Fault detection method and device for steering wheel angle sensor

Abstract

The invention provides a steering wheel angle sensor fault detection method and device, and the method comprises the steps: obtaining a first steering wheel angle value and a second steering wheel angle value; determining a first parameter and a second parameter according to an angle measuring range corresponding to the steering wheel angle sensor, the first steering wheel angle value and the second steering wheel angle value; determining a target parameter according to the first parameter and the second parameter; and according to the target parameter and a preset angle difference threshold, judging whether the steering wheel angle sensor has a fault or not. The method is suitable for detecting the stroke boundary of the steering wheel angle sensor, so that the steering wheel angle sensor can be directly assembled in the assembly production and assembly link, whether the position near the zero angle of the steering wheel angle sensor corresponds to the stroke middle position of the rack or not does not need to be considered, and the assembly complexity is reduced.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method and device for detecting a steering wheel angle sensor fault. Background Art

[0002] With the continuous development of intelligent driving, the requirements for the accuracy and reliability of lateral control are becoming higher and higher. As the core component of the car, the Electric Power Steering (EPS) system determines the lateral control of the vehicle. In the ESP system, the torque and angle of the steering wheel are usually detected by the Torque Angle Sensor (TAS). At the same time, the angle signal detected by the TAS will also be sent to other controllers of the vehicle to achieve some control based on the steering wheel angle. Therefore, the accuracy of the angle signal detected by the TAS is crucial to driving safety.

[0003] TAS has three built-in gears, including a large gear and two small gears. The large gear is coaxial with the gear shaft at the manual input end of the EPS system and is fixedly connected. The rotation angle of the large gear is the steering wheel angle. In order to obtain the rotation angle of the large gear, it is necessary to detect the angle of the small gear meshing with the large gear based on the Hall principle. At present, in order to determine whether TAS has an accuracy fault, the steering wheel angle calculated by the two angle signals corresponding to the two small gears is usually subtracted, and the absolute value of the difference is compared with the preset threshold. If it is greater than, a TAS fault is reported. This fault detection method is not suitable for the detection stroke boundary of TAS. When using this fault detection method, it is necessary to ensure that the position near the 0 angle of TAS corresponds to the middle position of the rack stroke during the assembly production link. The rack here is an important component in the steering gear. It meshes with the gear in the steering gear and converts the rotational motion of the gear into linear motion. The left and right movement of the rack drives the wheel to steer through the pull rod. It can be seen that in order to solve the problem that the TAS fault detection method is not suitable for the detection stroke boundary of the TAS in the prior art, it is necessary to make the position near the 0 angle of the TAS correspond to the middle position of the rack stroke in the assembly production link, which increases the complexity of the production process and increases the product manufacturing cost. Summary of the invention

[0004] In view of the above problems, embodiments of the present application provide a steering wheel angle sensor fault detection method and device that overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting a steering wheel angle sensor fault, wherein the steering wheel angle sensor has a main gear and a first gear and a second gear respectively meshing with the main gear, and the method comprises:

[0006] Obtain a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor;

[0007] Determining a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value;

[0008] Determining a target parameter according to the first parameter and the second parameter;

[0009] It is determined whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

[0010] In a second aspect, an embodiment of the present application further provides a steering wheel angle sensor fault detection device, wherein the steering wheel angle sensor has a main gear and a first gear and a second gear respectively meshing with the main gear, and the device comprises:

[0011] A first acquisition module is used to acquire a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor;

[0012] a first determination module, configured to determine a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value;

[0013] A second determining module, used to determine a target parameter according to the first parameter and the second parameter;

[0014] The judgment module is used to judge whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned steering wheel angle sensor fault detection method when executed by the processor.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned steering wheel angle sensor fault detection method is implemented.

