Electronic steering column lock control method, device and vehicle

Abstract

The present application provides an electronic steering column lock control method, device and vehicle, which is applied to a vehicle, and includes: obtaining the motor stall time after the electronic steering column lock responds to a target command; determining the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; and controlling the running state of the motor according to the lock tongue position. The method can determine the lock tongue position of the electronic steering column lock according to the motor stall time of the electronic steering column lock responding to the target command and the receiving time of the target command, and then control the running state of the motor according to the lock tongue position, so as to ensure that when the lock tongue sensor fails, the electronic steering column lock can still be locked or unlocked, thereby improving the safety of the entire vehicle and the driving experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, a device and a vehicle for controlling an electronic steering column lock in the field of vehicles. Background Art

[0002] ESCL (Electronic Steering Column Lock) is a safety device for cars, motorcycles and other vehicles, mainly used to prevent vehicle theft. ESCL locks and unlocks the steering wheel through electronic control to ensure that the vehicle can only be operated by legitimate users.

[0003] When the preconditions for locking and unlocking are met and there is no internal fault in ESCL, ESCL completes locking and unlocking the steering wheel by executing the motor to control the position change of the lock tongue, and determines whether the locking and unlocking instructions are completed through the lock tongue position sensor.

[0004] However, once the ESCL lock tongue position sensor fails, ESCL will not be able to obtain the lock tongue position information, that is, it will not be able to determine whether the locking and unlocking instructions are completed. Therefore, ESCL will no longer execute the locking and unlocking instructions of the entire vehicle. The user may not be able to complete the locking or unlocking operation smoothly and requires manual intervention or waiting for maintenance, which affects the safety of the vehicle and reduces the user's experience. Summary of the invention

[0005] The present application provides an electronic steering column lock control method, device and vehicle. The method can determine the lock tongue position of the electronic steering column lock according to the motor blocking time of the electronic steering column lock in response to a target command and the reception time of the target command, and then control the operating state of the motor according to the lock tongue position to ensure that the electronic steering column lock can still be locked or unlocked when the lock tongue sensor fails, thereby improving the safety of the entire vehicle and the driving experience of the user.

[0006] In a first aspect, a method for controlling an electronic steering column lock is provided, the method comprising: obtaining a motor stall time after the electronic steering column lock responds to a target command; determining a lock tongue position of the electronic steering column lock according to the motor stall time and a reception time of the target command; and controlling an operating state of the motor according to the lock tongue position.

[0007] Through the above technical scheme, since the execution motor will still drive the lock tongue to move when the lock tongue reaches the target position, the motor will be blocked and generate a blocking current. Therefore, the lock tongue position of the electronic steering column lock can be determined based on the motor blocking time of the electronic steering column lock in response to the target command and the reception time of the target command, and then the operating state of the motor can be controlled according to the lock tongue position to ensure that the electronic steering column lock can still be locked or unlocked when the lock tongue sensor fails, thereby improving the safety of the entire vehicle and the user's driving experience.

[0008] In combination with the first aspect, in some possible implementations, the lock tongue position of the electronic steering column lock is determined based on the motor stall time and the reception time of the target instruction, including: calculating the actual running time of the motor based on the motor stall time and the reception time; and determining the lock tongue position of the electronic steering column lock based on the actual running time and the reference running time.

[0009] Through the above technical solution, the lock tongue position of the electronic steering column lock can be determined according to the actual running time and the reference running time of the motor, so as to subsequently control the running state of the motor.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the reference operating time includes a first preset time and a second preset time, and the lock tongue position of the electronic steering column lock is determined according to the actual operating time and the reference operating time, including: if the actual operating time is less than or equal to the first preset time, the lock tongue position is determined to be the initial position; if the actual operating time is less than the first preset time and greater than the second preset time, the lock tongue position is determined to be the middle position; if the actual operating time is greater than or equal to the second preset time, the lock tongue position is determined to be the target position corresponding to the target instruction.

[0011] Through the above technical solution, the specific position of the lock tongue can be determined according to the specific time relationship between the actual operating time and the reference operating time.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the operating state of the motor is controlled according to the lock tongue position, including: if the lock tongue position is the initial position or the target position, the motor is controlled to stop running; if the lock tongue position is the middle position, the motor is controlled to reverse running.

