Control method, device and equipment of double-loop emergency steering system and storage medium

Abstract

The invention discloses a control method, device and equipment of a double-loop emergency steering system and a storage medium. The method comprises the steps that the running speed of the vehicle and the first oil supply flow of the emergency steering system are obtained, and the first oil supply flow is provided by a main oil pump in the emergency steering system; under the condition that the running speed is larger than the preset speed and the first oil supply flow is smaller than the preset flow, a target control signal is generated based on an emergency valve of the emergency steering system; based on the target control signal, an emergency oil pump in the emergency steering system is controlled to provide second oil supply flow, so that the sum of the first oil supply flow and the second oil supply flow is not smaller than the preset flow; and vehicle steering is controlled based on the first oil supply flow and the second oil supply flow. The problem that when an engine or a power steering oil pump of an existing single-loop steering system breaks down, a power steering gear loses a power source, and driving safety is seriously affected is solved, double-loop emergency steering control is achieved, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering, and particularly to a control method, device, equipment and storage medium for a dual-loop emergency steering system. Background Art

[0002] Currently, most traditional commercial vehicle chassis steering systems apply conventional single-loop steering systems. Generally, the power steering system is designed according to the maximum axle load of the front axle.

[0003] However, when the engine or the power steering oil pump fails, the power steering gear will lose the power source, seriously affecting driving safety. Summary of the Invention

[0004] The present invention provides a control method, device, equipment and storage medium for a dual-loop emergency steering system to achieve dual-loop control of the steering system and improve driving safety.

[0005] According to an aspect of the present invention, there is provided a control method for a dual-loop emergency steering system, including:

[0006] Obtaining the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, wherein the first oil supply flow rate is provided by the main oil pump in the emergency steering system;

[0007] In the case where the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate, generating a target control signal based on an emergency valve of the emergency steering system;

[0008] Based on the target control signal, controlling an emergency oil pump in the emergency steering system to provide a second oil supply flow rate so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate;

[0009] Based on the first oil supply flow rate and the second oil supply flow rate, controlling the steering of the vehicle.

[0010] In some embodiments, it further includes:

[0011] In the case where the first oil supply flow rate is greater than the preset flow rate, providing the first oil supply flow rate from the main oil pump to the steering gear so that the steering gear steers the vehicle based on the first oil supply flow rate.

[0012] In some embodiments, it further includes:

[0013] In the case where the driving speed is greater than the preset speed, the emergency motor corresponding to the emergency oil pump operates at idle speed;

[0014] Wherein, the emergency motor provides power for the emergency oil pump.

[0015] In some embodiments, generating a target control signal based on the emergency valve of the emergency steering system includes:

[0016] Obtaining the level of the emergency valve, and generating a target control signal based on the low level when the level of the emergency valve is low;

[0017] Wherein, when the first oil supply flow rate is less than the preset flow rate, the level of the emergency valve is low.

[0018] In some embodiments, controlling the emergency oil pump in the emergency steering system to provide a second oil supply flow rate based on the target control signal includes:

[0019] Based on the target control signal, controlling the rotational speed of the emergency motor to be adjusted from the idle speed to the target speed so that the emergency oil pump provides the second oil supply flow rate;

[0020] Wherein, the target speed is greater than the idle speed.

[0021] In some embodiments, it further includes:

[0022] When the operation duration of the emergency oil pump is greater than the preset duration threshold, controlling the emergency oil pump to stop working.

[0023] In some embodiments, the emergency steering system further includes: an emergency pump controller.

[0024] According to another aspect of the present invention, there is provided a control device for a dual - loop emergency steering system, including:

[0025] A flow rate acquisition module, configured to acquire the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, wherein the first oil supply flow rate is provided by the main oil pump in the emergency steering system;

[0026] A signal generation module, configured to generate a target control signal based on the emergency valve of the emergency steering system when the driving speed is greater than the preset speed and the first oil supply flow rate is less than the preset flow rate;

[0027] An oil pump control module, based on the target control signal, controls the emergency oil pump in the emergency steering system to provide a second oil supply flow rate so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate;

[0028] A steering control module, configured to control the vehicle to steer based on the first oil supply flow rate and the second oil supply flow rate.

[0029] According to another aspect of the present invention, there is provided an electronic device, and the electronic device includes:

[0030] At least one processor;

[0031] And a memory communicatively connected to the at least one processor; wherein,

[0032] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the control method of the dual-loop emergency steering system according to any embodiment of the present invention.

