State control method and system in drive-by-wire system

Abstract

The invention relates to the technical field of automobile drive-by-wire steering, in particular to a state control method and system in a drive-by-wire system. The method comprises the following steps: acquiring a system failure condition in a power-on state of the drive-by-wire system; entering different power-off modes according to failure conditions; acquiring detection data of the drive-by-wire system in different power-off modes, and judging whether the detection data meets the power-off conditions of the corresponding modes or not; and when the detection data meets the power-off condition of the corresponding mode, switching the drive-by-wire system from the power-on state to the power-off state. The failure condition of the drive-by-wire system is monitored and judged in real time, and different power-off modes are adopted according to the failure condition, so that the safety and reliability of the system in the power-off process are ensured, the continuous operation time of the system due to faults is shortened, and the overall reliability of the linear system is improved. The system downtime can be reduced, and the maintenance cost of the system is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automobile wire-controlled steering, and in particular to a state control method and system in a wire-controlled system. Background Art

[0002] The SBW (Steering By Wire) system is a major advancement in modern automotive technology. It controls the steering of the vehicle through electronic signals rather than mechanical connections. This design brings many advantages, such as improving driving safety, enhancing driving experience, reducing vehicle weight, and reducing noise and vibration. However, the SBW system also faces a significant challenge: when the system is powered off (i.e., loses power supply), the electronic control relationship between the steering wheel and the steering wheel will be interrupted, resulting in control failure. That is, when the SBW system is powered off, the driver cannot directly control the steering of the vehicle by turning the steering wheel. In this case, if the vehicle is in an emergency condition, it may cause a serious safety accident; therefore, the power-off control chain of the SBW system is particularly important.

[0003] How to provide a control logic for the wire control system to ensure that the wire control system can be powered off safely and orderly to avoid data loss and safety hazards is a problem that needs to be urgently solved by current technology. Summary of the invention

[0004] In order to solve the above problems, the present application develops a state control method and system in a steer-by-wire system for a vehicle, so as to ensure that the steer-by-wire system can safely and reliably perform state control in both failure and non-failure situations.

[0005] The first aspect of the present application provides a state control method in a wire control system, comprising: obtaining a system failure condition when the wire control system is powered on; entering different power-off modes according to the failure condition; obtaining detection data of the wire control system in different power-off modes, and determining whether the detection data meets the power-off condition of the corresponding mode;

[0006] When the detection data meets the power-off condition of the corresponding mode, the wire control system is switched from the power-on state to the power-off state.

[0007] In a further solution of the present application, entering different power-off modes according to the failure situation includes: when the wire control system has not failed, entering the normal power-off mode; when the wire control system has failed, entering the system data backup mode.

[0008] In a further scheme of the present application, obtaining detection data of the wire control system in different power-off modes includes: obtaining whether a vehicle shutdown command or a system exit preparation command is received; obtaining the current vehicle speed value; and obtaining the target torque value of the road sense motor, the torque value detected by the torque sensor, and the steering wheel angular velocity value.

[0009] In a further scheme of the present application, in the normal power-off mode, determining whether the detection data satisfies the power-off condition of the corresponding mode includes: determining whether a vehicle shutdown command or a system exit preparation command is received; when it is determined that the vehicle shutdown command or the system exit preparation command is received, determining whether the current vehicle speed value is 0; when it is determined that the current vehicle speed value is 0, the system enters the delay judgment mode; in the delay judgment mode, determining whether the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value; when it is determined that the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, and the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, determining whether the duration of entering the delay judgment mode reaches a preset duration threshold; if the preset duration threshold is reached, it is determined that the power-off condition in the normal power-off mode is met.

[0010] In a further solution of the present application, the preset duration threshold value ranges from 0.2s to 0.3s.

[0011] In a further scheme of the present application, in the system data backup mode, determining whether the detection data satisfies the power-off conditions of the corresponding mode includes: determining whether a vehicle shutdown command or a system exit preparation command is received; when it is determined that the vehicle shutdown command or the system exit preparation command is received, determining whether the current vehicle speed value is 0; when it is determined that the current vehicle speed value is 0, determining whether the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, and whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value; when it is determined that the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, and the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, it is determined that the power-off conditions in the system data backup mode are met.

[0012] In a further scheme of the present application, when the detection data meets the power-off conditions of the corresponding mode, switching the current state from the power-on state to the power-off state includes: controlling the line control system to enter a power-off preparation state; executing a power-off preparation work once to switch the current state from the power-on state to the power-off state and outputting a first instruction; if a second instruction is received after executing the power-off preparation work once, the power-off preparation is successful.

[0013] In a further solution of the present application, the method further includes: if the second instruction is not received after executing the power-off preparation work once, determining whether a third instruction is received; if the third instruction is received, the power-off preparation is unsuccessful.

[0014] The method further includes: when the power-off preparation is successful, waiting for the drive motor of the wire control system to be powered off and determining whether the drive motor torque is 0; if the drive motor torque is 0, writing the storage data and determining whether the writing of the storage data is completed; and completing the power-off after the writing of the storage data is completed.