[0017] The embodiments of the present application include at least the following technical effects:

[0018] The technical solution of the embodiment of the present application is to obtain a first steering wheel angle value calculated based on a first angle value of a first gear collected by a steering wheel angle sensor and a second steering wheel angle value calculated based on a second angle value of a second gear collected by the steering wheel angle sensor, and determine a first parameter and a second parameter according to the angle range, the first steering wheel angle value and the second steering wheel angle value corresponding to the steering wheel angle sensor, and then determine a target parameter according to the first parameter and the second parameter, and determine whether the steering wheel angle sensor has a fault by comparing the target parameter with a preset angle difference threshold. Compared with the prior art, which only compares the first parameter with the preset angle difference threshold, and thus requires that the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke in the assembly production link, the target parameter in the embodiment of the present application is determined according to the first parameter and the second parameter, and is applicable to the detection stroke boundary of the steering wheel angle sensor. Therefore, it can be directly assembled in the assembly production link without considering whether the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke, thereby reducing the complexity of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a flow chart of a steering wheel angle sensor fault detection method provided in an embodiment of the present application;

[0020] Figure 2 is a structural schematic diagram of a steering wheel angle sensor fault detection device provided in an embodiment of the present application;

[0021] Figure 3 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0025] In the related art, for sensors that use the vernier algorithm principle to detect the steering wheel angle, that is, steering wheel angle sensors, when the sensor has a large deviation in detecting the angle of its own pinion, it will cause the steering wheel angle calculated by the power control unit to have an error that exceeds the expected product design. For the detection of such faults, the prior art usually directly subtracts the steering wheel angles calculated by the two angle signals, and then compares the absolute value of the difference with the expected angle difference threshold to finally determine whether the fault exists. However, this algorithm is not suitable for situations where the angle detected by the steering wheel angle sensor is at the boundary of the stroke, so the angle of the steering wheel angle sensor at the boundary of the stroke is not allowed to be used during the life cycle of the EPS system. Therefore, for the EPS system that uses this algorithm, in the assembly production link, it is necessary to ensure that the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke for assembly, which increases the complexity of the production process and increases the product manufacturing cost.

[0026] Based on this, an embodiment of the present application provides a steering wheel angle sensor fault detection method and device, which is suitable for the detection stroke boundary of the steering wheel angle sensor, so that it can be directly assembled in the assembly production link without considering whether the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke, thereby reducing the complexity of assembly.

[0027] like Figure 1 As shown, an embodiment of the present application provides a method for detecting a steering wheel angle sensor fault, wherein the steering wheel angle sensor has a main gear and a first gear and a second gear respectively meshing with the main gear, and the method comprises:

[0028] Step 101, obtain a first steering wheel angle value and a second steering wheel angle value; the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor.

[0029] Specifically, the steering wheel angle sensor in the embodiment of the present application may be a torque angle sensor (TAS), which has three gears built in: a main gear, a first gear, and a second gear, wherein the first gear and the second gear are respectively meshed with the main gear. The steering wheel angle sensor also includes a first chip and a second chip, wherein the first chip is used to detect the angle of the first gear in real time, and the second chip is used to detect the angle of the second gear in real time, and the angles of the first gear and the second gear are respectively sent to the power control unit in the EPS system through two SPC signals. After receiving the two angle signals, the power control unit calculates the real-time main gear angle through a vernier algorithm, which is the steering wheel angle.

[0030] The steering wheel angle sensor detects the angle of the built-in first gear and the second gear based on the Hall principle. When there is a strong magnetic field in the outside world, the detected value of the angle of the first gear and the second gear will differ from the actual value due to magnetic field interference, which will cause an error between the final calculated steering wheel angle and the actual steering wheel angle. When the error exceeds the accuracy requirement for vehicle use, it may cause danger. For example, in assisted driving, the steering wheel is automatically controlled by the vehicle, and the vehicle controls the steering wheel rotation based on the steering wheel angle detected by the steering wheel angle sensor. When the detected angle deviates greatly from the actual value, it will cause over-steering or under-steering of the assisted driving, which will lead to danger during driving.

[0031] In the embodiment of the present application, after the power-on initialization is completed, the EPS system receives the first angle signal sent by the first chip in the steering wheel angle sensor to obtain the first angle value, and receives the second angle signal sent by the second chip in the steering wheel angle sensor to obtain the second angle value. Then, according to the cursor algorithm, the first steering wheel angle value is calculated according to the first angle value, and the second steering wheel angle value is calculated according to the second angle value, so as to obtain the first steering wheel angle value collected by the steering wheel angle sensor through the first gear and the second steering wheel angle collected through the second gear.

[0032] It should be noted that the first angle signal and the second angle signal sent by the steering wheel angle sensor received by the EPS system are both SPC signals. Therefore, the EPS system also needs to convert the SPC signal into an angle value. Specifically, the SPC value range is 0 to 4094, then A1 = SPC1*360 / 4095, A1 is the first angle value, SPC1 is the SPC value in the first angle signal; A2 = SPC2*360 / 4095, A2 is the second angle value, SPC2 is the SPC value in the second angle signal.