[0013] Through the above technical solution, when the lock tongue position is the initial position or the target position, it indicates that the lock tongue position is already in the expected position, so the motor is controlled to stop running to prevent mechanical damage or misoperation caused by the motor continuing to run. When the lock tongue position is the middle position, the motor is controlled to reverse and try to get the lock tongue out of the stuck state and restore it to a normal state.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the motor to reversely run includes: obtaining the duration of the motor's reverse running; if the duration of the motor's reverse running reaches the actual running duration, controlling the motor to stop running.

[0015] Through the above technical solution, the motor can be controlled to stop running after the motor's reverse running time reaches the actual running time, ensuring that the motor will not be in the reverse state for a long time, preventing excessive wear or aggravation of the jamming problem.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, before determining the lock tongue position of the electronic steering column lock based on the actual operating time and the reference operating time, it also includes: obtaining historical operating data of the motor of the electronic steering column lock; and calibrating the reference operating time based on the historical operating data.

[0017] Through the above technical solution, the reference operating time can be calibrated according to the historical operating data, so as to make the subsequent judgment on the position of the lock tongue based on the reference operating time.

[0018] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, before determining the lock tongue position of the electronic steering column lock based on the motor stall time and the reception time of the target instruction, it also includes: identifying whether the lock tongue position sensor of the electronic steering column lock is faulty; if the lock tongue position sensor is faulty, determining the lock tongue position of the electronic steering column lock based on the motor stall time and the reception time of the target instruction; if the lock tongue position sensor is not faulty, determining the lock tongue position of the electronic steering column lock based on the lock tongue position sensor.

[0019] Through the above technical scheme, the specific method for determining the lock tongue position can be determined according to whether the lock tongue sensor is faulty, thereby achieving reliable judgment of the lock tongue position when the lock tongue sensor fails, reducing functional failures caused by the lock tongue sensor, and ensuring the safety of the vehicle and the user's driving experience.

[0020] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the target position corresponding to the target instruction is an unlocked position or a locked position, and the lock tongue position sensor includes a first switch Hall and a second switch Hall, the first switch Hall is used to detect the unlocked position and the intermediate position of the lock tongue, and the second switch Hall is used to detect the locked position and the intermediate position of the lock tongue; if the lock tongue position sensor fails, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction, including: if the first switch Hall and the second switch Hall are both faulty, the unlocked position, the locked position and the intermediate position of the electronic steering column lock are determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is faulty and the second switch Hall is not faulty, the unlocked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is not faulty and the second switch Hall is faulty, the locked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction.

[0021] Through the above technical scheme, it is possible to determine how to judge the locked position, unlocked position, and intermediate position of the lock tongue according to the specific fault conditions of the first switch Hall and the second switch Hall in the lock tongue sensor, thereby achieving an alternative judgment logic based on the motor stall time when the first switch Hall and the second switch Hall fail, thereby ensuring reliable judgment of the lock tongue position.

[0022] In a second aspect, an electronic steering column lock control device is provided, which includes: an acquisition module for acquiring the motor stall time after the electronic steering column lock responds to a target command; a determination module for determining the lock tongue position of the electronic steering column lock according to the motor stall time and the reception time of the target command; and a control module for controlling the operating state of the motor according to the lock tongue position.

[0023] In combination with the second aspect, in some possible implementations, the determination module is further used to: calculate the actual running time of the motor based on the motor stall time and the receiving time; and determine the lock tongue position of the electronic steering column lock based on the actual running time and the reference running time.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the reference operating time includes a first preset time and a second preset time, and the determination module is further used to: if the actual operating time is less than or equal to the first preset time, determine that the lock tongue position is the initial position; if the actual operating time is greater than the first preset time and less than the second preset time, determine that the lock tongue position is the middle position; if the actual operating time is greater than or equal to the second preset time, determine that the lock tongue position is the target position corresponding to the target instruction.

[0025] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is further used to: if the lock tongue position is the initial position or the target position, control the motor to stop running; if the lock tongue position is the middle position, control the motor to reverse run.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is further used to: if the lock tongue position is the initial position or the target position, control the motor to stop running; if the lock tongue position is the middle position, control the motor to reverse run.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, it also includes: a calibration module, which is used to obtain historical operating data of the motor of the electronic steering column lock before determining the lock tongue position of the electronic steering column lock based on the actual operating time and the reference operating time; and calibrate the reference operating time based on the historical operating data.

