Universal interface control device with auxiliary driving function based on EPS angle control

Abstract

The invention discloses a universal interface control device with an auxiliary driving function based on EPS angle control. The universal interface control device comprises a communication module, a sensor, a lane keeping auxiliary state recognition module, an intelligent domain control state recognition module, a function fusion module, an angle control torque calculation module, a safety verification module and an EPS motor. The sensors comprise a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel hand force sensor and a motor torque sensor; the communication module receives a request signal of an upper computer; the request signals comprise a request activation signal, a request angle signal and a request angular velocity signal of the lane keeping auxiliary system, and a request activation signal, a request angle signal and a request angular velocity signal of the intelligent domain control system; and the lane keeping auxiliary state identification module judges the current lane keeping auxiliary state and sets the lane keeping auxiliary state flag bit according to the obtained request signal and sensor data.

Description

Technical Field

[0001] The present invention belongs to the field of assisted driving, and in particular relates to a universal interface control device and method for an assisted driving function based on EPS angle control. Background Art

[0002] With the popularization and rapid development of assisted driving technology in the automobile market, there are host computer controllers that implement single functions, such as lane keeping assist function controllers that assist in compensating the driver's steering force at medium and high speeds; there are also intelligent vehicle control domain controllers that can implement multiple sub-functions, including but not limited to tire blowout assistance functions in case of high-speed tire blowouts, remote control driving functions for remote vehicle steering, and leopard U-turn functions for assisting vehicles with extreme steering on off-road surfaces. Therefore, automobile manufacturers hope that EPS can provide drivers with appropriate steering assistance to meet different driving conditions under different function requests from multiple controllers.

[0003] Current customer demands are diversified and application scenarios are more complex. The traditional EPS angle control interface can only meet the control requirements of a single controller. Therefore, how to develop a universal interface for EPS angle control to meet the diverse needs of customers is a current technical problem. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a universal interface control device for assisted driving function based on EPS angle control, comprising: a communication module, a sensor, a lane keeping assist state recognition module, an intelligent domain control state recognition module, a function fusion module, an angle control torque calculation module, a safety verification module and an EPS motor; the sensor comprises a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel hand force sensor and a motor torque sensor;

[0005] The communication module receives a request signal from the host computer; the request signal includes a request activation signal, a request angle signal and a request angular velocity signal of the lane keeping assist system, and a request activation signal, a request angle signal and a request angular velocity signal of the intelligent domain control system;

[0006] The lane keeping assist state recognition module determines the current lane keeping assist state and sets the lane keeping assist state flag according to the obtained request signal and sensor data;

[0007] The intelligent domain control state identification module determines the current intelligent domain control state and sets the intelligent domain control state flag bit according to the obtained request signal and sensor data;

[0008] The function fusion module outputs a request angle signal according to the lane keeping assist state flag and the intelligent domain control state flag;

[0009] The angle control torque calculation module calculates the auxiliary torque according to the request angle signal, vehicle speed, steering wheel angle and angular velocity, and hand torque output by the function fusion module;

[0010] The safety verification module performs safety verification on the auxiliary torque output by the angle control torque calculation module, and directly outputs the auxiliary torque if the verification is successful;

[0011] The EPS motor executes the auxiliary torque output by the safety verification module.

[0012] Preferably, if the verification of the safety verification module fails, the auxiliary torque is directly reduced to 0 Nm.

[0013] Preferably, when the intelligent domain control state flag is in the intelligent domain control function activated state, the function fusion module outputs a request angle signal of the intelligent domain control system.

[0014] Preferably, when the intelligent domain control status flag is in an inactive state or a faulty state of the intelligent domain control function, and the lane keeping assist status flag is in an activated state of the lane keeping assist function, the function fusion module outputs a request angle signal of the lane keeping assist system.

[0015] Preferably, during the process of the function fusion module outputting the request angle signal of the lane keeping assist system, if the intelligent domain control status flag is changed to the intelligent domain control function activated state, the function fusion module outputs the request angle signal of the intelligent domain control system.

[0016] Preferably, when the intelligent domain control status flag is that the intelligent domain control function is inactive or in a faulty state, and the lane keeping assist status flag is that the lane keeping assist function is inactive or in a faulty state, the function fusion module does not output a request angle signal.