[0033] The following introduces how to calculate the first steering wheel angle value and the second steering wheel angle value based on the cursor algorithm, the first angle value and the second angle value.

[0034] 1. Calculate the angle range of the steering wheel angle sensor.

[0035] A MAX =G1*G2 / (G1, G2) / G0*360, where A MAX is the angle range, G1 is the first number of teeth corresponding to the first gear, G2 is the second number of teeth corresponding to the second gear, G0 is the main number of teeth corresponding to the main gear, and (G1, G2) is the greatest common divisor of G1 and G2.

[0036] 2. Calculate the first number of revolutions of the first gear and the second number of revolutions of the second gear within the angular range.

[0037] C1=G2 / (G1, G2), where C1 is the first circle number.

[0038] C2=G1 / (G1, G2), where C2 is the second number of turns.

[0039] 3. Calculate the intermediate parameters corresponding to the cursor algorithm.

[0040] K=int((C1*A2-C2*A1) / 360), wherein K is an intermediate parameter and int is a rounding function.

[0041] 4. Calculate the first steering wheel angle value and the second steering wheel angle value.

[0042] ASU1=(mod(-1*K,C1)*360+A1)*G1 / G0-A MAX / 2, where ASU1 is

[0043] The first steering wheel angle value, A1 is the first angle value, and mod is the modulo function.

[0044] ASU2=(mod(-1*K,C2)*360+A2)*G2 / G0-A MAX / 2, where ASU2 is

[0045] The second steering wheel angle value, A2 is the second angle value, and mod is the remainder function.

[0046] Step 102: determining a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value;

[0047] Step 103: determining a target parameter according to the first parameter and the second parameter;

[0048] Specifically, after obtaining the first steering wheel angle value and the second steering wheel angle value, the first parameter and the second parameter are determined according to the angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value. Optionally, the first parameter may be the absolute value of the difference between the first steering wheel angle value and the second steering wheel angle value. The second parameter may be the difference between the angle range and the absolute value of the first steering wheel angle value and the absolute value of the second steering wheel angle value.

[0049] For example, M1 = |ASU1-ASU2|, M2 = A MAX -|ASU1|-|ASU2|, wherein M1 is the first parameter and M2 is the second parameter.

[0050] After determining the first parameter and the second parameter, the first parameter and the second parameter can be compared. When the first parameter is smaller than the second parameter, the first parameter is determined as the target parameter; when the first parameter is greater than or equal to the second parameter, the second parameter is determined as the target parameter.

[0051] For example, N=min(M1, M2), where N is the target parameter and min is the minimum function.

[0052] In the embodiment of the present application, the target parameter used for comparison with the preset angle threshold to determine whether the steering wheel angle sensor is faulty is the smaller of the first parameter and the second parameter. Compared with the prior art, only the first parameter is used to compare with the preset angle threshold to determine whether the steering wheel angle sensor is faulty. When the steering wheel angle sensor is at the stroke boundary, even if the deviation between the measured value and the true value does not exceed the preset angle threshold, a fault will be reported. In the embodiment of the present application, when the steering wheel angle sensor is not at the stroke boundary, the first parameter is smaller and the target parameter is the first parameter. When it is at the stroke boundary, the second parameter is smaller and the target parameter is the second parameter.

[0053] Step 104: Determine whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

[0054] In a specific implementation process, after determining the target parameter, by comparing the target parameter with a preset angle difference threshold, it can be determined whether the steering wheel angle sensor has a fault.

[0055] Specifically, when the target parameter is greater than the angle difference threshold, it is determined that the steering wheel angle sensor is faulty; when the target parameter is less than or equal to the angle difference threshold, it is determined that the steering wheel angle sensor is not faulty.

[0056] In addition, when it is determined that the steering wheel angle sensor has a fault, a fault reminder message is output, and the driver can take corresponding disposal measures in time according to the corresponding fault information, thereby ensuring the safe driving of the vehicle.