[0028] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, it also includes: an identification module, used to identify whether a lock tongue position sensor of the electronic steering column lock is faulty before determining the lock tongue position of the electronic steering column lock according to the motor stall time and the reception time of the target instruction; if the lock tongue position sensor is faulty, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target instruction; if the lock tongue position sensor is not faulty, the lock tongue position of the electronic steering column lock is determined according to the lock tongue position sensor.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the target position corresponding to the target instruction is an unlocked position or a locked position, and the lock tongue position sensor includes a first switch Hall and a second switch Hall, the first switch Hall is used to detect the unlocked position and the intermediate position of the lock tongue, and the second switch Hall is used to detect the locked position and the intermediate position of the lock tongue; if the lock tongue position sensor fails, the determination module is further used to: if both the first switch Hall and the second switch Hall are faulty, then the unlocked position, the locked position and the intermediate position of the electronic steering column lock are determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is faulty and the second switch Hall is not faulty, then the unlocked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is not faulty and the second switch Hall is faulty, then the locked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction.

[0030] In a third aspect, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of an electronic steering column lock control method provided by an embodiment of the present application;

[0032] Figure 2 It is a schematic diagram of collecting the locking and unlocking completion time provided in an embodiment of the present application;

[0033] Figure 3 is a flow chart of the self-learning duration strategy provided by an embodiment of the present application;

[0034] Figure 4 is a schematic diagram of a lock tongue position sensor provided in an embodiment of the present application;

[0035] Figure 5 is a detection flow chart of a switch Hall fault provided in an embodiment of the present application;

[0036] Figure 6 is a flow chart of using a lock tongue sensor to determine the lock tongue position and perform electronic steering column lock control according to an embodiment of the present application;

[0037] Figure 7 It is a schematic diagram of the relationship between the duty cycle and time of locking and unlocking provided in an embodiment of the present application;

[0038] Figure 8 It is a flow chart of using the motor stall time to judge the lock tongue position to perform electronic steering column lock control provided by an embodiment of the present application;

[0039] Fig. 9 is a schematic diagram of an electronic steering column lock control device provided in an embodiment of the present application;

[0040] Fig.10 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0042] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0043] Figure 1 It is a schematic flow chart of an electronic steering column lock control method provided in an embodiment of the present application.

[0044] For example, Figure 1 As shown, the electronic steering column lock control method includes the following steps:

[0045] In step S101, the motor stall time after the electronic steering column lock responds to the target command is obtained.

[0046] The target instruction may be a locking instruction or an unlocking instruction, and the motor stall time may be obtained by timing with a timer.

[0047] It is understandable that the embodiment of the present application can obtain the motor stall time after the electronic steering column lock responds to the target command, so as to subsequently determine the lock tongue position of the ESCL based on the motor stall time.

[0048] In step S102, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target command.

[0049] The receiving time of the target command is the specific moment when the ESCL receives the locking or unlocking command, which is the time when the vehicle control system or other related components send the command to the ESCL and the ESCL starts to prepare to perform the corresponding action (such as driving the motor to lock or unlock the operation).

[0050] It should be noted that when the lock tongue sensor fails and cannot determine the specific position of the lock tongue, the execution motor will continue to drive the lock tongue to move. When the lock tongue reaches the target position, the execution motor will stall and generate a stall current. Therefore, the embodiment of the present application can determine the lock tongue position of the ESCL based on the motor stall time and the reception time of the target instruction.

[0051] In an embodiment of the present application, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target instruction, including: calculating the actual running time of the motor according to the motor stall time and the reception time; and determining the lock tongue position of the electronic steering column lock according to the actual running time and the reference running time.

[0052] Among them, the reference operating time includes a first preset time and a second preset time. The first preset time and the second preset time are both pre-calibrated time. The first preset time is the time when the motor is blocked when the lock tongue executes an unlocking command in the unlocking position and when the lock tongue executes a locking command in the locked position. The second preset time is the time obtained through self-learning, which indicates the time from issuing the target command to the lock tongue completely reaching the target position.

[0053] It can be understood that the embodiment of the present application can calculate the actual running time of the motor according to the motor stall time and the receiving time, and then determine the lock tongue position of the ESCL according to the actual running time and the reference running time.