[0015] The second aspect of the embodiment of the present application also provides a state control system in a wire control system, including: a vehicle state observation unit, used to obtain vehicle speed, a target torque value of a road sensing motor, a torque value detected by a torque sensor, and a steering wheel angular velocity value; at least one road sensing motor and at least one steering actuator motor; a drive module, including a first driver and a second driver, the first driver is electrically connected to the road sensing motor, and the second driver is electrically connected to the steering actuator motor; a control module, including a first sub-controller and a second sub-controller, the first sub-controller is electrically connected to the first driver, the second sub-controller is electrically connected to the second driver and is a redundant device of the first sub-controller to control the road sensing motor and the steering actuator motor; the control module is configured to execute the state control method as described above.

[0016] In summary, the state control method and system in the wire control system provided by the present application ensures the safety and reliability of the system during the power-off process by real-time monitoring and judging the failure of the wire control system and adopting different power-off modes according to the failure conditions, reduces the time the system continues to run due to failures, and improves the overall reliability of the linear system. It can reduce system downtime and system maintenance costs; optimize user experience and avoid potential threats to drivers and passengers caused by sudden loss of control.

[0017] Other features and advantages of the embodiments of the present application will be described in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific implementation or the prior art description. Obviously, the drawings described below are some implementations of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A flow chart of a state control method provided in an embodiment of the present application;

[0020] Figure 2A schematic flow chart of step S20 in a state control method provided in an embodiment of the present application;

[0021] Figure 3 A schematic diagram of a process for obtaining detection data of a wire control system in different power-off modes provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of a flow chart for determining whether a power-off condition is met in a normal power-off mode provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of a flow chart for determining whether a power-off condition is met in a system data backup mode provided in an embodiment of the present application;

[0024] Figure 6 A schematic flow chart of step S40 in a state control method provided in an embodiment of the present application;

[0025] Figure 7 A further flowchart of step S40 in a state control method provided in an embodiment of the present application;

[0026] Figure 8 A schematic flow chart of step S50 in a state control method provided in an embodiment of the present application;

[0027] Fig. 9 A topological connection diagram of a state control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In the description of this application, if there is a feature defined as "first" or "second" for descriptive purposes only, it cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Features defined as "first" or "second" may explicitly or implicitly include at least one of the defined features. If the description of "plurality" appears, the general meaning is to include at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0030] like Figure 1 As shown, an embodiment of the present application provides a state control method in a wire control system, comprising:

[0031] Step S10, obtaining system failure status when the online control system is powered on;

[0032] Step S20, entering different power-off modes according to the failure conditions;

[0033] Step S30, acquiring detection data of the wire control system in different power-off modes, and determining whether the detection data meets the power-off condition of the corresponding mode;

[0034] Step S40: When the detection data meets the power-off condition of the corresponding mode, the wire control system is switched from the power-on state to the power-off state.

[0035] It can be understood that in step S10, "failure condition" refers to an abnormal state of the wire control system when it is powered on. The failure condition can be represented by an electrical signal, which can be specifically divided into "failure" or "non-failure", such as signal 0 is defined as non-failure, and signal 1 is defined as failure.

[0036] The method for judging the failure situation includes, but is not limited to: detecting hardware failures in the control-by-wire system (such as sensor or actuator motor failures), controller errors (such as system controller failures), detecting communication links, detecting external interference, etc. An example is: installing sensors on key nodes or components of the control-by-wire system to collect real values ​​of the control-by-wire system in real time, such as actuator torque, and comparing the real actuator torque with the target torque used for detection. When the difference between the two is greater than a preset difference threshold, an electrical signal 1 is output, indicating that the control-by-wire system has failed and the desired column angle tracking control target cannot be achieved.

[0037] In step S30, "detection data" refers to data about the system status collected by the wire control system through its sensors and controllers during the power-off process. The detection data is used to evaluate whether the system meets the power-off conditions to ensure the safety and reliability of the power-off process.

[0038] It should be noted that the state control method in the wire control system can be applied to the sub-controller in the wire control system.

[0039] Based on a general inventive concept of an embodiment of the present application, after determining that the wire control system is in a power-on state, different power-off modes are mapped and entered according to these judgment failure conditions.

[0040] For example, the power-off mode may include a normal power-off mode or a system data backup mode, etc. For example, when the current failure status is "not failed", it is mapped to the normal power-off mode; otherwise, if the current failure status is "failed", it is mapped to the system data backup mode to ensure that the wire control system can still be powered off.

[0041] After determining different power-off modes, relevant detection data is obtained in each power-off mode, and the state of the system during the power-off process is evaluated through the detection data. The system will set a series of power-off conditions according to the current power-off mode. For example: normal power-off mode-power-off condition a, system data backup mode-power-off condition b; where power-off condition a and power-off condition b can be partially the same. Then, the system will judge the acquired detection data and the corresponding power-off conditions to determine whether the detection data meets the corresponding power-off conditions.

[0042] If the system determines that the detection data meets the power-off conditions of the current power-off mode, the power-off operation will be performed to safely switch the wire control system from the power-on state to the power-off state.

[0043] In summary, the overall inventive concept of the embodiment of the present application ensures the safety and reliability of the system during the power-off process by real-time monitoring and judging the failure of the wire control system and adopting different power-off modes according to the failure. At the same time, by setting clear power-off conditions and a gradual power-off process, potential threats to drivers and passengers caused by sudden loss of control are avoided.