[0033] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the control method of the dual-loop emergency steering system according to any embodiment of the present invention when executed.

[0034] The technical solution of the embodiment of the present invention is to obtain the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, wherein the first oil supply flow rate is provided by the main oil pump in the emergency steering system; in the case where the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate, a target control signal is generated based on the emergency valve of the emergency steering system; based on the target control signal, the emergency oil pump in the emergency steering system is controlled to provide a second oil supply flow rate so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate; based on the first oil supply flow rate and the second oil supply flow rate, the vehicle steering is controlled. In this technical solution, when the oil supply flow rate of the main oil pump is insufficient, the emergency oil pump and the main oil pump jointly provide the oil supply flow rate to realize vehicle steering, solving the problem that in the current single-loop steering system, when the engine or the power steering oil pump fails, the power steering gear will lose the power source, seriously affecting driving safety, realizing dual-loop emergency steering control, and improving driving safety.

[0035] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0037] Figure 1 It is a flowchart of a control method for a dual-loop emergency steering system provided by an embodiment of the present invention;

[0038] Figure 2 Schematic diagram for controlling an electric emergency steering pump assembly provided by an embodiment of the present invention;

[0039] Figure 3 Schematic structural diagram of a control device for a dual-loop emergency steering system provided by an embodiment of the present invention;

[0040] Figure 4 Schematic structural diagram of an electronic device for implementing a control method of a dual-loop emergency steering system according to an embodiment of the present invention. Detailed implementation manners

[0041] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0043] Figure 1 Flowchart of a control method for a dual-loop emergency steering system provided by an embodiment of the present invention. This embodiment is applicable to the situation of vehicle steering control. This method can be executed by a control device of the dual-loop emergency steering system. The device can be implemented in the form of hardware and / or software, and the device can be configured in a vehicle and the control system of the vehicle. As Figure 1 shown, the method specifically includes the following steps:

[0044] S110. Obtain the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system.

[0045] Among them, the first oil supply flow rate is provided by the main oil pump in the emergency steering system. The first oil supply flow rate refers to the flow rate of the oil provided by the main oil pump, and the first oil supply flow rate can be used to assist vehicle steering.

[0046] Specifically, the current driving speed of the vehicle is obtained through a speed sensor installed on the vehicle, and the first oil supply flow rate provided by the main oil pump in the emergency steering system can also be obtained by using a flow sensor, so that the driving state of the vehicle and the oil quantity provided by the main oil pump for the steering system can be grasped in real time.

[0047] S120. When the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate, a target control signal is generated based on the emergency valve of the emergency steering system.

[0048] Among them, the preset flow rate can be the flow rate of the oil required during steering, and the vehicle can complete the steering smoothly at this flow rate. The preset speed can be a preset speed threshold; the target control signal can control the emergency oil pump.

[0049] Specifically, the obtained driving speed of the vehicle is compared with the preset speed, and the first oil supply flow rate and the preset flow rate are compared. When the driving speed exceeds the preset speed and the first oil supply flow rate is lower than the preset flow rate, the emergency valve in the emergency steering system can be in a conducting state, and the emergency valve can have a low-level electrical signal. Furthermore, a target control signal is generated based on this low-level signal.

[0050] It can be understood that it is judged whether the vehicle is in a state that requires emergency steering assistance based on the driving speed and the first oil supply flow rate. When the driving speed exceeds the preset speed, it means that this speed is relatively high, and the dual-loop emergency steering system is required to ensure smooth steering. In addition, when the first oil supply flow rate is less than the preset flow rate, it indicates that the steering assistance provided by the main oil pump is insufficient, and the emergency steering function needs to be started to control the emergency oil pump by generating a target control signal.

[0051] S130. Based on the target control signal, control the emergency oil pump in the emergency steering system to provide a second oil supply flow rate, so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate.

[0052] In this embodiment, after the emergency pump controller of the emergency steering system receives the target control signal, it can control the emergency oil pump to start working and make it provide the second oil supply flow rate. The sum of the first oil supply flow rate provided by the main oil pump and the second oil supply flow rate provided by the emergency oil pump is not less than the preset flow rate.

[0053] It can be understood that the preset flow rate can be the total flow rate required for vehicle steering. When the first oil supply flow rate is insufficient, the emergency oil pump is used to supplement the oil quantity required by the steering system, ensuring that the steering system has sufficient power to realize the steering operation of the vehicle and avoiding dangerous situations such as steering failure caused by insufficient oil supply from the main oil pump.