[0017] Preferably, the control device also includes a control parameter selection module, and the request signal also includes a request sub-function mode signal; when the function fusion module outputs a request angle signal for the lane keeping assist function, the control parameter selection module outputs performance and safety parameters related to the lane keeping assist function; when the function fusion module outputs a request angle signal for the intelligent domain control function, the control parameter selection module outputs performance and safety parameters corresponding to the request sub-function mode.

[0018] Preferably, the request sub-function mode includes a tire blowout assistance function mode, a panther U-turn function mode or a collision compensation function mode.

[0019] The present invention also provides a universal interface control method for an assisted driving function based on EPS angle control, comprising:

[0020] Step S1, after the lane keeping assist function is turned on, receiving a lane keeping assist system activation request signal, a requested angle signal, and a requested angular velocity signal;

[0021] Step S2, after the intelligent domain control function is turned on, receiving a request activation signal, a request angle signal, and a request angular velocity signal from the intelligent domain control system;

[0022] Step S3, receiving signals from a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel force sensor, and a motor torque sensor;

[0023] Step S4, determining the current lane keeping assist state and setting the lane keeping assist state flag;

[0024] Step S5, determining the current state of the intelligent domain controller and setting the intelligent domain controller state flag;

[0025] Step S6, outputting a request angle signal according to the lane keeping assist state flag and the intelligent domain control state flag;

[0026] Step S7, when the intelligent domain control status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding sub-function are selected according to the requested sub-function mode signal; when the intelligent domain control status flag is in the inactivated state and the lane keeping assist status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding lane keeping assist function are used.

[0027] Step S8, calculating the auxiliary torque according to the request angle signal outputted in step S6, the vehicle speed, the steering wheel angle and angular velocity, and the hand torque;

[0028] Step S9, perform a safety check on the auxiliary torque; if the check passes, control the EPS motor to execute the auxiliary torque; if the check fails, directly reduce the auxiliary torque to 0 Nm.

[0029] Compared with the prior art, the present invention aims at the angle control function and realizes the angle control of multiple controllers and multiple sub-functions through a control method of a universal interface so as to provide steering assistance to the driver under different driving conditions; at the same time, through the selection of control parameters, the response performance of EPS under different functions and the smoothness of the system during function switching are improved, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0031] Figure 1 This is a schematic diagram of the structure of a universal interface control device for an assisted driving function based on EPS angle control according to Example 1;

[0032] Figure 2 This is a working diagram of the function fusion module and parameter selection module of Example 1;

[0033] Figure 3 This is a flow chart of a general interface control method for an assisted driving function based on EPS angle control in Example 2. DETAILED DESCRIPTION

[0034] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art.

[0035] Example 1

[0036] like Figure 1 As shown, this embodiment provides a universal interface control device for assisted driving function based on EPS angle control, including: a communication module, a sensor, a lane keeping assist state recognition module, an intelligent domain control state recognition module, a function fusion module, a control parameter selection module, an angle control torque calculation module, a safety verification module and an EPS motor; the sensors include a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel hand force sensor and a motor torque sensor.

[0037] The communication module receives a request signal from the host computer; the request signal includes a request activation signal s of the lane keeping assist system lka_req , request angle signal w lka_req and the requested angular velocity signal v lka_req , and the activation request signal s of the intelligent domain control system sac_req , request angle signal w sac_req 、Request angular velocity signal v sac_req and request sub-function mode signal s sac_mod .

[0038] Each sensor collects output such as hand force torque m tbt , motor torque m mot , vehicle speed v veh , steering wheel angle w str and steering wheel speed vstr .

[0039] The lane keeping assist status recognition module determines the current lane keeping assist status based on the obtained request signal and sensor data and sets the lane keeping assist status flag: 0 indicates that the lane keeping assist function is not activated, 1 indicates that the lane keeping assist function is activated, and 2 indicates that the lane keeping assist function is in a fault state.

[0040] The intelligent domain control status identification module determines the current intelligent domain control status and sets the intelligent domain control status flag based on the obtained request signal and sensor data: 0 indicates that the intelligent domain control function is not activated, 1 indicates that the intelligent domain control function is activated, and 2 indicates that the intelligent domain control function is in a faulty state.