[0044] In addition, in the process of real-time monitoring and judging failure conditions, relevant detection data and event information are recorded through data backup mode. These data are of great reference value for subsequent troubleshooting and maintenance. They can help quickly locate the problem. Since the system has considered the failure conditions and taken corresponding measures during the power-off process, the subsequent maintenance process is simplified to a certain extent. Avoiding normal power-off directly after the system fails may cover up or confuse the fault phenomenon and avoid hardware damage or data loss caused by sudden power failure or loss of control. This helps to protect the integrity of system data and reduce the cost of maintenance and replacement.

[0045] like Figure 2 In one embodiment of the present application, entering different power-off modes according to the failure conditions in step S20 includes:

[0046] Step S201: When the wire control system is not invalid, enter the normal power-off mode;

[0047] Step S202: When the wire control system fails, enter the system data backup mode.

[0048] When the wire control system is not failed, that is, it indicates that the wire control system can currently perform its expected functions normally, and no failures in any key components, sensors, actuators or communication links are found, the system can enter the normal power-off mode. The normal power-off mode can be understood as a standard power-off process.

[0049] On the contrary, when the wire control system fails, that is, the system cannot perform its expected functions normally, the system needs to enter a system data backup mode. In this mode, key data can be protected from damage or loss, and key data such as the current working status, configuration information, fault logs, etc. can be saved in non-volatile memory.

[0050] The purpose of entering these two power-off modes is to ensure that the wire control system can maintain its stability and safety during the power-off process. Under normal circumstances, the system powers on in the normal power-off mode to quickly and effectively shut down the power supply. In the event of a fault or failure, the system can quickly switch to the system data backup mode to protect critical data from loss and facilitate subsequent troubleshooting and system repair. Through the above orderly power-off process; the system data backup mode ensures that the system can still be powered off smoothly and avoids possible hardware damage or data loss. This orderly power-off process helps maintain the long-term stability and reliability of the system.

[0051] like Figure 3 Further, in step S30, obtaining detection data of the wire control system in different power-off modes includes:

[0052] Step S310, obtaining whether a vehicle shutdown instruction or a system exit preparation instruction is received;

[0053] Step S320, obtaining the current vehicle speed value; and

[0054] Step S330: Obtain the target torque value of the road feel motor, the torque value detected by the torque sensor, and the steering wheel angular velocity value.

[0055] In step S310, this step is to confirm whether the wire control system has received a clear instruction from the driver or the vehicle, that is, to require the wire control system to enter the power-off state. The data source can come from the vehicle controller. When the sub-controller receives the vehicle shutdown instruction from the vehicle controller, or the system exits the preparation instruction, it indicates that it has entered the power-off preparation state.

[0056] In step S320, the current vehicle speed value may come from a vehicle speed sensor or data interaction with other systems, such as the vehicle stability control system (ESP), with the aim of ensuring that the vehicle is powered off within a safe speed range to avoid potential safety hazards caused by the wire control system powering off when the vehicle is not stopped.

[0057] In step S330, the target torque value of the road sense motor is the torque value that the system expects the road sense motor to output, so as to evaluate the current working state of the system. The torque value detected by the torque sensor is the actual torque output by the road sense motor. The steering wheel angular velocity value reflects the speed and direction of the driver's operation of the steering wheel. The data source can come from the torque sensor installed on the road sense motor, as well as the steering wheel angle sensor or angular velocity sensor; the above data helps the system evaluate the current state of the steering wheel system and ensure that the vehicle safety is not affected by abnormalities during the power-off process.

[0058] like Figure 4 In the specific scheme of determining whether the power-off condition is met in step S30 of the embodiment of the present application, if it is in the normal power-off mode, determining whether the detection data meets the power-off condition of the corresponding mode includes:

[0059] Step S301: Determine whether a vehicle shutdown command or a system exit preparation command is received;

[0060] In this step, it is confirmed whether the system has received a clear active power-off or passive power-off instruction: that is, it is determined whether the system has received a shutdown instruction or a system exit preparation instruction from the vehicle control unit (VCU).

[0061] Step S302: when it is determined that a vehicle shutdown command or a system exit preparation command has been received, determining whether the current vehicle speed value is 0;

[0062] In this step, if a power-off command is received, it is further checked whether the vehicle speed value provided by the current vehicle speed sensor is 0. Ensure that the vehicle is stationary before powering off to avoid potential safety hazards caused by powering off while driving (such as when the vehicle is turned off and sliding down a slope).

[0063] Step S303: When it is determined that the current vehicle speed value is 0, the system enters a delay judgment mode;

[0064] In this step, even if the vehicle speed is 0, the embodiment of the present application uses a delay to ensure that the system is in a stable state to avoid misjudgment due to instantaneous fluctuations. Once the vehicle speed is confirmed to be 0, the system enters the delay judgment mode (the timing starts from the moment of entry), and waits for a period of time to further evaluate the system status. The delay judgment mode provides a buffer for the wire control system to power off.

[0065] It is understandable that due to the complexity of the vehicle system, even if the vehicle speed has dropped to 0, some components or sensors may still be in an unstable state, such as the vehicle speed is only 0 for a moment, or there are slight fluctuations in the motor torque, noise in the sensor signal, etc. The delayed judgment mode helps to filter these instantaneous fluctuations and ensure that the system reaches a truly stable state before powering off, thereby avoiding falsely triggered power-off operations or ignoring necessary power-off conditions, and reducing the risk of misjudgment due to instantaneous fluctuations.

