Method and system for EPS to respond to ADAS request and storage medium

Abstract

According to the technical scheme, the method for the EPS to respond to the ADAS request comprises the steps that in the low-speed range, the EPS executes the ADAS request by adopting the angle fitted by a motor position sensor; in a high speed range, the EPS executes the ADAS request at the angle of the TAS sensor. According to the method, the problem that the accuracy of the TAS angle sensor is not high at a low speed is well solved; and the problem that the response of the motor position sensor is not timely enough at a high speed is solved, and the accuracy of vehicle operation is improved.

Description

Technical Field

[0001] The present invention relates to the field of automobiles and related technologies, and in particular to the field of EPS response ADAS functions. Background Art

[0002] With the development of economy and the increasing maturity of intelligent technology in the automotive field, people have higher and higher requirements for the ADAS function of automobiles. The lane keeping function in ADAS is mainly executed by EPS through the interaction of angle signals between ADAS and EPS. Therefore, the angle signal of EPS is crucial for the lane keeping function.

[0003] Most OEMs use a single angle sensor or motor position sensor to respond to ADAS lateral control requests. This single method ignores the problem of insufficient response accuracy of the angle sensor at low speeds and the problem of insufficient response time of the motor position sensor at high speeds.

[0004] At present, there are also steering control systems with redundant designs, such as the public document with application number 202211410739 and patent name "A Redundant Electric Steering System and Its Operation Method", which discloses a steering wheel, a steering column connected to the steering column, an intermediate shaft connected to the intermediate shaft, a steering tie rod, a C-EPS system on the steering column, and a DP-EPS system on the intermediate shaft; the C-EPS system includes a first ECU, a first TAS sensor, a first motor and a first motor position sensor; the DP-EPS system includes a second EAU, a second TAS sensor, a second motor and a second motor position sensor; the first ECU and the second ECU are respectively connected to the public CAN and receive ignition signals at the same time; the first ECU and the second ECU are also connected via a private CAN. Similar systems are also based only on redundant designs of two sets of steering acquisition. When EPS responds to ADAS requests, it is impossible to use two systems at the same time to provide more precise control. Summary of the invention

[0005] The technical problem to be solved by the present invention is to realize a method to solve the problem that the TAS angle sensor has low accuracy at low speeds and the problem that the motor position sensor does not respond in time at high speeds.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: a method for EPS to respond to ADAS request:

[0007] In the low-speed range, EPS uses the angle fitted by the motor position sensor to execute ADAS requests;

[0008] In high-speed range, EPS uses the angle of the TAS sensor to execute ADAS requests.

[0009] At low speeds, ADAS detects lane deviation and sends angle request signal A to EPS. EPS collects angle B from the motor position sensor and uses the signal from the steering angle sensor to activate ADAS. ADAS continues to send signal A to EPS, which continuously performs steering functions based on signal A and sends angle B to ADAS, repeating this operation until ADAS exits.

[0010] In the high-speed range, ADAS detects lane deviation and transmits angle request signal A to EPS. EPS collects TAS sensor angle B and activates ADAS at this time. ADAS continues to send signal A to EPS. EPS continuously performs steering function according to signal A and sends angle B to ADAS at the same time. This operation is repeated until ADAS exits.

[0011] The high-speed range is when the vehicle speed is greater than a set threshold, and the set threshold is 50-60 km / h.

[0012] After the EPS is powered on, the angle of the motor position sensor is set to the outgoing angle of the TAS sensor.

[0013] When EPS responds to ADAS request, it needs to meet the conditions for activating ADAS function, which include:

[0014] 1) The vehicle speed needs to be greater than 15km / h;

[0015] 2) ADAS detects lane deviation and sends a request angle response to EPS; EPS responds to the angle request and sends an angle signal to ADAS;

[0016] 3) ADAS receives the angle signal from EPS, and the angle is within the error range allowed by ADAS.

[0017] During the driving process of the car, the angle fitted by the motor position sensor and the angle of the TAS sensor are obtained in real time, and the two angle information are compared. If the difference exceeds the set value, an alarm is issued and the sensor abnormal operation procedure is executed.

[0018] A table of difference setting values ​​based on different vehicle speed conditions is preset, and when comparing two angle information, the difference setting value is obtained by looking up the table according to the current vehicle speed.