[0054] S140. Control the vehicle steering based on the first oil supply flow rate and the second oil supply flow rate.

[0055] According to the actual situation of the first oil supply flow provided by the main oil pump and the second oil supply flow provided by the emergency oil pump, the emergency steering system can precisely control the steering action of the vehicle, enabling the vehicle to steer safely and stably according to the driver's operation intention, ensuring the vehicle's handling performance in case of emergency, and guaranteeing driving safety.

[0056] In some embodiments, when the first oil supply flow is greater than the preset flow, the main oil pump supplies the first oil supply flow to the steering gear, so that the steering gear performs vehicle steering based on the first oil supply flow.

[0057] Specifically, when the first oil supply flow provided by the main oil pump is large enough, that is, greater than the preset flow, there is no need to start the emergency oil pump. At this time, the main oil pump delivers the first oil supply flow to the steering gear, and the steering gear uses these flows to perform the steering operation of the vehicle, ensuring normal vehicle steering.

[0058] In some embodiments, it further includes: when the driving speed is greater than the preset speed, the emergency motor corresponding to the emergency oil pump runs at idle speed.

[0059] Wherein, the emergency motor provides power for the emergency oil pump.

[0060] Specifically, when the vehicle driving speed exceeds the preset speed, the emergency motor enters the idle running state. The emergency motor is a component that provides power for the emergency oil pump. Letting the emergency motor run at idle speed can keep it in a standby state so that it can respond quickly when emergency steering is needed.

[0061] In some embodiments, the generating of the target control signal based on the emergency valve of the emergency steering system includes:

[0062] Obtain the level of the emergency valve. When the level of the emergency valve is low, generate a target control signal based on the low level.

[0063] Wherein, when the first oil supply flow is less than the preset flow, the level of the emergency valve is low.

[0064] It should also be noted that when the first oil supply flow provided by the main oil pump is less than the preset flow, the emergency valve will conduct and present a low level state. The purpose of the emergency valve conducting is to provide a channel for the second oil supply flow to jointly provide power for steering with the first oil supply flow.

[0065] When the level of the emergency valve is low, a target control signal can be generated according to the low level signal, thereby triggering the generation of the target control signal. If it is a high level, the emergency motor can continue to run at idle speed.

[0066] In some embodiments, based on the target control signal, controlling an emergency oil pump in an emergency steering system to provide a second oil supply flow rate includes: based on the target control signal, controlling the rotational speed of the emergency motor to be adjusted from an idle speed to a target speed so that the emergency oil pump provides the second oil supply flow rate.

[0067] Wherein, the target speed is greater than the idle speed.

[0068] Specifically, after receiving the target control signal, it can be adjusted based on the rotational speed of the emergency motor. The original idle speed of the emergency motor is increased to the target speed. As the rotational speed of the emergency motor increases, the emergency oil pump starts to operate and provides the second oil supply flow rate to supplement the oil quantity required by the steering system.

[0069] In some embodiments, it further includes: when the operation duration of the emergency oil pump is greater than a preset duration threshold, controlling the emergency oil pump to stop working.

[0070] Specifically, the operation duration of the emergency oil pump can be monitored. When the operation time of the emergency oil pump exceeds the preset duration threshold, in order to avoid problems such as overheating and wear caused by the long-term operation of the emergency oil pump, the emergency oil pump can be controlled to stop working to protect the emergency oil pump and related components. In the embodiments of the present invention, the dual-loop emergency steering system may include: a steering gear, a main oil pump, an inlet pipe, a return pipe, an oil pot, and an electric emergency steering pump assembly; wherein, the electric emergency steering pump assembly includes an emergency pump controller, an emergency motor, and an emergency oil pump. Specifically, the main oil pump is connected to the engine through transmission mechanisms such as belts and gears to ensure that the engine can drive the main oil pump to operate. The inlet pipe is used to transport hydraulic oil from the oil pot or oil tank to the main oil pump and the emergency oil pump. The main oil pump transports the pressurized hydraulic oil to the steering gear through the oil outlet to provide power for the steering system. In addition, the emergency pump controller can control the rotational speed of the emergency motor, and further control the emergency oil pump to converge the hydraulic oil with the hydraulic oil provided by the main oil pump through the emergency valve to jointly provide power for the steering system.