[0066] Step S304: in the delay judgment mode, judging whether the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, and whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value;

[0067] When in the delayed judgment mode, the current target torque value of the road sense motor will be read, and its absolute value will be calculated, and the absolute value will be compared with the preset shutdown torque value in the control system. Ensure that the road sense motor is not subjected to a large external force at the current moment, that is, the system does not require the motor to produce a large torque output. If the target torque value is too large, it may mean that the system is still in operation or there are unfinished operations. At this time, it is not appropriate to perform power-off operations. Similarly, the torque sensor will detect the output torque value of the road sense motor in real time and transmit the detection value to the control system. The control system calculates the absolute value of the detected torque value and compares it with the preset shutdown torque value. Real-time detection of the actual torque output of the road sense motor to ensure that it is consistent with the target torque value or within a safe range. If the detected torque value is too large, it may mean that the system is abnormal or external force interference exists, and the system status needs to be further confirmed. The steering wheel angular velocity sensor will detect the steering wheel rotation speed and direction in real time, and transmit the detection value to the control system. The control system compares the detected angular velocity value with the preset shutdown angular velocity value. Monitor the steering wheel's rotation speed and direction to ensure that the steering wheel is stationary or moving slowly. If the steering wheel angular velocity is too large, it may mean that the driver may still be performing steering operations or there is an abnormality in the system. In this case, it is not advisable to power off the vehicle.

[0068] Step S305: when it is determined that the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, it is determined whether the duration of entering the delay judgment mode reaches a preset duration threshold;

[0069] Further, the absolute value of the target torque value of the road sense motor is detected in real time, and it is determined whether it is less than or equal to the control system shutdown torque value; the torque value is read from the torque sensor in real time, and it is determined whether its absolute value is less than or equal to the control system shutdown torque value; the angular velocity value of the steering wheel is detected in real time, and it is determined whether it is less than or equal to the control system shutdown angular velocity value. If all of the above three conditions are met, the delay judgment mode is triggered. Once the delay judgment mode is triggered, the time to enter the delay judgment mode is continuously detected; when the time reaches or exceeds the preset time threshold, it is considered that the time of the delay judgment mode is sufficient. If any of the above conditions is continuously met during the delay judgment mode and the delay judgment time has also reached the preset threshold, it is considered that the operation of shutting down the control system is currently allowed. If during the delay period, the condition is no longer met or the system receives other interrupt signals, the delay counter is reset or stopped, and the condition is re-evaluated. The preset time threshold is usually determined based on the actual operation of the system and empirical data to ensure that the system can stably reach the power-off condition in most cases. The time threshold may vary depending on the vehicle model, system configuration and manufacturer requirements.

[0070] Step S306: If the preset time threshold is reached, it is determined that the power-off condition in the normal power-off mode is met;

[0071] When the system enters the delay judgment mode, and after a period of waiting, if it is determined that the preset time threshold has been reached, and during this period, the absolute value of the target torque value of the road sensing motor and the absolute value of the torque value detected by the torque sensor are both less than or equal to the shutdown torque value set by the control system, and the steering wheel angular velocity value is also less than or equal to the shutdown angular velocity value set by the control system, then it can be considered that the system has met all power-off conditions in the normal power-off mode. At this point, the system can safely perform power-off operations, including but not limited to shutting down the motor power supply, disconnecting related sensors and actuators, and saving necessary system status information. The purpose of the power-off operation is to ensure that the system can safely exit the working state without damaging any components or data, and prepare for the next power-on.

[0072] Further in the embodiment of the present application, the control method further includes:

[0073] Step S307: If any one of the following conditions 1) to 3) is met:

[0074] 1) The vehicle shutdown command or system exit preparation command is not received;

[0075] 2) The current vehicle speed value is not 0;

[0076] 3) In the delayed judgment mode, the absolute value of the target torque value of the road sensing motor is greater than the control system shutdown torque value, and / or the absolute value of the torque value detected by the torque sensor is greater than the control system shutdown torque value, and / or the steering wheel angular velocity value is greater than the control system shutdown angular velocity value; execute to keep the wire control system in the powered-on state.

[0077] It is understandable that the failure to receive the vehicle shutdown command or the system exit preparation command means that the wire control system should remain powered on as long as the vehicle does not send a clear shutdown signal or the system is not required to exit the preparation state. This is to ensure that the wire control system is always available and functional when the vehicle is driving normally or preparing to drive.

[0078] If the vehicle is moving (i.e., the speed is greater than 0), the wire control system must remain powered on. This means that any control of critical systems such as steering or braking must be immediate and reliable while the vehicle is moving.

[0079] In addition, the absolute value of the road sense motor target torque value is greater than the control system shutdown torque value: this indicates that the driver is applying a certain force or torque through the steering wheel, which may be for steering operation; and / or the torque sensor detects that the absolute value of the torque value is greater than the control system shutdown torque value: this further confirms the driver's steering intention, because the torque sensor directly measures the actual torque on the steering wheel. And / or the steering wheel angular velocity value is greater than the control system shutdown angular velocity value: that is, the steering wheel is being turned at this time, and the rotation speed exceeds the threshold that the system believes can be safely turned off.

[0080] When any of the above three conditions is met, it can indicate that the driver is actively operating the steering wheel. Therefore, the wire control system should remain powered on to respond to these operations to avoid safety hazards caused by accidental power-off.

[0081] In summary, clear logical judgment is used to decide when to keep or shut down the power-on state of the wire control system, so as to reduce the possibility of system errors and downtime and improve vehicle driving safety.