[0019] A system for EPS responding to ADAS requests, the system is provided with an EPS unit and an ADAS unit, the ADAS unit interacts with the EPS unit, the EPS unit is connected to a CAN bus to obtain vehicle speed, TAS sensor, motor position sensor signals, and drives a steering system to operate, and the system executes the method for EPS responding to ADAS requests as described in claims 1-8.

[0020] A storage medium is a computer-readable storage medium for storing software program codes, wherein the software program codes are used to execute the method for the EPS to respond to an ADAS request.

[0021] In the low-speed range, the EPS of the present invention uses the angle fitted by the motor position sensor to execute ADAS requests. In the high-speed range, the EPS uses the angle of the TAS sensor to execute ADAS requests. This method effectively solves the problem of low accuracy of the TAS angle sensor at low speeds, and the problem of insufficient response of the motor position sensor at high speeds, thereby improving the accuracy of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following is a brief description of the contents expressed in each figure in the specification of the present invention:

[0023] Figure 1 Flowchart of the method for EPS to respond to ADAS requests. DETAILED DESCRIPTION

[0024] The following is a further detailed description of the specific implementation methods of the present invention, such as the shape, structure, relative position and connection relationship between the various components involved, the function and working principle of each part, the manufacturing process and operation method, etc., through the description of the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0025] like Figure 1 As shown, the EPS response ADAS request method includes the following steps:

[0026] Step 1: Determine whether the conditions are met to activate the ADAS function;

[0027] The conditions for activating the ADAS function include:

[0028] 1) The vehicle speed needs to be greater than 15km / h;

[0029] 2) ADAS detects lane deviation and sends a request angle response to EPS; EPS responds to the angle request and sends an angle signal to ADAS;

[0030] 3) ADAS receives the angle signal from EPS, and the angle is within the error range allowed by ADAS;

[0031] EPS collects the angle B of the motor position sensor, and then the TAS sensor sends out the angle B, which is specifically:

[0032] After the vehicle is ignited, within 200ms of EPS power-on, the angle of the motor position sensor and the TAS angle are self-learned, and the angle of the motor position sensor is set to the angle sent by the TAS.

[0033] Step 2: Execute EPS to respond to ADAS request operation. The present invention adopts a processing method of using different data in different intervals:

[0034] 1) In the low-speed range, EPS uses the angle fitted by the motor position sensor to execute ADAS requests;

[0035] The low speed range is when the vehicle speed is greater than the set threshold, and the threshold selection range is 50-60km / h;

[0036] ADAS detects lane deviation and transmits angle request signal A to EPS. EPS collects angle B of the motor position sensor and uses the signal of the steering angle sensor to send it outward, activating ADAS. ADAS continuously sends signal A to EPS, EPS continuously performs steering function according to signal A and sends angle B to ADAS at the same time, repeating this operation until ADAS exits.

[0037] 2) In high-speed range, EPS uses the angle of the TAS sensor to execute ADAS requests.

[0038] The low speed range is when the vehicle speed is less than or equal to the set threshold and the vehicle speed needs to meet the activation of the ADAS function, that is, the vehicle speed is greater than 15km / h;

[0039] ADAS detects lane deviation and transmits angle request signal A to EPS. EPS collects TAS sensor angle B and activates ADAS at this time. ADAS continues to send signal A to EPS, EPS continuously performs steering functions based on signal A and sends angle B to ADAS at the same time, repeating this operation until ADAS exits.

[0040] Taking the setting threshold of 60km / h as an example, after activating the ADAS function, when EPS responds to the ADAS request, if it is judged that the vehicle speed is greater than 60km / h, EPS uses the angle of the TAS sensor to execute the ADAS request; when it is less than or equal to 60km / h, EPS uses the angle fitted by the motor position sensor to execute the ADAS request.

[0041] Because two different angle signals are collected at the same time, they can also be used as verification signals for each other. That is, during the driving of the car, the angle fitted by the motor position sensor and the angle of the TAS sensor are obtained in real time, and the two angle information are compared. Under normal circumstances, the data of the two should be the same or similar, but when a fault occurs during a period, there must be differences in the data participating in the two devices. When the difference between the two data exceeds the set value, an alarm is issued and the sensor abnormal operation procedure is executed. The sensor abnormal operation procedure is a system safety working mode and can be designed according to needs, such as speed limit, turning on double flashes, etc.