[0057] In the embodiment of the present application, a first parameter and a second parameter are determined by obtaining a first steering wheel angle value calculated based on a first angle value of a first gear acquired by a steering wheel angle sensor and a second steering wheel angle value calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor, and then a target parameter is determined based on the first parameter and the second parameter, and by comparing the target parameter with a preset angle difference threshold, it is determined whether the steering wheel angle sensor has a fault. Compared with the prior art which only compares the first parameter with the preset angle difference threshold, and thus requires that the position near the 0 angle of the steering wheel angle sensor correspond to the middle position of the rack stroke in the assembly production link, the target parameter in the embodiment of the present application is determined based on the first parameter and the second parameter, and is applicable to the detection stroke boundary of the steering wheel angle sensor. Therefore, assembly can be directly performed in the assembly production link without considering whether the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke, thereby reducing the complexity of assembly.

[0058] In an optional embodiment of the present application, before judging whether the steering wheel angle sensor has a fault according to the target parameter and the preset angle difference threshold, the method further includes:

[0059] Obtaining a first detection error corresponding to the angle collected by the steering wheel angle sensor through the first gear and a second detection error corresponding to the angle collected by the second gear;

[0060] When the detection error is zero and the actual angle is the target angle value, the first target angle value collected by the steering wheel angle sensor through the first gear and the second target angle value collected through the second gear are obtained;

[0061] Determining a first error angle value according to the first target angle value and the first detection error;

[0062] determining a second error angle value according to the second target angle value and the second detection error;

[0063] The preset angle difference threshold is calculated according to the first error angle value and the second error angle value.

[0064] In the specific implementation process, it is also necessary to pre-calculate the preset angle difference threshold. First, it is necessary to obtain the first detection error corresponding to the angle collected by the steering wheel angle sensor through the first gear and the second detection error corresponding to the angle collected through the second gear. The first detection error here is the maximum value of the detection error allowed by the first angle signal, and the second detection error is the minimum value of the detection error allowed by the second angle signal. Then, calculate the first error angle value when the detection error of the first angle signal is the first detection error, calculate the second error angle value when the detection error of the second angle signal is the second detection error, and then calculate the preset angle difference threshold.

[0065] The following will introduce it in detail. According to the vernier algorithm, the actual steering wheel angle is known, and the first target angle value and the second target angle value can be calculated when the steering wheel angle sensor has no detection error.

[0066] B1=mod((SWA+A MAX / 2)*G0 / G1, 360), B2=mod((SWA+A MAX / 2)

[0067] *G0 / G2, 360). Among them, SWA is the target angle value, A MAX is the angle range, G1 is the first number of teeth corresponding to the first gear, G2 is the second number of teeth corresponding to the second gear, G0 is the main number of teeth corresponding to the main gear, mod is the remainder function, B1 is the first target angle value, and B2 is the second target angle value.

[0068] Calculate the first error angle value and the second error angle value. X1 = mod (B1 + Err1, 360), X2 = mod (B2 + Err2, 360), where B1 is the first target angle value, B2 is the second target angle value, Err1 is the first detection error, Err2 is the second detection error, X1 is the first error angle value, and X2 is the second error angle value.

[0069] The preset angle difference threshold is calculated according to the first error angle value and the second error angle value. Firstly, according to the cursor algorithm, the first error steering wheel angle value Y1 corresponding to the first error angle value X1 is calculated, and the second error steering wheel angle value Y2 corresponding to the second error angle value X2 is calculated.

[0070] Then calculate the preset angle difference threshold, Q = min(|Y1-Y2|, A MAX -|Y1|-|Y2|), where Q is the preset angle difference threshold.

[0071] The above implementation scheme of the present application calculates a preset angle difference threshold, thereby facilitating subsequent determination of whether the steering wheel angle sensor is faulty based on the preset angle difference threshold.

[0072] The embodiments of the present application are introduced below through specific examples.

[0073] Given that G0=65, G1=26, G2=28

[0074] It is known that the allowable detection error range of the first angle signal is -5.625° to 5.625°, that is, the first detection error is 5.625°; the allowable detection error of the second angle signal is -5.223° to 5.223°, that is, the second detection error is -5.223°.

[0075] Then, A MAX =G1*G2 / (G1, G2) / G0*360=26*28 / 2 / 65*360=2016.

[0076] C1=G2 / (G1, G2)=28 / 2=14.

[0077] C2=G1 / (G1, G2)=26 / 2=13.

[0078] K=int((C1*A2-C2*A1) / 360)=int((14*A2-13*A1) / 360)

[0079] The expected result of applying the algorithm of this application is: when the angle detected by the steering wheel angle sensor is at any position of the travel, when the angle detection errors of A1 and A2 roads do not exceed the allowable detection error, the EPS system will not report a fault; when the angle detection error of A1 or A2 road exceeds the allowable detection error, the EPS system can report a fault. The specific design process is as follows.