[0082] In the preferred solution of the embodiment of the present application, the preset time threshold is 0.1s to 0.5s; preferably 0.2s to 0.3s.

[0083] like Figure 5 Furthermore, in step S30, in the system data backup mode, determining whether the detection data meets the power-off condition of the corresponding mode includes:

[0084] Step S301', determining whether a vehicle shutdown instruction or a system exit preparation instruction is received;

[0085] Similarly, the system checks whether a vehicle shutdown command has been received from the vehicle control unit (VCU) or other related modules, or whether a system exit preparation command has been issued within the system, to confirm whether the system has received a clear power-off or exit command.

[0086] Step S302': when it is determined that a vehicle shutdown command or a system exit preparation command has been received, determining whether the current vehicle speed value is 0;

[0087] If a power-off or exit command is received, the system will further check whether the current vehicle speed value provided by the vehicle speed sensor is 0, ensuring that the vehicle is powered off and data is backed up when stationary, to avoid safety hazards and data inconsistencies that may be caused by operations during driving.

[0088] Step S303', when it is determined that the current vehicle speed value is 0, determine whether the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, and whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value;

[0089] Step S304', when it is determined that the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, and the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, it is determined that the power-off condition in the system data backup mode is met;

[0090] Check the status of the steering wheel and the road sense motor. By comparing the target torque, actual detection torque and steering wheel angular velocity with the threshold set when the system is turned off, it can be determined whether the driver is still operating the steering wheel or the road sense motor. If these values ​​are less than or equal to the threshold when the system is turned off, it means that the steering wheel and the road sense motor are in a state where they can be safely powered off.

[0091] In a further embodiment of the present application, it also includes:

[0092] Step S305': if any one of the following conditions 4) to 6) is met:

[0093] 4) Failure to receive the vehicle shutdown command or system exit preparation command;

[0094] 5) The current vehicle speed value is not 0;

[0095] 6) In the delayed judgment mode, the absolute value of the target torque value of the road sensing motor is greater than the control system shutdown torque value, and / or the absolute value of the torque value detected by the torque sensor is greater than the control system shutdown torque value and / or the steering wheel angular velocity value is greater than the control system shutdown angular velocity value;

[0096] At this time, the control-by-wire system is kept in system data backup mode. That is, if any of the above conditions is met, the system will perform corresponding operations to keep it in system data backup mode. This may include continuing to monitor relevant parameters, maintaining necessary power supply, and preparing to perform data backup or recovery at an appropriate time.

[0097] like Figure 6 In the embodiment of the present application, in step S40, when the detection data meets the power-off condition of the corresponding mode, the current state is switched from the power-on state to the power-off state, including:

[0098] Step S401, controlling the wire control system to enter a power-off preparation state;

[0099] Step S402, performing a power-off preparation operation to switch the current state from the power-on state to the power-off state and output a first instruction;

[0100] Step S403: If a second instruction is received after the power-off preparation work is performed once, the power-off preparation is successful.

[0101] Specifically, the system control unit will send a power-off preparation signal to each component of the wire control system and start to perform the corresponding preparation tasks; before officially entering the power-off state, the system needs to enter a preparation stage. The main purpose of this stage is to notify each module inside the system that a power-off operation is about to be performed, such as saving data, closing unnecessary processes or resources, etc. After the power-off preparation state is confirmed, the system begins to perform specific power-off preparation work; after performing a power-off preparation work, the system will output an electrical signal of the first instruction as a sign that the power-off preparation has been performed.

[0102] Then, a confirmation mechanism for the second command is introduced to prevent misoperation caused by internal system errors or external interference. That is, after the system completes the power-off preparation and outputs the first command, it waits for a second command from the outside or inside the system. This second command may be a confirmation signal from the vehicle controller or a self-test pass signal inside the system. If the system successfully receives this second command, it will confirm that the power-off preparation has been successfully completed and officially enter the power-off state.

[0103] like Figure 7 , further, the method also includes:

[0104] Step S404: if the second instruction is not received after the power-off preparation work is performed once, determining whether the third instruction is received;

[0105] Step S405: If the third instruction is received, the power-off preparation is unsuccessful.

[0106] The purpose of the above steps S404 to S405 is to handle abnormal situations that may occur during the power-off preparation process. If the system has completed the power-off preparation and is waiting for confirmation of the second instruction, the system needs to determine whether other instructions (i.e., third instructions) have been received. These instructions may indicate changes in the current state or conditions, resulting in the power-off preparation being unable to continue. If the system receives the third instruction, this usually means that some unexpected situation occurred during the power-off preparation process, resulting in the power-off preparation not being able to proceed as expected. That is, the system determines that the third instruction has been received, that is, it is determined that the power-off preparation is unsuccessful.

[0107] Furthermore, the state control method further includes:

[0108] Step S406: If the third instruction is not received, loop back to step S402.

[0109] It is understandable that the purpose of this step is to handle a possible scenario, that is, the system has completed the power-off preparation and output the first instruction, but due to some reason (such as communication delay, slow system response, etc.), the second instruction fails to arrive in time. At the same time, the system does not receive any third instruction indicating that the power-off preparation should be canceled or interrupted. In this case, the system needs to adopt a strategy to ensure that the power-off process can continue, rather than staying in an uncertain state.

