the yaw rate of the vehicle is less than a third threshold; and / or Determining whether the turning rate of the vehicle is less than a fourth threshold; and / or Find out whether the acceleration of the vehicle is less than a fifth threshold; and / or Determining whether the battery state of charge of the vehicle is above a sixth threshold and / or whether the remaining fuel level is above a seventh threshold; and / or Find out if the vehicle is in manual driving or in a specific level of automated driving, If the result of the checking is positive, it is determined that the vehicle is in the configuration setting state.

6. The multi-model configuration management method according to claim 2, characterized in that: Allocating master software and slave software to the vehicle steering system, wherein the master software and the slave software can be operated based on the determined steering parameter configuration set and bus interface configuration, wherein the multi-vehicle configuration management method further includes: Updating the main software based on an update of a universal function module for a vehicle steering system; The slave software is updated based on an update of a personalized functional module for the vehicle steering system.

7. The multi-model configuration management method according to claim 6, characterized in that: The multi-vehicle configuration management method further includes: Get a query request for a configuration word; Find out the stored target vehicle model information and autonomous driving information based on the query request; Find out software version information of the master software and the slave software based on the query request; Combining target vehicle model information, autonomous driving information, and software version information of the master software and the slave software into a synthesized configuration word; Outputs the synthesized configuration word.

8. A control device comprising: processor; and a computer readable memory coupled to the processor, the computer readable memory being configured to store a series of computer executable instructions, Wherein, when the series of computer executable instructions are executed by a processor, the processor is caused to execute the multi-vehicle configuration management method according to any one of claims 1 to 7.

9. Steering system, characterized in that, The steering system comprises an electric motor and a control device according to claim 8 for controlling the electric motor.

10. A vehicle, characterized in that The vehicle comprises a steering system according to claim 9.

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