[0054] In an embodiment of the present application, the lock tongue position of the electronic steering column lock is determined according to the actual operating time and the reference operating time, including: if the actual operating time is less than or equal to the first preset time, the lock tongue position is determined to be the initial position; if the actual operating time is less than the first preset time and greater than the second preset time, the lock tongue position is determined to be the middle position; if the actual operating time is greater than or equal to the second preset time, the lock tongue position is determined to be the target position corresponding to the target instruction.

[0055] It can be understood that in the embodiment of the present application, when the actual running time of the motor is less than or equal to the first preset time Time1, it indicates that the time from when the motor receives the command and enters the stalled state is short, so the position of the lock tongue is the initial position, which is the current actual position, and the lock tongue is in the unlocked or locked position;

[0056] When the actual running time of the motor is greater than the first preset time and less than the second preset time Time2, the time from issuing the command to the lock tongue being fully in place should be close to Time2. However, if the time is shorter but exceeds Time1, it indicates that the lock tongue has not successfully reached the target position, which may be caused by mechanical failure or other reasons. Therefore, the lock tongue position is the middle position;

[0057] When the actual running time of the motor is greater than or equal to the second preset time length, since the second preset time length is the time length from issuing the target instruction to the lock tongue completely reaching the target position, the lock tongue position can be determined to be the target position corresponding to the target instruction, such as the locked position or the unlocked position.

[0058] In an embodiment of the present application, before determining the lock tongue position of the electronic steering column lock according to the actual operating time and the reference operating time, it also includes: obtaining historical operating data of the motor of the electronic steering column lock; and calibrating the reference operating time according to the historical operating data.

[0059] It is understandable that the embodiment of the present application can obtain the historical operating data of the motor of the ESCL and calibrate the reference operating time according to the historical operating data.

[0060] For example, during normal operation, the actual time of each locking or unlocking action is learned, and the average value of the data of the most recent times (such as 5 times) is taken. This average value is Time2. The collection of the locking completion time and the unlocking completion time is as follows: Figure 2 As shown, the process of self-learning the second preset time length is as follows Figure 3 As shown, it reflects the standard time required from issuing a command to the lock tongue completely reaching the target position under normal circumstances, and Time1 can also be fine-tuned according to historical data to more accurately reflect the specific operating status of a specific vehicle.

[0061] In an embodiment of the present application, before determining the lock tongue position of the electronic steering column lock based on the motor stall time and the reception time of the target instruction, it also includes: identifying whether the lock tongue position sensor of the electronic steering column lock is faulty; if the lock tongue position sensor is faulty, determining the lock tongue position of the electronic steering column lock based on the motor stall time and the reception time of the target instruction; if the lock tongue position sensor is not faulty, determining the lock tongue position of the electronic steering column lock based on the lock tongue position sensor.

[0062] It can be understood that the embodiment of the present application can determine the lock tongue position based on the motor stall time and the reception time of the target command when the lock tongue sensor fails, and determine the lock tongue position of the electronic steering column lock based on the lock tongue position sensor when the lock tongue sensor is not failed, thereby achieving reliable judgment of the lock tongue position when the lock tongue sensor fails, reducing functional failures caused by the lock tongue sensor, and ensuring the safety of the vehicle and the user's driving experience.

[0063] Specifically, the embodiments of the present application can determine the lock tongue position in two ways. First, when the lock tongue sensor is working normally, the lock tongue position is confirmed based on the feedback of the lock tongue sensor, which simplifies the judgment process. Second, when the lock tongue sensor fails, the lock tongue position is determined based on the motor stall time and the reception time of the mark instruction, ensuring that the lock tongue can correctly reach the target position.

[0064] In an embodiment of the present application, the target position corresponding to the target instruction is an unlocked position or a locked position, and the lock tongue position sensor includes a first switch Hall and a second switch Hall, the first switch Hall is used to detect the unlocked position and the intermediate position of the lock tongue, and the second switch Hall is used to detect the locked position and the intermediate position of the lock tongue; if the lock tongue position sensor fails, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction, including: if the first switch Hall and the second switch Hall are both faulty, the unlocked position, locked position and intermediate position of the electronic steering column lock are determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is faulty and the second switch Hall is not faulty, the unlocked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is not faulty and the second switch Hall is faulty, the locked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction.