[0080] First, calculate the preset angle difference threshold. When the detection deviation of the first angle signal is the maximum value and the detection deviation of the second angle signal is the minimum value, min(|Y1-Y2|, A MAX -|Y1|-|Y2|) is the preset angle difference threshold. The specific calculation process is as follows:

[0081] 1. Set SWA = 0° (SWA can be selected at any angle within the range of the steering wheel angle sensor, which can be 0°, 20°, 300°, 500°, etc. Here, select SWA = 0°)

[0082] When the calculated detection error is zero and the actual angle is 0°, the first target angle value B1 collected by the steering wheel angle sensor through the first gear and the second target angle value B2 collected through the second gear are:

[0083] B1=mod((SWA+A MAX / 2)*G0 / G1,360)=mod((0+1008)*65 / 26,

[0084] 360)=0.

[0085] B2=mod((SWA+A MAX / 2)*G0 / G2,360)=mod((0+1008)*65 / 28,

[0086] 360)=180.

[0087] Calculate the first error angle value X1 and the second error angle value X2 with detection deviation:

[0088] X1=mod(B1+Err1,360)=mod(0+5.625,360)=5.625.

[0089] X2=mod(B2+Err2,360)=mod(180-5.223,360)=174.777.

[0090] Calculate the intermediate parameter K:

[0091] K=int((14*X2-13*X1) / 360)=int((14*174.777-13*5.625) / 360)=7.

[0092] Calculate the first error steering wheel angle value Y1 and the second error steering wheel angle value Y2:

[0093] Y1=(mod(-1*K,C1)*360+X1)*G1 / G0-A MAX / 2=(mod(-1*7,14)

[0094] *360+5.625)*26 / 65-2016 / 2=2.25.

[0095] Y2=(mod(-1*K,C2)*360+X2)*G2 / G0-A MAX / 2=(mod(-1*7,13)

[0096] *360+174.777)*28 / 65-2016 / 2=-2.25.

[0097] Calculate the preset angle difference threshold:

[0098] Q=min(|Y1-Y2|,A MAX -|Y1|-|Y2|)=min(4.5, 2011.5)=4.5.

[0099] According to the calculated preset angle difference threshold, the EPS system is designed to diagnose the fault of the steering wheel angle sensor angle signal deviation. After the EPS system is powered on and initialized, it receives the first angle signal of the steering wheel angle sensor to obtain the first angle value A1, and receives the second angle signal to obtain the second angle value A2; according to the cursor algorithm, the first steering wheel angle value ASU1 is calculated from A1, and the second steering wheel angle value ASU2 is calculated from A2; the EPS system calculates the inequality "min(|ASU1-ASU2|, A MAX -|ASU1|-|ASU2|)≤4.5”. If it is true, the EPS system will not report an abnormal steering wheel angle sensor failure. If it is false, the EPS system will report an abnormal steering wheel angle sensor failure.

[0100] The following examples 1, 2 and 3 are used to illustrate the effectiveness of the EPS system in diagnosing steering wheel angle sensor angle signal deviation faults.

[0101] Example 1:

[0102] The angle value detected by the steering wheel angle sensor is not near the boundary of the angle travel, and the angle detection error corresponding to the A1 path, i.e. the first path angle signal, exceeds the allowable detection error.

[0103] The operating conditions of the steering wheel angle sensor in Example 1: the actual steering wheel angle is SWA=0°, and the angle detection error of A1 is 6° (exceeding the allowable detection error of the angle of A1) due to strong magnetic field interference or chip abnormality, that is, Err1=6°, and the angle detection error corresponding to the angle signal of A2, i.e. the second angle, is -5.223° (does not exceed the allowable detection error of the angle of A2), that is, Err2=-5.223°.

