A method, system, and storage medium for EPS responding to ADAS requests.

Abstract

This invention discloses an objective, and the technical solution adopted is: a method for EPS to respond to ADAS requests. In the low-speed range, the EPS executes ADAS requests using the angle fitted by the motor position sensor; in the high-speed range, the EPS executes ADAS requests using the angle of the TAS sensor. 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.

Description

Technical Field

[0001] This invention relates to the fields of automobiles and related technologies, and in particular to the field of EPS response ADAS functions. Background Technology

[0002] With economic development and the increasing maturity of intelligent technologies in the automotive field, people have higher and higher requirements for the advanced driver assistance systems (ADAS) of automobiles. Lane keeping assist, a function within ADAS, involves the exchange of angle signals between ADAS and EPS (Electric Power Steering), with EPS primarily responsible for execution. Therefore, the angle signals from the EPS are crucial for lane keeping assist.

[0003] Most OEMs use angle sensors or motor position sensors to collect angle data in response to ADAS lateral control requests. This single approach ignores the problem that angle sensors are not accurate enough at low speeds, and that motor position sensors are not timely enough at high speeds.

[0004] Currently, there are also redundant steering control systems, such as the published document with application number 202211410739, entitled "A Redundant Electric Steering System and Its Operation Method," which discloses a system including a steering wheel, a steering column connected to the steering wheel, an intermediate shaft connected to the steering column, and a steering tie rod connected to the intermediate shaft. The steering column is equipped with a C-EPS system, and the intermediate shaft is equipped with a DP-EPS system. 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 and second ECUs are respectively connected to a common CAN bus and simultaneously receive ignition signals. The first and second ECUs are also connected via a private CAN bus. Similar systems are merely redundant designs based on two sets of steering data acquisition; when the EPS responds to ADAS requests, it cannot simultaneously utilize both systems to provide more precise control. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to achieve a solution that addresses the issues of low accuracy of the TAS angle sensor at low speeds and insufficient response of the motor position sensor at high speeds.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a method for EPS to respond to ADAS requests:

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

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

[0009] At low speeds, when ADAS detects lane departure, it sends an angle request signal A to EPS. EPS collects the angle B from the motor position sensor and transmits the signal from the steering angle sensor to activate ADAS. ADAS continuously sends signal A to EPS, and EPS continuously executes the steering function based on signal A, while simultaneously sending angle B to ADAS. This process is repeated until ADAS deactivates.

[0010] At high speeds, when ADAS detects lane departure, it sends an angle request signal A to EPS. EPS collects the angle B from the TAS sensor and activates ADAS. ADAS continuously sends signal A to EPS. EPS continuously executes the steering function based on signal A and simultaneously sends angle B to ADAS. This process is repeated until ADAS deactivates.

[0011] The high-speed range is defined as a vehicle speed exceeding a set threshold, which is 50-60 km / h.

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

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

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

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

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

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

[0018] A table of preset difference settings based on different vehicle speeds is provided. When comparing two pieces of information, the difference setting value is obtained by looking up the table based on the current vehicle speed.

[0019] A system for EPS responding to ADAS requests, the system comprising an EPS unit and an ADAS unit, the ADAS unit interacting with the EPS unit, the EPS unit connecting to a CAN bus to acquire vehicle speed, TAS sensor, and motor position sensor signals, and driving the steering system to operate, the system executing the EPS responding to ADAS requests method as described in claims 1-8.

[0020] A storage medium, the storage medium being a computer-readable storage medium for storing software program code, the software program code being a method for executing the EPS response to an ADAS request.

[0021] In the low-speed range, the EPS uses the angle fitted by the motor position sensor to execute ADAS requests, while in the high-speed range, it uses the angle of the EPS's 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. Attached Figure Description

[0022] The following is a brief explanation of the content represented by each figure in this specification:

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

[0024] The following description, with reference to the accompanying drawings, details the specific implementation of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use methods, 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 method for ADAS requests includes the following steps:

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

[0027] The conditions for activating ADAS functions include:

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

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

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

[0031] EPS acquires the angle B from the motor position sensor, and then the TAS sensor outputs the angle B, specifically:

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

[0033] Step 2: Execute the EPS response to the ADAS request. This invention employs a processing method that uses different data for different intervals:

[0034] 1) In the low-speed range, the 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 a set threshold, which is selected in the range of 50-60 km / h.

[0036] When ADAS detects lane departure, it sends an angle request signal A to EPS. EPS then collects the angle B from the motor position sensor and transmits the signal from the steering angle sensor, activating ADAS. ADAS continuously sends signal A to EPS, and EPS continuously executes the steering function based on signal A, while simultaneously sending angle B back to ADAS. This process repeats until ADAS deactivates.