[0110] In simple terms, if the system does not receive either the second instruction or the third instruction within a certain period of time, it will automatically loop back to step S402 and re-execute the power-off preparation work. This includes re-checking whether all necessary conditions are met, re-executing the key steps in the power-off process, and outputting the first instruction again. Through such a loop, the system can continuously indicate that it is in the power-off process until it successfully receives the second instruction and completes the power-off, or receives the third instruction and cancels the power-off preparation.

[0111] In the embodiment of the present application, in order to avoid an infinite loop, a preset first timeout period may be set. If the second instruction or the third instruction is still not received within the first timeout period, the system should take further error handling measures, such as recording an error log, issuing an alarm, or trying other recovery strategies.

[0112] like Figure 8 In the embodiment of the present application, the control method further includes:

[0113] Step S501: when the power-off preparation is successful, wait for the drive motor of the wire control system to be powered off and determine whether the drive motor torque is 0;

[0114] Step S502: if the driving motor torque is 0, write the stored data and determine whether the writing of the stored data is completed;

[0115] Step S503: After writing the stored data, power off is completed.

[0116] After the system confirms that the power-off preparation is successful (that is, all necessary checks and preparations have been completed), the system needs to wait for the drive motor of the wire control system to be completely powered off. This is because the drive motor may generate current and torque when working. Therefore, the system needs to continuously monitor the torque value of the drive motor until the value drops to 0. A torque value of 0 means that the drive motor has completely stopped working and no longer generates any torque. At this time, the subsequent power-off operation can be safely performed.

[0117] Once the system confirms that the drive motor torque is 0, that is, the drive motor has completely stopped working, some key data of the system (such as system status, configuration information, operation logs, etc.) are written to non-volatile storage media. This is to prevent the loss of this data when the system is powered on again, to ensure that the system can be restored to the state before power failure or at least has enough information for troubleshooting and recovery. During the process of writing data, the system needs to continuously check the status of the write operation to ensure that all data has been successfully written to the storage medium. If any errors or abnormalities occur during the writing process, the system should be able to detect and take appropriate measures in a timely manner (such as retrying writing, recording error logs, etc.).

[0118] When the system confirms that all the data to be written has been successfully saved to the storage medium, the final power-off operation can be performed. This usually includes steps such as turning off the power supply and disconnecting the circuit to ensure that the system is completely powered off and in a safe state. At this point, the overall power-off process has been completed.

[0119] The present application also provides a power-on control method, the method comprising:

[0120] Step S601: In normal power-on mode, determine whether a vehicle ignition command is received;

[0121] This step is an initial checkpoint after the drive-by-wire system is started. In normal power-on mode, the system continuously monitors whether a vehicle ignition command has been received from the vehicle. The vehicle ignition command is a signal that the vehicle is ready to start or has started, usually triggered by the driver through a key, button or other starting device.

[0122] Step S602: upon receiving the vehicle ignition command, determining whether the current vehicle speed value is 0;

[0123] Once the system receives the vehicle ignition command, it detects the current vehicle speed value. The vehicle speed value is a direct reflection of the vehicle's driving speed, usually measured by the vehicle's sensors (such as wheel speed sensors) and reported to the control system. The purpose of this step is to ensure that the vehicle is started when it is stationary, which may be unsafe or not allowed when the vehicle is moving.

[0124] Step S603: When the current vehicle speed value is 0, the control-by-wire system enters a power-on ready state.

[0125] If the system confirms that the current speed value is 0, that is, the vehicle is stationary, it will control the wire control system to enter the power-on preparation state. The power-on preparation state is a transition stage between the system's fully shut down state and the fully operational state. During this stage, the system will perform a series of necessary checks and preparations to ensure that subsequent operations can proceed smoothly. These preparations may include initializing hardware components, loading necessary software or firmware, and checking system connections and communications.

[0126] After the wire control system enters the power-on ready state, it also includes:

[0127] Step S604, performing a power-on preparation operation to switch the current state from the power-off state to the power-on state and outputting a fourth instruction;

[0128] After the line control system enters the power-on preparation state, the system will perform a series of necessary power-on preparation tasks. These tasks may include initializing the system hardware, loading necessary software or firmware, checking system connections and communications, etc., to ensure that the system can smoothly switch from the power-off state to the power-on state. After completing these preparations, the system will output a fourth instruction as a signal that it has entered the power-on preparation state.

[0129] Step S605: if the fifth instruction is received after executing the power-on preparation work once, the power-on preparation is successful;

[0130] The wire control system will check whether the fifth instruction has been received. The fifth instruction can be understood as a confirmation mechanism within the vehicle controller, indicating that the power-on preparation has been successfully completed. This means that the power-on preparation is successful and the system can continue with subsequent operations or enter the running state.

[0131] Step S606: if the fifth instruction is not received after performing the power-on preparation work once, determine whether the sixth instruction is received;

[0132] If the system does not receive the fifth command within a certain period of time, it will continue to check whether it has received the sixth command. The sixth command may be an error or failure signal, indicating that the power-on preparation process encountered a problem or failed to complete successfully.

[0133] Step S607: If the sixth instruction is received, the power-on preparation is unsuccessful;

[0134] If the system receives the sixth instruction, the power-on preparation is deemed unsuccessful. At this time, the system may record error information, issue an alarm, or perform other troubleshooting measures so that the user or maintenance personnel can understand the problem in time and take corresponding solutions.