[0065] It is understandable that in the embodiment of the present application, when both the first switch Hall and the second switch Hall fail, it is impossible to directly obtain information on whether the lock tongue is in the unlocked position, the locked position or the intermediate position, so the unlocked position, the locked position and the intermediate position of the electronic steering column lock are determined according to the motor stall time and the reception time of the target command;

[0066] When the first switch Hall fails and the second switch Hall is not faulty, although the second switch Hall can be used to detect whether the lock tongue is in the locked position or the middle position, the unlocked position cannot be directly confirmed. Therefore, the unlocked position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target command, and the feedback from the second switch Hall is used to confirm whether the lock tongue has reached the locked position.

[0067] When the first switch Hall is fault-free and the second switch Hall is faulty, although the first switch Hall can be used to detect whether the lock tongue is in the unlocked position or the middle position, the locked position cannot be directly confirmed. Therefore, the locked position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target command, and whether the lock tongue reaches the unlocked position is confirmed according to the feedback of the first switch Hall, thereby realizing multi-sensor redundant design and alternative judgment logic based on motor stall time, ensuring that even if some sensors fail, the lock tongue position can still be reliably judged.

[0068] Specifically, the bolt position sensor is as follows Figure 4 As shown, it includes a first Hall switch (represented as Hall switch 1 in the figure) and a second Hall switch (represented as Hall switch 2 in the figure). The ESCL lock tongue position sensor uses the first switch Hall and the second switch Hall to detect the strength of two magnets on the reduction hub to determine the lock tongue position. The switch Hall output signal value corresponding to the lock tongue position is shown in Table 1. Table 1 is the switch Hall output signal value.

[0069] Table 1

[0070] Location First switch Hall Second switch Hall Unlock position 1 0 middle 0 0 Locked position 0 1

[0071] According to Table 1, when the first switch Hall fails, it is impossible to determine the middle position and unlocked position. When the second switch Hall fails, it is impossible to determine the middle position and locked position. When the first switch Hall and the second switch Hall fail at the same time, the unlocked, locked and middle positions cannot be determined.

[0072] The switch Hall fault is detected in real time and can be self-recovered after the fault is eliminated. The specific detection method is as follows: Figure 5 As shown below:

[0073] VCC voltage acquisition unit: collects the VCC voltage of the first switch Hall and the second switch Hall respectively.

[0074] Vout voltage acquisition unit: respectively acquires the Vout voltage of the first switch Hall and the second switch Hall.

[0075] Switch Hall fault judgment unit: whether the first switch Hall 1 and switch Hall 2 are faulty (the judgment method is to compare the collected VCC voltage and Vout voltage with the set voltage value respectively, and the current switch Hall fault value is as follows)

[0076] Vout>4.5V: HALL internal fault, VCC-Vout short circuit, Vout open circuit, GND open circuit, VCC open circuit;

[0077] Vout<0.5V: GND-Vout short circuit, VCC-GND short circuit;

[0078] VCC>5.5V: power supply overvoltage;

[0079] VCC<4.5V: power supply undervoltage.

[0080] Fault output unit: outputs the first switch Hall fault, whether the second switch Hall is faulty, and whether the first switch Hall and the second switch Hall are faulty at the same time.

[0081] Different strategies are adopted according to the faults output by the fault output unit.

[0082] When the first switch Hall and the second switch Hall are both fault-free: use the normal working logic judgment.

[0083] The first switch Hall is faulty, and the second switch Hall is normal: the locking command is responded to according to normal logic, and the unlocking command determines the unlocking position of the electronic steering column lock according to the motor stall time and the reception time of the target command.

[0084] The first switch Hall is normal, the second switch Hall is faulty: the unlock command is responded to according to normal logic, and the lock command determines the lock position of the electronic steering column lock according to the motor stall time and the reception time of the target command.

[0085] The first switch Hall and the second switch Hall fail at the same time: the locking / unlocking command uses the motor stall time and the target command reception time to determine the locking / unlocking position of the electronic steering column lock.

[0086] In step S103, the running state of the motor is controlled according to the position of the locking tongue.

[0087] It is understandable that the embodiment of the present application can control the operating state of the motor according to the position of the lock tongue.