[0042] Because the TAS sensor angle and the motor position sensor angle have different sensitivities at different vehicle speeds, in order to detect problems more accurately and promptly, a difference setting value table based on different vehicle speed conditions can be preset. The difference can be set to a certain range according to the vehicle speed, or even to different positive and negative ranges. When the system is working, it will obtain the vehicle speed in real time. Each time a comparison is made, the difference setting value will be obtained by looking up the table based on the current vehicle speed, and then a determination will be made as to whether the difference between the current motor position sensor fitting angle and the TAS sensor angle exceeds the setting value obtained from the table. If so, an alarm will be issued and the sensor abnormal operation procedure will be executed. Otherwise, no operation will be performed, and the verification procedure will be continued to monitor the working conditions of the TAS sensor and the motor position sensor in real time.

[0043] The above control method is based on the existing system, which is provided with an EPS unit and an ADAS unit. The ADAS unit interacts with the EPS unit. The EPS unit is connected to the CAN bus to obtain vehicle speed, TAS sensor, and motor position sensor signals, and drives the steering system to work. The program of the EPS response to ADAS request method is set in a computer-readable storage medium.

[0044] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A method for EPS to respond to an ADAS request, characterized in that: In the low-speed range, EPS uses the angle fitted by the motor position sensor to execute ADAS requests; In high-speed range, EPS uses the angle of the TAS sensor to execute ADAS requests.

2. The method for EPS responding to ADAS request according to claim 1, characterized in that: In the high-speed range, ADAS detects lane deviation and transmits angle request signal A to EPS. EPS collects angle B from the motor position sensor and uses the signal from the steering angle sensor to activate ADAS. ADAS continues to send signal A to EPS. EPS continuously performs steering functions based on signal A and sends angle B to ADAS at the same time. This operation is repeated until ADAS exits.

3. The method for EPS responding to ADAS request according to claim 2, characterized in that: In the low-speed range, ADAS detects lane deviation and transmits angle request signal A to EPS. EPS collects TAS sensor angle B and activates ADAS at this time. ADAS continues to send signal A to EPS. EPS continuously performs steering function according to signal A and sends angle B to ADAS at the same time. This operation is repeated until ADAS exits.

4. The method of EPS responding to ADAS request according to claim 3, characterized in that: The high-speed range is when the vehicle speed is greater than a set threshold, and the set threshold is 50-60 km / h.

5. The method for EPS responding to ADAS request according to any one of claims 1 to 4, characterized in that: After the EPS is powered on, the angle of the motor position sensor is set to the outgoing angle of the TAS sensor.

6. The method of EPS responding to ADAS request according to claim 5, characterized in that: When EPS responds to ADAS request, it needs to meet the conditions for activating ADAS function, which include: 1) The vehicle speed needs to be greater than 15km / h; 2) ADAS detects lane deviation and sends a request angle response to EPS; EPS responds to the angle request and sends an angle signal to ADAS; 3) ADAS receives the angle signal from EPS, and the angle is within the error range allowed by ADAS.

7. The method for EPS responding to ADAS request according to claim 1 or 7, characterized in that: During the driving process of the car, the angle fitted by the motor position sensor and the angle of the TAS sensor are obtained in real time, and the two angle information are compared. If the difference exceeds the set value, an alarm is issued and the sensor abnormal operation procedure is executed.

8. The method for EPS responding to ADAS request according to claim 7, characterized in that: A table of difference setting values ​​based on different vehicle speed conditions is preset, and when comparing two angle information, the difference setting value is obtained by looking up the table according to the current vehicle speed.

9. A system in which EPS responds to ADAS requests, the system is provided with an EPS unit and an ADAS unit, the ADAS unit interacts with the EPS unit, the EPS unit is connected to a CAN bus to obtain vehicle speed, TAS sensor, motor position sensor signals, and drives the steering system to work, characterized in that: The system executes the method of EPS responding to ADAS requests as described in claims 1-8.

10. A storage medium, the storage medium being a computer-readable storage medium for storing software program codes, characterized in that: The software program code is used to execute the method of EPS responding to ADAS request as described in claims 1-8.

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