[0104] 1. Calculate the A1 and A2 values ​​without detection deviation:

[0105] A1=mod((SWA+A MAX / 2)*G0 / G1,360)=0°

[0106] A2=mod((SWA+A MAX / 2)*G0 / G2,360)=180°

[0107] 2. Calculate the actual received two angle signals A1' and A2' values:

[0108] A1'=mod(A1+Err1,360)=mod(6,360)=6°

[0109] A2'=mod(A2+Err2,360)=mod(174.777,360)=174.777°

[0110] 3. Calculate ASU1 and ASU2:

[0111] ASU1=2.4°

[0112] ASU2=-2.25°

[0113] 4. Inequality determination. min(|ASU1-ASU2|, A MAX -|ASU1|-|ASU2|)=4.65°≤4.5°, which is not established, that is, the judgment condition is not met, and the EPS system reports an abnormal steering wheel angle sensor fault and stops using the angle collected by the steering wheel angle sensor for control. In summary, it can be seen that when the angle detected by the steering wheel angle sensor is not near the angle travel boundary, the present application can detect the fault caused by the angle signal deviation.

[0114] Example 2:

[0115] The angle value detected by the steering wheel angle sensor is near the boundary of the angle travel, and the angle detection error of road A1 exceeds the allowable detection error.

[0116] Since the maximum range of the steering wheel angle sensor in the specific embodiment is A MAX =2016°, the steering wheel angle is divided into left and right directions, so the angle range of the steering wheel angle sensor is -1008°~+1008°.

[0117] Example 2: Steering wheel angle sensor usage conditions: The actual steering wheel angle is SWA = 1007°, close to the travel limit of the steering wheel angle sensor. Due to strong magnetic field interference or chip abnormality, the angle detection error of A1 is 6° (exceeding the allowable detection error of A1), that is, Err1 = 6°, and the angle detection error of A2 is -5.223° (not exceeding the allowable detection error of A2), that is, Err2 = -5.223°.

[0118] 1. Calculate the A1 and A2 values ​​without detection deviation:

[0119] A1=mod((SWA+A MAX / 2)*G0 / G1,360)=357.5°

[0120] A2=mod((SWA+A MAX / 2)*G0 / G2,360)=357.68°

[0121] 2. Calculate the actual received two angle signals A1' and A2' values:

[0122] A1'=mod(A1+Err1,360)=mod(363.5,360)=3.5°

[0123] A2'=mod(A2+Err2,360)=mod(352.457,360)=352.457°

[0124] 3. Calculate ASU1 and ASU2:

[0125] ASU1=-1006.6°

[0126] ASU2=1004.75°

[0127] 4. Inequality determination. min(|ASU1-ASU2|, AMAX-|ASU1|-|ASU2|)=4.65°≤4.5°, is not true, that is, the determination condition is not met, the EPS system reports an abnormal steering wheel angle sensor fault, and stops using the angle collected by the steering wheel angle sensor for control. In summary, it can be seen that for the case where the angle detected by the steering wheel angle sensor is near the boundary of the angle travel, the present application can detect faults caused by angle signal deviation.

[0128] Example 3:

[0129] The angle value detected by the steering wheel angle sensor is near the boundary of the angle travel, and the angle detection error on both A1 and A2 roads does not exceed the allowable detection error.

[0130] Example 3: The actual steering wheel angle is SWA = 1007°, which is close to the travel limit of the steering wheel angle sensor. The A1 angle detection error is 4° (does not exceed the allowable detection error of the A1 angle), that is, Err1 = 4°; the A2 angle detection error is 0° (does not exceed the allowable detection error of the A2 angle), that is, Err2 = 0°.

[0131] 1. Calculate the A1 and A2 values ​​without detection deviation:

[0132] A1=mod((SWA+A MAX / 2)*G0 / G1,360)=357.5°

[0133] A2=mod((SWA+A MAX / 2)*G0 / G2,360)=357.68°

[0134] 2. Calculate the actual received two angle signals A1' and A2' values:

[0135] A1'=mod(A1+Err1,360)=1.5°

[0136] A2'=mod(A2+Err2,360)=357.68°

[0137] 3. Calculate ASU1 and ASU2:

[0138] ASU1=-1007.4°

[0139] ASU2=1007°

[0140] 4. Determine inequality.

[0141] The existing algorithm: |ASU1-ASU2|=2014.4°≤4.5° is not established, that is, the judgment condition is not met, and the EPS system reports an abnormal steering wheel angle sensor fault and stops using the angle collected by the steering wheel angle sensor for control. However, at this time, the detection errors of A1 and A2 roads are within the design allowable detection error range, and no fault should be reported, and a false alarm occurs.

[0142] The algorithm of the present application: min(|ASU1-ASU2|, Amax-|ASU1|-|ASU2|)=1.6°≤4.5° holds, that is, the judgment condition is met, the EPS system does not report an abnormal steering wheel angle sensor failure, and uses the angle detected by the steering wheel angle sensor for control.