[0071] The technical solution of the embodiment of the present invention is as follows: by obtaining the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, where the first oil supply flow rate is provided by the main oil pump in the emergency steering system; when the driving speed is greater than the preset speed and the first oil supply flow rate is less than the preset flow rate, generating a target control signal based on the emergency valve of the emergency steering system; based on the target control signal, controlling the emergency oil pump in the emergency steering system to provide a second oil supply flow rate so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate; and controlling the vehicle to steer based on the first oil supply flow rate and the second oil supply flow rate. In this technical solution, when the oil supply flow rate of the main oil pump is insufficient, the emergency oil pump and the main oil pump jointly provide the oil supply flow rate to achieve vehicle steering, solving the problem of the current single-loop steering system that when the engine or the power steering oil pump fails, the power steering gear will lose the power source, seriously affecting driving safety, realizing dual-loop emergency steering control, and improving driving safety.

[0072] Figure 2 It is a schematic diagram of controlling an electric emergency steering pump assembly provided by an embodiment of the present invention. This embodiment is a preferred embodiment, and its specific implementation manner can refer to the technical solution of this embodiment. Among them, the same or corresponding technical terms as those in the above embodiments will not be described in detail here. As Figure 2 shown:

[0073] The vehicle controller VCU is connected to the emergency pump controller through the CAN bus. The vehicle controller sends a speed signal to the emergency pump controller, and the emergency pump controller adjusts the speed of the emergency motor. The emergency motor serves as a power source to make the emergency pump generate a certain flow rate of hydraulic oil to provide power input to the steering system.

[0074] Standby state: When the vehicle is powered on in the ON gear, the emergency pump is in the standby state. At this time, the motor does not operate or operates at an extremely low speed to save energy and reduce unnecessary wear.

[0075] Idle speed condition: When the low-voltage signal PIN4 of the emergency motor receives the 24V high-level signal of the ON gear (indicating that the system is powered on and in a workable state), and the vehicle speed is greater than the set speed threshold v1, the emergency motor starts to operate at the speed w1. Among them, v1 and w1 are pre-set speed and rotation speed values. When the vehicle speed exceeds, the vehicle may need a certain degree of steering assistance at any time, so the motor operates at the speed w1 and is in a standby state to be able to respond quickly when emergency steering is required.

[0076] Emergency steering trigger and speed increase: When the vehicle speed is greater than v1 and the vehicle has an emergency steering requirement, that is, at this time the steering system requires more power to ensure smooth steering operation, the I / O output path of the emergency motor is connected, and the system immediately performs a speed increase operation on the motor, increasing the speed from w1 to w2 to provide stronger emergency assistance and ensure that the vehicle can steer safely and flexibly in the case of emergency steering.

[0077] Shutdown condition: The emergency pump will automatically shut down after continuously working for t1 time. The t1 time is preset because emergency steering is usually a short process and it is sufficient to complete the emergency steering operation within t1 time. After that, shutting down can avoid unnecessary energy consumption and component wear. If the I / O port of the motor pump is disconnected before the end of t1 time, for example, indicating the end of the emergency steering requirement, the speed will be reduced to the idle speed w1 again, waiting for the next possible steering requirement.

[0078] Figure 3 The following is a schematic structural diagram of a control device for a dual-loop emergency steering system provided by an embodiment of the present invention. As Figure 3 shown, the device includes:

[0079] A flow rate acquisition module 310, configured to acquire the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, where the first oil supply flow rate is provided by a main oil pump in the emergency steering system;

[0080] A signal generation module 320, configured to generate a target control signal based on an emergency valve of the emergency steering system when the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate;

[0081] An oil pump control module 330, based on the target control signal, controls an emergency oil pump in the emergency steering system to provide a second oil supply flow rate, so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate;

[0082] A steering control module 340, configured to control the vehicle to steer based on the first oil supply flow rate and the second oil supply flow rate.

[0083] In some embodiments, the control device of the dual-loop emergency steering system is further configured to:

[0084] When the first oil supply flow rate is greater than the preset flow rate, supply the first oil supply flow rate to the steering gear based on the main oil pump, so that the steering gear performs vehicle steering based on the first oil supply flow rate.

[0085] In some embodiments, the control device of the dual-loop emergency steering system is further configured to:

[0086] When the driving speed is greater than the preset speed, the emergency motor corresponding to the emergency oil pump operates at idle speed;

[0087] Wherein, the emergency motor provides power for the emergency oil pump.