[0041] The priority of the intelligent domain control function is higher than that of the lane keeping assist function. When the intelligent domain control status flag is in the position 1, the function fusion module will output the request angle signal of the intelligent domain control function regardless of the lane keeping assist status flag position; when the intelligent domain control status flag is in the position 0 or 2 and the lane keeping assist status flag is in the position 1, the function fusion module will output the request angle signal of the lane keeping assist function; when the function fusion module outputs the request angle signal of the lane keeping assist function and the intelligent domain control status flag is in the position 1, the function fusion module will immediately output the request angle signal of the intelligent domain control function; when the intelligent domain control status flag is in the position 0 or 2 and the lane keeping assist status flag is in the position 0 or 2, the function exits, and the function fusion module will not output any request angle signal at this time.

[0042] When the function fusion module outputs the request angle signal of the lane keeping assist function, the control parameter selection module outputs the performance and safety parameters related to the lane keeping assist function, and keeps the parameters related to the lane keeping assist function unchanged from the time the lane keeping assist function exits to the time the auxiliary torque is calculated to be reduced to 0. When the function fusion module outputs the request angle signal of the intelligent domain control function, when the request sub-function mode signal is equal to 1, the tire blowout assist function mode, the control parameter selection module outputs the performance and safety parameters related to the tire blowout assist function mode; when the request sub-function mode signal is equal to 2, the leopard turn function mode, the control parameter selection module outputs the performance and safety parameters related to the leopard turn function mode; when the request sub-function mode signal is equal to 3, the collision compensation function mode, the control parameter selection module outputs the performance and safety parameters related to the collision compensation function mode, and keeps the parameters related to the intelligent domain control sub-function unchanged from the time the intelligent domain control function exits to the time the auxiliary torque is calculated to be reduced to 0. The flow chart of the function fusion module and the parameter selection module is shown as follows. Figure 2 shown.

[0043] The angle control torque calculation module calculates the auxiliary torque according to the request angle, vehicle speed, steering wheel angle velocity, hand force, etc. output by the function fusion module.

[0044] The safety verification module performs safety verification on the auxiliary torque calculated in the angle control torque calculation module. If the verification fails, the auxiliary torque will be directly reduced to 0Nm. If the verification succeeds, the auxiliary torque will be output.

[0045] The EPS motor executes the auxiliary torque output by the safety verification module and controls the motor to assist the vehicle in rotating and maintaining.

[0046] Example 2

[0047] like Figure 3 As shown, this embodiment provides a universal interface control method for an assisted driving function based on EPS angle control, including:

[0048] Step S1, after the lane keeping assist function is turned on, receiving a lane keeping assist system activation request signal, a requested angle signal, and a requested angular velocity signal;

[0049] Step S2, after the intelligent domain control function is turned on, receiving a request activation signal, a request angle signal, and a request angular velocity signal from the intelligent domain control system;

[0050] Step S3, receiving signals from a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel force sensor, and a motor torque sensor;

[0051] Step S4, determining the current lane keeping assist state and setting the lane keeping assist state flag;

[0052] Step S5, determining the current state of the intelligent domain controller and setting the intelligent domain controller state flag;

[0053] Step S6, outputting a request angle signal according to the lane keeping assist state flag and the intelligent domain control state flag;

[0054] Step S7, when the intelligent domain control status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding sub-function are selected according to the requested sub-function mode signal; when the intelligent domain control status flag is in the inactivated state and the lane keeping assist status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding lane keeping assist function are used.

[0055] Step S8, calculating the auxiliary torque according to the request angle signal outputted in step S6, the vehicle speed, the steering wheel angle and angular velocity, and the hand torque;

[0056] Step S9, perform a safety check on the auxiliary torque to determine whether the auxiliary torque is within a valid range; if the check passes, control the EPS motor to execute the auxiliary torque; if the check fails, directly reduce the auxiliary torque to 0 Nm.