[0088] In an embodiment of the present application, the operating state of the motor is controlled according to the lock tongue position, including: if the lock tongue position is the initial position or the target position, the motor is controlled to stop running; if the lock tongue position is the middle position, the motor is controlled to reverse running.

[0089] It can be understood that in the embodiment of the present application, when the lock tongue position is the initial position or the target position, it indicates that the lock tongue position is already in the expected position, so the motor is controlled to stop running to prevent mechanical damage or misoperation caused by continued operation of the motor. When the lock tongue position is in the middle position, the motor is controlled to reverse and try to get the lock tongue out of the stuck state and restore it to normal state.

[0090] In an embodiment of the present application, controlling the motor to reversely run includes: obtaining the duration of the motor's reverse running; if the duration of the motor's reverse running reaches the actual running duration, controlling the motor to stop running.

[0091] It can be understood that in the embodiment of the present application, after the duration of the motor's reverse operation reaches the actual operating time, the motor is controlled to stop running, ensuring that the motor will not be in the reverse state for a long time, preventing excessive wear or aggravation of the jamming problem.

[0092] The electronic steering column lock control method of the embodiment of the present application is described below through a specific embodiment.

[0093] Solution 1: Use the lock tongue position sensor to determine the lock tongue position and execute the ESCL control process as follows: Figure 6 shown.

[0094] When the locking or unlocking conditions are met, the motor is driven normally to complete the locking or unlocking instructions. The driving motor is controlled by a duty cycle, which is adjusted in real time according to time. After the locking or unlocking is completed through the switch Hall monitoring, the motor movement is stopped and the motor braking function is turned on (using back electromotive force to prevent the motor from rotating by inertia). The relationship between the duty cycle and time of the locking and unlocking motor is as follows: Figure 7 shown.

[0095] Among them, the lock tongue position sensor of ESCL uses the first switch Hall and the second switch Hall to detect the strength of two magnets on the reduction hub to determine the lock tongue position, which has been described in the above embodiment and will not be repeated here.

[0096] When the first switch Hall and the second switch Hall are both fault-free: use the normal working logic judgment.

[0097] The first switch Hall is faulty, and the second switch Hall is normal: the lock command is responded to according to normal logic, and the unlock command is completed using solution 2.

[0098] The Hall effect of the first switch is normal, and the Hall effect of the second switch is faulty: the unlocking command is responded to according to normal logic, and the locking command is completed using Solution 2.

[0099] The first switch Hall and the second switch Hall fail at the same time: the locking / unlocking instructions are completed using solution 2.

[0100] Solution 2: When the lock tongue position sensor fails, use the motor stall time to determine the lock tongue position and execute the ESCL control process as follows: Figure 8 shown.

[0101] The locking or unlocking preconditions are met, ESCL executes the locking or unlocking command normally, drives the execution motor to drive the lock tongue to move, and after the lock tongue reaches the locked or unlocked position, the time from receiving the ESCL locking or unlocking command to ESCL reaching the locked or unlocked state is recorded. When the lock tongue position sensor fails and cannot determine the specific position of the lock tongue, the execution motor will continue to drive the lock tongue to move. At this time, the execution motor will be blocked and generate a blocking current. Therefore, the time when the execution motor reaches the blocking current is used to determine whether the lock tongue has completed locking or unlocking.

[0102] Monitor the current of the execution motor in real time. When the execution motor reaches the stall current, calculate the time from receiving the locking or unlocking command to the execution motor stalling, and then judge the time range. If the time is ≤Time1, the operating state is consistent with the current state (the lock tongue is in the unlocking position, the execution motor moves to the unlocking position, the lock tongue is in the locking position, and the execution motor moves to the locking position); if the time is greater than Time1, less than Time2, the lock tongue is stuck in the middle position; if the time is greater than or equal to Time2, it is determined that the lock tongue has reached the locking or unlocking position.

[0103] Among them, Time1: When the lock tongue position can be obtained, locking is not performed in the locked state, and unlocking is not performed in the unlocked state. When the switch Hall fails, the lock tongue position cannot be obtained, so as long as the lock or unlock command is received, the motor will be driven to execute the command. This time is a calibrated value.

[0104] Time2: Self-learning locking and unlocking completion time (locking and unlocking times can be different values).

[0105] Among them, the self-learning strategy for locking or unlocking time is as follows: Figure 3 As shown, this is the method for obtaining Time2.