[0135] Step S608: if the sixth instruction is not received, obtaining system failure status;

[0136] If the system receives neither the fifth instruction nor the sixth instruction, the wire control system further checks the failure status of the system, ie, the above-mentioned "failure" or "no failure".

[0137] Step S609: When the wire control system fails, the system failure diagnosis mode is entered;

[0138] If the system detects a failure, that is, determines that the wire control system or its key parts cannot work properly, the system will automatically enter the failure diagnosis mode. The failure diagnosis mode is a self-check mode, for example: In this mode, the system includes more detailed error checking, log analysis, or performs recovery operations. At the same time, the system may provide error information or fault codes to help users or maintenance personnel locate the problem more quickly.

[0139] Step S610: If the wire control system is not invalid, loop to step S606.

[0140] If the system is not failed (i.e., no specific system error or failure is detected), the system returns to step S606 and continues to wait for receiving the fifth instruction or the sixth instruction. This may be because the previous check may not accurately reflect the system status due to some temporary interference, or the system needs more time to confirm whether the power-on preparation is successful.

[0141] Similarly, a reasonable second timeout period is set. If neither the fifth instruction nor the sixth instruction is received within the second timeout period, and the system has not failed, the system will no longer continue to loop into step S606, and will automatically enter a safe state or standby mode, waiting for external intervention.

[0142] In summary, by checking the vehicle ignition command and the current vehicle speed value, the embodiment of the present application can ensure that the system is powered on only when the vehicle is stationary and the driver intends to start it, thereby avoiding accidental starting when the vehicle is moving or improperly operated, and ensuring driving safety. In the process of power-on preparation, the system can promptly discover and solve potential problems through multiple inspections and confirmation mechanisms, and prevent safety hazards caused by system failures; through clear steps and instruction confirmation, the system can reduce power-on failures or system anomalies caused by incorrect operations or misjudgments, and improve the stability and reliability of the system. At the same time, when the wire control system fails, the wire control system can automatically enter the system failure diagnosis mode, attempt self-repair or provide error information, and help users or maintenance personnel quickly locate the problem and take solutions.

[0143] like Fig. 9 The embodiment of the present application further provides a state control system 100 in a wire control system, including a vehicle state observation unit 10, at least one induction motor 20 and at least one steering execution motor 30, a control module 40, and a first drive unit 51 and a second drive unit 52;

[0144] The vehicle state observation unit 10 is used to obtain the vehicle speed, the target torque value of the road sense motor, the torque value detected by the torque sensor and the steering wheel angular velocity value; the control module 40 includes a first control unit 41 and a second control unit 42, the first control unit 41 is electrically connected to the vehicle state observation unit 10 and the road sense motor 20, and the second control unit 42 is electrically connected to the vehicle state observation unit 10 and the steering execution motor 30; wherein the first control unit 41 and the second control unit 42 are electrically connected to each other; the first drive unit 51 is electrically connected to the first control unit 41, and the second drive unit 52 is electrically connected to the second control unit 42, so as to control the road sense motor 20 and the steering execution motor 30 respectively;

[0145] Wherein, any one of the first control unit 41 and the second control unit 42 in the control module 40 is configured to execute the above-mentioned state control method based on wire control steering.

[0146] It is understandable that the vehicle state observation unit 10 collects various state information of the vehicle by integrating multiple sensors. These sensors may include but are not limited to: speed sensor, acceleration sensor, angle sensor, gyroscope and yaw rate sensor, and wheel speed sensor, etc., wherein the information obtained is but not limited to the target torque value of the road sensor motor, the torque value detected by the torque sensor, and the steering wheel angular velocity value.

[0147] A communication interface is provided at the vehicle state observation unit 10 to provide a standard communication interface (such as a CAN bus, a LIN bus, etc.) for exchanging data with the control module 40 .

[0148] The road sensing motor and the steering execution motor are respectively designed to be redundant with each other, that is, the road sensing motor is configured with at least two sub-road sensing motors, and the steering execution motor is configured with at least two steering execution motors. The multiple sub-motors are respectively used as the main motor and the backup motor in terms of functional domain. Under normal circumstances, the main motor and the backup motor work together. When the main motor has a problem, it is switched to the backup motor to take over the work.

[0149] The control module 40 includes a first control unit 41 and a second control unit 42. The first control unit 41 and the second control unit 42 are responsible for processing the control logic related to the road sensing motor and the steering actuator motor respectively. The first control unit 41 is electrically connected to the vehicle state observation unit 10 and the road sensing motor 20. The target torque of the road sensing motor 20 is used to simulate the steering resistance torque. The second control unit 42 is electrically connected to the vehicle state observation unit 10 and the steering actuator motor 30, and is used to control the steering actuator motor 30 to output the corresponding torque to achieve the steering control of the vehicle.

[0150] The control module 40 performs power-up and power-down control on the steer-by-wire system through the above-mentioned state control method based on steer-by-wire.

[0151] It should be noted that the first control unit 41 and the second control unit 42 use CANFD communication for data exchange, so as to achieve high-bandwidth and high-data-rate communication between the first control unit 41 and the second control unit 42. This enables a higher data transmission rate and a larger data packet capacity, and is suitable for transmitting data with high requirements on real-time performance and data volume.