[0057] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. A universal interface control device for assisted driving function based on EPS angle control, characterized in that: include: Communication module, sensor, lane keeping assist state recognition module, intelligent domain control state recognition module, function fusion module, angle control torque calculation module, safety verification module and EPS motor; the sensor includes vehicle speed sensor, steering wheel angle and angular velocity sensor, steering wheel hand force sensor and motor torque sensor; The communication module receives a request signal from the host computer; the request signal includes a request activation signal, a request angle signal and a request angular velocity signal of the lane keeping assist system, and a request activation signal, a request angle signal and a request angular velocity signal of the intelligent domain control system; The lane keeping assist state recognition module determines the current lane keeping assist state and sets the lane keeping assist state flag according to the obtained request signal and sensor data; The intelligent domain control state identification module determines the current intelligent domain control state and sets the intelligent domain control state flag bit according to the obtained request signal and sensor data; The function fusion module outputs a request angle signal according to the lane keeping assist state flag and the intelligent domain control state flag; The angle control torque calculation module calculates the auxiliary torque according to the request angle signal, vehicle speed, steering wheel angle and angular velocity, and hand torque output by the function fusion module; The safety verification module performs safety verification on the auxiliary torque output by the angle control torque calculation module, and directly outputs the auxiliary torque if the verification is successful; The EPS motor executes the auxiliary torque output by the safety verification module.

2. The universal interface control device for the EPS angle control-based driving assistance function according to claim 1, characterized in that: If the verification of the safety verification module fails, the auxiliary torque is directly reduced to 0 Nm.

3. The universal interface control device for the EPS angle control-based driving assistance function according to claim 1, characterized in that: When the intelligent domain control state flag is in the intelligent domain control function activated state, the function fusion module outputs a request angle signal of the intelligent domain control system.

4. The universal interface control device for the EPS angle control-based driving assistance function according to claim 1, characterized in that: When the intelligent domain control status flag is in the inactive state or fault state of the intelligent domain control function, and the lane keeping assist status flag is in the activated state of the lane keeping assist function, the function fusion module outputs a request angle signal of the lane keeping assist system.

5. The universal interface control device for the EPS angle control-based driving assistance function according to claim 4, characterized in that: During the process of the function fusion module outputting the request angle signal of the lane keeping assist system, if the intelligent domain control state flag is changed to the intelligent domain control function activated state, the function fusion module outputs the request angle signal of the intelligent domain control system.

6. The universal interface control device for the EPS angle control-based driving assistance function according to claim 1, characterized in that: When the intelligent domain control status flag indicates that the intelligent domain control function is inactive or in a faulty state, and the lane keeping assist status flag indicates that the lane keeping assist function is inactive or in a faulty state, the function fusion module does not output a request angle signal.

7. The universal interface control device for the EPS angle control-based driving assistance function according to claim 1, characterized in that: The control device also includes a control parameter selection module, and the request signal also includes a request sub-function mode signal; when the function fusion module outputs a request angle signal for the lane keeping assist function, the control parameter selection module outputs performance and safety parameters related to the lane keeping assist function; when the function fusion module outputs a request angle signal for the intelligent domain control function, the control parameter selection module outputs performance and safety parameters corresponding to the request sub-function mode.

8. The universal interface control device for the EPS angle control-based driving assistance function according to claim 7, characterized in that: The requested sub-function mode includes a tire blowout assistance function mode, a panther U-turn function mode or a collision compensation function mode.

9. A universal interface control method for assisted driving function based on EPS angle control, characterized in that: include: Step S1, after the lane keeping assist function is turned on, receiving a lane keeping assist system activation request signal, a requested angle signal, and a requested angular velocity signal; Step S2, after the intelligent domain control function is turned on, receiving a request activation signal, a request angle signal, and a request angular velocity signal from the intelligent domain control system; Step S3, receiving signals from a vehicle speed sensor, a steering wheel angle and angular velocity sensor, a steering wheel force sensor, and a motor torque sensor; Step S4, determining the current lane keeping assist state and setting the lane keeping assist state flag; Step S5, determining the current state of the intelligent domain controller and setting the intelligent domain controller state flag; Step S6, outputting a request angle signal according to the lane keeping assist state flag and the intelligent domain control state flag; Step S7, when the intelligent domain control status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding sub-function are selected according to the requested sub-function mode signal; when the intelligent domain control status flag is in the inactivated state and the lane keeping assist status flag is in the activated state, the relevant performance parameters and safety parameters of the corresponding lane keeping assist function are used. Step S8, calculating the auxiliary torque according to the request angle signal outputted in step S6, the vehicle speed, the steering wheel angle and angular velocity, and the hand torque; Step S9, performing safety check on the auxiliary torque; If the verification is passed, the EPS motor is controlled to execute the auxiliary torque; If the verification fails, the auxiliary torque will be directly reduced to 0Nm.

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