[0106] When the ESCL lock tongue position sensor is fault-free, each time a lock or unlock command is received, the timer starts counting until the lock or unlock is completed (i.e. the lock tongue position signal jumps to the lock or unlock position), the timer stops counting, and the recorded lock or unlock completion time is recorded to the chip, and the average of the five most recent lock and unlock completion times is taken. (Time2 is the self-learned lock and unlock completion time).

[0107] According to the electronic steering column lock control method proposed in the embodiment of the present application, the lock tongue position of the electronic steering column lock can be determined according to the motor stall time of the electronic steering column lock in response to the target command and the reception time of the target command, and then the operating state of the motor can be controlled according to the lock tongue position to ensure that the electronic steering column lock can still be locked or unlocked when the lock tongue sensor fails, thereby improving the safety of the entire vehicle and the user's driving experience.

[0108] Fig. 9 It is a schematic diagram of the structure of the electronic steering column lock control device provided in an embodiment of the present application.

[0109] For example, Fig. 9 As shown, the electronic steering column lock control device 10 may include: an acquisition module 100 , a determination module 200 and a control module 300 .

[0110] Among them, the acquisition module 100 is used to obtain the motor stall time after the electronic steering column lock responds to the target command; the determination module 200 is used to determine the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; the control module 300 is used to control the operating state of the motor according to the lock tongue position.

[0111] In an embodiment of the present application, the determination module 200 is further used to: calculate the actual running time of the motor according to the motor stall time and the receiving time; and determine the lock tongue position of the electronic steering column lock according to the actual running time and the reference running time.

[0112] In an embodiment of the present application, the reference operating duration includes a first preset duration and a second preset duration, and the determination module 200 is further used to: if the actual operating duration is less than or equal to the first preset duration, determine that the lock tongue position is the initial position; if the actual operating duration is greater than the first preset duration and less than the second preset duration, determine that the lock tongue position is the middle position; if the actual operating duration is greater than or equal to the second preset duration, determine that the lock tongue position is the target position corresponding to the target instruction.

[0113] In the embodiment of the present application, the control module 300 is further used to: if the lock tongue position is the initial position or the target position, control the motor to stop running; if the lock tongue position is the middle position, control the motor to reverse running.

[0114] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: a calibration module.

[0115] Among them, the calibration module is used to obtain historical operation data of the motor of the electronic steering column lock before determining the lock tongue position of the electronic steering column lock according to the actual operation time and the reference operation time; and calibrate the reference operation time according to the historical operation data.

[0116] In the embodiment of the present application, the device 10 of the embodiment of the present application further includes: an identification module.

[0117] Among them, the identification module is used to identify whether the lock tongue position sensor of the electronic steering column lock is faulty before determining the lock tongue position of the electronic steering column lock according to the motor stall time and the reception time of the target command; if the lock tongue position sensor is faulty, the lock tongue position of the electronic steering column lock is determined according to the motor stall time and the reception time of the target command; if the lock tongue position sensor is not faulty, the lock tongue position of the electronic steering column lock is determined according to the lock tongue position sensor.

[0118] In an embodiment of the present application, the target position corresponding to the target instruction is an unlocked position or a locked position, and the lock tongue position sensor includes a first switch Hall and a second switch Hall, the first switch Hall is used to detect the unlocked position and the intermediate position of the lock tongue, and the second switch Hall is used to detect the locked position and the intermediate position of the lock tongue; if the lock tongue position sensor fails, the determination module 200 is further used to: if both the first switch Hall and the second switch Hall are faulty, then the unlocked position, the locked position and the intermediate position of the electronic steering column lock are determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is faulty and the second switch Hall is not faulty, then the unlocked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction; if the first switch Hall is not faulty and the second switch Hall is faulty, then the locked position of the electronic steering column lock is determined according to the motor stall time and the receiving time of the target instruction.

[0119] According to the electronic steering column lock control device proposed in the embodiment of the present application, the lock tongue position of the electronic steering column lock can be determined according to the motor blocking time of the electronic steering column lock in response to the target command and the reception time of the target command, and then the operating state of the motor can be controlled according to the lock tongue position to ensure that the electronic steering column lock can still be locked or unlocked when the lock tongue sensor fails, thereby improving the safety of the entire vehicle and the user's driving experience.