[0037] 2) In the 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 required to activate the ADAS function is greater than 15 km / h.

[0039] When ADAS detects lane departure, it sends an angle request signal A to EPS. EPS then acquires the angle B from the TAS sensor and activates ADAS. ADAS continues to send signal A to EPS, and EPS continuously executes steering functions based on signal A while simultaneously sending angle B to ADAS. This process repeats until ADAS deactivates.

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

[0041] Because two different angle signals are collected simultaneously, they can also be used as verification signals. That is, during the vehicle's operation, the angle fitted by the motor position sensor and the angle of the TAS sensor are acquired in real time, and the two angle information are compared. Under normal circumstances, the two data should be the same or similar. However, when a fault occurs during a certain period, the data from the two devices will inevitably differ. When the difference between the two data exceeds the set value, an alarm is triggered and the sensor abnormal operation procedure is executed. The sensor abnormal operation procedure is the system's safe operating mode, which can be designed as needed, such as speed limiting, turning on hazard lights, etc.

[0042] Because the sensitivity of the TAS sensor angle and the motor position sensor angle varies at different vehicle speeds, in order to detect problems more accurately and promptly, a table of difference setting values ​​based on different vehicle speeds can be preset. The difference can be set to a certain range based on the vehicle speed, or even different positive and negative value ranges. When the system is working, it will acquire the vehicle speed in real time. Each time it compares, it will look up the difference setting value based on the current vehicle speed, and then determine whether the difference between the current motor position sensor fitted angle and the TAS sensor angle exceeds the setting value obtained from the table. If so, an alarm will be triggered and the sensor abnormal operation procedure will be executed. Otherwise, no operation will be performed, and the verification procedure will continue to monitor the working condition of the TAS sensor and the motor position sensor in real time.

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

[0044] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A method for EPS to respond to ADAS requests, characterized in that: In the low-speed range, EPS uses the angle fitted by the motor position sensor to execute ADAS requests; In the high-speed range, EPS uses the angle of the TAS sensor to execute ADAS requests; At low speeds, when ADAS detects lane departure, it sends an angle request signal A to EPS. EPS collects the angle B from the motor position sensor and uses the signal from the steering angle sensor to send it out, activating ADAS. ADAS continuously sends signal A to EPS, and EPS continuously executes the steering function based on signal A, while simultaneously sending angle B to ADAS. This operation is repeated until ADAS exits.

2. The method for EPS responding to ADAS requests according to claim 1, characterized in that: At high speeds, when ADAS detects lane departure, it sends an angle request signal A to EPS. EPS collects the angle B from the TAS sensor and activates ADAS. ADAS continuously sends signal A to EPS. EPS continuously executes the steering function based on signal A and simultaneously sends angle B to ADAS. This process is repeated until ADAS deactivates.

3. The method for EPS to respond to ADAS requests according to claim 2, characterized in that: The high-speed range is defined as a vehicle speed exceeding a set threshold, which is 50-60 km / h.

4. The method for EPS responding to ADAS requests according to any one of claims 1-3, characterized in that: After the EPS is powered on, the angle of the motor position sensor is set to the external angle of the TAS sensor.

5. The method for EPS responding to ADAS requests according to claim 4, characterized in that: When EPS responds to an ADAS request, it needs to meet the conditions for activating the ADAS function. The conditions for activating the ADAS function include: 1) The vehicle speed needs to be greater than 15km / h; 2) The ADAS detects lane departure and sends a request for an angle response to the EPS; the EPS responds to the angle request and sends an angle signal to the ADAS. 3) The ADAS receives the angle signal from the EPS, and the angle is within the error range allowed by the ADAS.

6. The method for EPS responding to ADAS requests according to claim 1, characterized in that: During vehicle operation, the angle fitted by the motor position sensor and the angle of the TAS sensor are acquired in real time, and the two angle information are compared. If the difference exceeds the set value, an alarm is triggered and the sensor abnormal operation procedure is executed.

7. The method for EPS responding to ADAS requests according to claim 6, characterized in that: A table of preset difference settings based on different vehicle speeds is provided. When comparing two pieces of information, the difference setting value is obtained by looking up the table based on the current vehicle speed.

8. A system for EPS responding to ADAS requests, the system comprising an EPS unit and an ADAS unit, the ADAS unit interacting with the EPS unit, the EPS unit being connected to a CAN bus to acquire signals from vehicle speed, a TAS sensor, and a motor position sensor, and driving the steering system to operate, characterized in that: The system performs the EPS response to ADAS requests as described in any one of claims 1-7.

9. A storage medium, said storage medium being a computer-readable storage medium for storing software program code, characterized in that: The software program code is used to execute the EPS response to ADAS requests as described in any one of claims 1-7.

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