[0088] In some embodiments, the signal generation module 320 is specifically configured to:

[0089] Obtain the level of the emergency valve, and generate a target control signal based on the low level when the level of the emergency valve is low;

[0090] Wherein, when the first oil supply flow rate is less than the preset flow rate, the level of the emergency valve is low.

[0091] In some embodiments, the oil pump control module 330 is specifically configured to:

[0092] Based on the target control signal, control the rotational speed of the emergency motor to be adjusted from idle speed to a target speed, so that the emergency oil pump provides a second oil supply flow rate;

[0093] Wherein, the target speed is greater than the idle speed.

[0094] In some embodiments, the control device of the dual-loop emergency steering system is further configured to:

[0095] When the operation duration of the emergency oil pump is greater than a preset duration threshold, control the emergency oil pump to stop working.

[0096] In some embodiments, the emergency steering system further includes: an emergency pump controller.

[0097] The control device of the dual-loop emergency steering system provided by the embodiments of the present invention can execute the control method of the dual-loop emergency steering system provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0098] Figure 4 It is a schematic structural diagram of an electronic device for implementing the control method of the dual-loop emergency steering system of the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples, and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0099] As shown Figure 4 As shown in FIG. 1, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0100] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0101] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method of the dual-loop emergency steering system.

[0102] In some embodiments, the control method of the dual-loop emergency steering system can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the dual-loop emergency steering system described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the control method of the dual-loop emergency steering system by any other appropriate means (e.g., by means of firmware).

[0103] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0104] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0105] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0107] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0108] The computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0109] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0110] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A control method for a dual-loop emergency steering system, characterized in that, including: Obtain the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, where the first oil supply flow rate is provided by the main oil pump in the emergency steering system; When the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate, generate a target control signal based on the emergency valve of the emergency steering system; Based on the target control signal, control the emergency oil pump in the emergency steering system to provide a second oil supply flow rate, so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate; Based on the first oil supply flow rate and the second oil supply flow rate, control the steering of the vehicle.

2. The method according to claim 1, wherein The method further includes: When the first oil supply flow rate is greater than the preset flow rate, supply the first oil supply flow rate from the main oil pump to the steering gear, so that the steering gear steers the vehicle based on the first oil supply flow rate.

3. The method according to claim 1, wherein The method further includes: When the driving speed is greater than the preset speed, the emergency motor corresponding to the emergency oil pump runs at idle speed; wherein, the emergency motor provides power for the emergency oil pump.

4. The method according to claim 1, characterized in that, The generating the target control signal based on the emergency valve of the emergency steering system includes: Obtain the level of the emergency valve, and when the level of the emergency valve is low, generate a target control signal based on the low level; wherein, when the first oil supply flow rate is less than the preset flow rate, the level of the emergency valve is low.

5. The method according to claim 1, characterized in that, The controlling the emergency oil pump in the emergency steering system to provide a second oil supply flow rate based on the target control signal includes: Based on the target control signal, control the rotational speed of the emergency motor to be adjusted from idle speed to a target speed, so that the emergency oil pump provides a second oil supply flow rate; wherein, the target speed is greater than the idle speed.

6. The method according to claim 5, characterized in that, The method further includes: When the running duration of the emergency oil pump is greater than a preset duration threshold, control the emergency oil pump to stop working.

7. The method according to claim 1, characterized in that, The emergency steering system further includes: an emergency pump controller.

8. A control device for a dual-loop emergency steering system, characterized in that, including: A flow rate acquisition module, configured to obtain the driving speed of the vehicle and the first oil supply flow rate of the emergency steering system, where the first oil supply flow rate is provided by the main oil pump in the emergency steering system; A signal generation module, configured to generate a target control signal based on the emergency valve of the emergency steering system when the driving speed is greater than a preset speed and the first oil supply flow rate is less than a preset flow rate; An oil pump control module, based on the target control signal, controls the emergency oil pump in the emergency steering system to provide a second oil supply flow rate, so that the sum of the first oil supply flow rate and the second oil supply flow rate is not less than the preset flow rate; A steering control module, configured to control the steering of the vehicle based on the first oil supply flow rate and the second oil supply flow rate.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; And a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the control method of the dual-loop emergency steering system according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the control method of the dual-loop emergency steering system according to any one of claims 1-7 is implemented.

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