[0143] In summary, it can be seen that for the case where the angle detected by the steering wheel angle sensor is near the boundary of the angular travel, the algorithm of the present application solves the problem of false alarm failure of the existing algorithm.

[0144] The above describes the steering wheel angle sensor fault detection method provided in the embodiment of the present application. The following will describe the steering wheel angle sensor fault detection device provided in the embodiment of the present application in conjunction with the accompanying drawings.

[0145] like Figure 2 As shown, an embodiment of the present invention further provides a steering wheel angle sensor fault detection device, wherein the steering wheel angle sensor is built with a main gear and a first gear and a second gear respectively meshing with the main gear, and the device comprises:

[0146] A first acquisition module 201 is used to acquire a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor;

[0147] A first determination module 202, configured to determine a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value;

[0148] A second determination module 203, configured to determine a target parameter according to the first parameter and the second parameter;

[0149] The judgment module 204 is used to judge whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

[0150] Optionally, before determining the first parameter and the second parameter according to the angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value, the device further includes:

[0151] A second acquisition module, used to acquire the number of main teeth corresponding to the main gear, the number of first teeth corresponding to the first gear, and the number of second teeth corresponding to the second gear;

[0152] The first calculation module is used to calculate the angle range according to the number of main teeth, the first number of teeth and the second number of teeth.

[0153] Optionally, the first determining module includes:

[0154] a first determining submodule, configured to determine an absolute value of a difference between the first steering wheel angle value and the second steering wheel angle value as the first parameter;

[0155] The first determining submodule is used to determine the difference between the angle range and the absolute value of the first steering wheel angle value and the absolute value of the second steering wheel angle value as the second parameter.

[0156] Optionally, the second determining module includes:

[0157] A comparison submodule, used for comparing the first parameter with the second parameter;

[0158] A third determining submodule, configured to determine the first parameter as the target parameter when the first parameter is less than the second parameter;

[0159] The fourth determination submodule is used to determine the second parameter as the target parameter when the first parameter is greater than or equal to the second parameter.

[0160] Optionally, before judging whether the steering wheel angle sensor is faulty according to the target parameter and the preset angle difference threshold, the device further includes:

[0161] a third acquisition module, used to acquire a first detection error corresponding to the angle collected by the steering wheel angle sensor through the first gear and a second detection error corresponding to the angle collected by the second gear;

[0162] A fourth acquisition module, used for acquiring a first target angle value collected by the steering wheel angle sensor through the first gear and a second target angle value collected through the second gear when the detection error is zero and the actual angle is the target angle value;

[0163] a third determining module, configured to determine a first error angle value according to the first target angle value and the first detection error;

[0164] a fourth determining module, configured to determine a second error angle value according to the second target angle value and the second detection error;

[0165] The second calculation module is used to calculate the preset angle difference threshold according to the first error angle value and the second error angle value.

[0166] Optionally, the judgment module includes:

[0167] a fifth determination module, configured to determine that a fault exists in the steering wheel angle sensor when the target parameter is greater than the angle difference threshold;

[0168] The sixth determination module is used to determine that there is no fault in the steering wheel angle sensor when the target parameter is less than or equal to the angle difference threshold.

[0169] Optionally, after determining whether the steering wheel angle sensor is faulty, the device further includes:

[0170] The output module is used to output fault warning information when it is determined that the steering wheel angle sensor has a fault.

[0171] The fault detection device of the steering wheel angle sensor provided in the present application obtains a first steering wheel angle value calculated based on a first angle value of a first gear collected by the steering wheel angle sensor and a second steering wheel angle value calculated based on a second angle value of a second gear collected by the steering wheel angle sensor, and determines a first parameter and a second parameter according to the angle range, the first steering wheel angle value and the second steering wheel angle value corresponding to the steering wheel angle sensor, and then determines a target parameter according to the first parameter and the second parameter, and determines whether the steering wheel angle sensor has a fault by comparing the target parameter with a preset angle difference threshold. Compared with the prior art, which only compares the first parameter with the preset angle difference threshold, and thus requires that the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke in the assembly production link, the target parameter in the embodiment of the present application is determined according to the first parameter and the second parameter, and is applicable to the detection stroke boundary of the steering wheel angle sensor. Therefore, it can be directly assembled in the assembly production link without considering whether the position near the 0 angle of the steering wheel angle sensor corresponds to the middle position of the rack stroke, thereby reducing the complexity of assembly.