[0152] In the embodiment of the present application, the first control unit 41 and the second control unit 42 transmit the control amount of the target torque to the first drive unit 51 and the second drive unit 52 respectively through CAN communication. The first drive unit 51 and the second drive unit 52 also adopt redundant control.

[0153] As mentioned above, the first control unit 41 and the second control unit 42 constitute a redundant design, that is, one of them constitutes the main controller and the other constitutes a redundant controller; for example, the first control unit 41 wire control system is preferentially used as the main controller for executing the state control method. The second control unit 42 is synchronized with the first control unit 41 through CANFD communication. If the first control unit 41 fails or does not respond, the system will automatically switch to the second control unit 42 to perform the state control method. The second control unit 42 will take over the power-on and power-off tasks originally undertaken by the first control unit 41 to ensure the continuous operation of the wire control system. The redundant design ensures a smooth transition of this process; it not only achieves efficient and reliable data transmission and control, but also improves the fault tolerance and stability of the system.

[0154] In another aspect of the present application, a vehicle is provided, which is based on the above-mentioned state control system 100; obviously, the vehicle has all the beneficial effects brought by the above-mentioned state control system 100, such as better stability and reliability, etc., which will not be repeated here.

[0155] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still adjust the technical solutions described in the aforementioned embodiments, or replace some or all of the embedded technical features with equivalent ones. However, these adjustments or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A state control method in a wire control system, characterized in that: include: Acquiring a system failure condition when the wire control system is powered on; Entering different power-off modes according to the failure conditions; Acquiring detection data of the wire control system in different power-off modes, and determining whether the detection data meets the power-off condition of the corresponding mode; When the detection data meets the power-off condition of the corresponding mode, the wire control system is switched from the power-on state to the power-off state.

2. The method according to claim 1, characterized in that Entering different power-off modes according to the failure conditions includes: When the wire control system is not invalid, entering the normal power-off mode; When the wire control system fails, the system data backup mode is entered.

3. The method according to claim 2, characterized in that Acquiring detection data of the wire control system in different power-off modes includes: Get whether the vehicle shutdown command or system exit preparation command is received; Get the current vehicle speed value; and Obtain the target torque value of the road sense motor, the torque value detected by the torque sensor, and the steering wheel angular velocity value.

4. The method according to claim 3, characterized in that: In the normal power-off mode, determining whether the detection data meets the power-off condition of the corresponding mode includes: Determine whether a vehicle shutdown command or a system exit preparation command has been received; When it is determined that a vehicle shutdown command or a system exit preparation command has been received, determining whether the current vehicle speed value is 0; When the current vehicle speed value is determined to be 0, the system enters the delayed judgment mode; In the delay judgment mode, it is judged whether the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, and whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value; When it is determined that the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, it is determined whether the duration of entering the delay judgment mode reaches a preset duration threshold; If the preset time threshold is reached, it is determined that the power-off condition in the normal power-off mode is met.

5. The method according to claim 4, characterized in that The preset duration threshold value ranges from 0.2s to 0.3s.

6. The method according to claim 3, characterized in that In the system data backup mode, determining whether the detection data meets the power-off condition of the corresponding mode includes: Determine whether a vehicle shutdown command or a system exit preparation command has been received; When it is determined that a vehicle shutdown command or a system exit preparation command has been received, determining whether the current vehicle speed value is 0; When the current vehicle speed value is determined to be 0, determine whether the absolute value of the target torque value of the road sensing motor is less than or equal to the control system shutdown torque value, whether the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and whether the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value; When it is determined that the absolute value of the target torque value of the road sense motor is less than or equal to the control system shutdown torque value, and the absolute value of the torque value detected by the torque sensor is less than or equal to the control system shutdown torque value, and the steering wheel angular velocity value is less than or equal to the control system shutdown angular velocity value, it is determined that the power-off conditions in the system data backup mode are met.

7. The method according to claim 4 or 6, characterized in that: When the detection data satisfies the power-off condition of the corresponding mode, switching the current state from the power-on state to the power-off state includes: Controlling the wire control system to enter a power-off ready state; Performing a power-off preparation operation once to switch the current state from the power-on state to the power-off state and outputting a first instruction; If a second instruction is received after the power-off preparation work is performed once, the power-off preparation is successful.

8. The method according to claim 7, characterized in that The method further comprises: If the second instruction is not received after performing the power-off preparation work once, determining whether the third instruction is received; If the third instruction is received, the power-off preparation is unsuccessful.

9. The method according to claim 7, characterized in that: The method further comprises: When the power-off preparation is successful, wait for the drive motor of the wire control system to be powered off and determine whether the drive motor torque is 0; If the driving motor torque is 0, writing the storage data and determining whether the writing of the storage data is completed; After writing the stored data, power off is completed.

10. A state control system in a wire control system, characterized in that: include: The vehicle state observation unit is used to obtain the vehicle speed, the target torque value of the road sense motor, the torque value detected by the torque sensor, and the steering wheel angular velocity value; At least one induction motor and at least one steering actuator motor; A driving module, comprising a first driver and a second driver, wherein the first driver is electrically connected to the road sensing motor, and the second driver is electrically connected to the steering actuator motor; A control module, comprising a first sub-controller and a second sub-controller, wherein the first sub-controller is electrically connected to a first driver, and the second sub-controller is electrically connected to a second driver and is a redundant device of the first sub-controller to control the road sensing motor and the steering actuator motor; The control module is configured to execute the method according to any one of claims 1 to 9.

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