[0120] Fig.10 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0121] A memory 1001 , a processor 1002 , and a computer program stored in the memory 1001 and executable on the processor 1002 .

[0122] When the processor 1002 executes the program, the electronic steering column lock control method provided in the above embodiment is implemented.

[0123] Furthermore, the vehicle also includes:

[0124] The communication interface 10010 is used for communication between the memory 1001 and the processor 1002 .

[0125] The memory 1001 is used to store computer programs that can be executed on the processor 1002 .

[0126] The memory 1001 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0127] If the memory 1001, the processor 1002 and the communication interface 10010 are implemented independently, the communication interface 10010, the memory 1001 and the processor 1002 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0128] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 10010 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 10010 can communicate with each other through an internal interface.

[0129] The processor 1002 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0130] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0132] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An electronic steering column lock control method, characterized in that: The method comprises: Get the motor stall time after the electronic steering column lock responds to the target command; Determining a lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; The operating state of the motor is controlled according to the position of the locking tongue.

2. The electronic steering column lock control method according to claim 1, characterized in that: The method of determining the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command includes: Calculate the actual running time of the motor according to the motor stall time and the receiving time; The lock tongue position of the electronic steering column lock is determined according to the actual operating time and the reference operating time.

3. The electronic steering column lock control method according to claim 2, characterized in that: The reference running time includes a first preset time and a second preset time, and determining the lock tongue position of the electronic steering column lock according to the actual running time and the reference running time includes: If the actual running time is less than or equal to the first preset time, determining that the lock tongue position is the initial position; If the actual running time is greater than the first preset time and less than the second preset time, determining that the lock tongue position is a middle position; If the actual running time is greater than or equal to the second preset time, the lock tongue position is determined to be the target position corresponding to the target instruction.

4. The electronic steering column lock control method according to claim 3, characterized in that: The controlling the running state of the motor according to the position of the lock tongue comprises: If the position of the locking tongue is the initial position or the target position, the motor is controlled to stop running; If the lock tongue is in the middle position, the motor is controlled to run in reverse.

5. The electronic steering column lock control method according to claim 4, characterized in that: The step of controlling the motor to reversely operate comprises: Obtaining the duration of the motor's reverse operation; If the duration of the reverse operation of the motor reaches the actual operation duration, the motor is controlled to stop running.

6. The electronic steering column lock control method according to claim 2, characterized in that: Before determining the lock tongue position of the electronic steering column lock according to the actual running time and the reference running time, the method further includes: Acquiring historical operation data of the motor of the electronic steering column lock; The reference operating time is calibrated according to the historical operating data.

7. The electronic steering column lock control method according to claim 1, characterized in that: Before determining the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command, the method further includes: Identifying whether a lock tongue position sensor of the electronic steering column lock is faulty; If the lock tongue position sensor fails, determining the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; If the lock tongue position sensor is not faulty, the lock tongue position of the electronic steering column lock is determined according to the lock tongue position sensor.

8. The electronic steering column lock control method according to claim 7, characterized in that: The target position corresponding to the target instruction is an unlocked position or a locked position, and the lock tongue position sensor includes a first switch Hall and a second switch Hall, the first switch Hall is used to detect the unlocked position and the middle position of the lock tongue, and the second switch Hall is used to detect the locked position and the middle position of the lock tongue; If the lock tongue position sensor fails, determining the lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target command includes: If both the first switch Hall and the second switch Hall are faulty, determining the unlocking position, locking position and intermediate position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; If the first switch Hall fails and the second switch Hall does not fail, determining the unlocking position of the electronic steering column lock according to the motor stall time and the receiving time of the target command; If the first switch Hall is not faulty and the second switch Hall is faulty, the locking position of the electronic steering column lock is determined according to the motor blocking time and the receiving time of the target command.

9. An electronic steering column lock control device, characterized in that: The device comprises: An acquisition module, used for acquiring the motor stall time after the electronic steering column lock responds to the target command; A determination module, configured to determine a lock tongue position of the electronic steering column lock according to the motor stall time and the receiving time of the target instruction; A control module is used to control the running state of the motor according to the position of the locking tongue.

10. A vehicle, characterized in that: The vehicle comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to implement the electronic steering column lock control method according to any one of claims 1 to 8.

Images