[0172] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0173] An embodiment of the present application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned steering wheel angle sensor fault detection method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0174] For example, Figure 3 FIG. 1 shows a schematic diagram of the physical structure of an electronic device. Figure 3As shown, the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 complete mutual communication through the communication bus 340. The processor 310 can call the logic instructions in the memory 330, and the processor 310 is used to perform the following steps: obtain a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on the first angle of the first gear collected by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on the second angle of the second gear collected by the steering wheel angle sensor; determine the first parameter and the second parameter according to the angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value and the second steering wheel angle value; determine the target parameter according to the first parameter and the second parameter; and determine whether the steering wheel angle sensor has a fault according to the target parameter and the preset angle difference threshold. The processor 310 can also execute other schemes in the embodiments of the present application, which will not be further elaborated here.

[0175] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0176] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned steering wheel angle sensor fault detection method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0177] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0178] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0179] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0180] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0181] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0182] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0183] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0185] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0186] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for detecting a steering wheel angle sensor fault, characterized in that: The steering wheel angle sensor is built with a main gear and a first gear and a second gear respectively meshing with the main gear. The method comprises: Obtain a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor; Determining a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value; Determining a target parameter according to the first parameter and the second parameter; It is determined whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

2. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: Before determining the first parameter and the second parameter according to the angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value, the method further includes: Obtaining the number of main teeth corresponding to the main gear, the number of first teeth corresponding to the first gear, and the number of second teeth corresponding to the second gear; The angle range is calculated according to the number of main teeth, the number of first teeth and the number of second teeth.

3. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: Determining a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value, includes: determining an absolute value of a difference between the first steering wheel angle value and the second steering wheel angle value as the first parameter; The difference between the angle range and the absolute value of the first steering wheel angle value and the absolute value of the second steering wheel angle value is determined as the second parameter.

4. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: Determining a target parameter according to the first parameter and the second parameter includes: comparing the first parameter and the second parameter; When the first parameter is less than the second parameter, determining the first parameter as the target parameter; When the first parameter is greater than or equal to the second parameter, the second parameter is determined as the target parameter.

5. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: Before determining whether the steering wheel angle sensor has a fault according to the target parameter and the preset angle difference threshold, the method further includes: Obtaining a first detection error corresponding to the angle collected by the steering wheel angle sensor through the first gear and a second detection error corresponding to the angle collected by the second gear; When the detection error is zero and the actual angle is the target angle value, the first target angle value collected by the steering wheel angle sensor through the first gear and the second target angle value collected through the second gear are obtained; Determining a first error angle value according to the first target angle value and the first detection error; determining a second error angle value according to the second target angle value and the second detection error; The preset angle difference threshold is calculated according to the first error angle value and the second error angle value.

6. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: Judging whether the steering wheel angle sensor is faulty according to the target parameter and the preset angle difference threshold includes: When the target parameter is greater than the angle difference threshold, determining that the steering wheel angle sensor is faulty; When the target parameter is less than or equal to the angle difference threshold, it is determined that there is no fault in the steering wheel angle sensor.

7. The method for detecting a steering wheel angle sensor fault according to claim 1, characterized in that: After determining whether the steering wheel angle sensor is faulty, the method further includes: When it is determined that the steering wheel angle sensor has a fault, a fault reminder message is output.

8. A steering wheel angle sensor fault detection device, characterized in that: The steering wheel angle sensor is built with a main gear and a first gear and a second gear respectively meshing with the main gear, and the device comprises: A first acquisition module is used to acquire a first steering wheel angle value and a second steering wheel angle value; wherein the first steering wheel angle value is calculated based on a first angle value of a first gear acquired by the steering wheel angle sensor, and the second steering wheel angle value is calculated based on a second angle value of a second gear acquired by the steering wheel angle sensor; a first determination module, configured to determine a first parameter and a second parameter according to an angle range corresponding to the steering wheel angle sensor, the first steering wheel angle value, and the second steering wheel angle value; A second determining module, used to determine a target parameter according to the first parameter and the second parameter; The judgment module is used to judge whether the steering wheel angle sensor has a fault according to the target parameter and a preset angle difference threshold.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steering wheel angle sensor fault detection method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steering wheel angle sensor fault detection method according to any one of claims 1 to 7 is implemented.

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