Driving mode switching method, system, electronic device and storage medium

Abstract

The present application relates to a driving mode switching method, system, electronic device and storage medium, the method comprising: acquiring a real-time signal of a measuring sensor through a signal acquisition device to obtain a first signal and a second signal, wherein the measuring sensor is a dual-path sensor for measuring the main torque and the secondary torque; analyzing the first signal and the second signal to respectively determine a first working state of the main torque and a second working state of the secondary torque; executing a torque switching strategy corresponding to the first working state and the second working state in the driving strategy to achieve switching between the main torque and the secondary torque; being able to monitor the signal states of the main torque sensor and the secondary torque sensor in real time, and intelligently switch to the corresponding torque strategy according to the signal analysis results to ensure the safety and stability of the driving process.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a driving mode switching method, system, electronic device, and storage medium. Background Art

[0002] In electric power steering (EPS) systems, torque sensor signal acquisition is a key component in achieving power steering control. Existing EPS systems typically employ a redundant design with two torque signal sensors: a primary and a secondary. These two sensors synchronize and collect the driver's steering torque signal, which is then filtered by hardware and input into the electronic control unit (ECU). The primary torque signal, T1, serves as the sole control input to calculate the power steering motor's target torque and output power. The secondary torque signal, T2, is used only for consistency verification with T1. If the deviation between the two exceeds a preset threshold, or if either signal exhibits an anomaly such as a circuit breaker or over-range, a sensor fault is identified. Upon detecting a torque signal failure, the EPS system immediately enters a fail-safe mode, cutting off power steering output and illuminating the fault indicator.

[0003] However, this solution relies on a single-channel signal to dominate control: the system relies entirely on the T1 signal for power assist calculations, and T2 serves only as a "passive verifier," failing to fully utilize the redundant value of the dual-channel signal. When T1 experiences transient distortion due to electromagnetic interference, T2 cannot take over control in real time, causing the system to misjudge and output incorrect power assist, or trigger a fault due to a brief abnormality in T1, with the fault judgment directly determining a fault; equating "signal abnormality" with "sensor hardware failure." Frequent cutting off of power assist may cause the driver to experience sudden increases in steering resistance, especially when driving at high speeds or making emergency turns, increasing the risk of loss of control. It remains at the "verification level" and has not established an active fault-tolerant mechanism, impacting the driving experience and safety.

[0004] Therefore, there is an urgent need to develop a driving mode switching method, system, electronic device and storage medium to solve one or more of the above-mentioned problems. Summary of the Invention

[0005] In view of this, in order to solve the above technical problems or part of the technical problems, embodiments of the present invention provide a driving mode switching method, system, electronic device and storage medium.

[0006] In a first aspect, the present application provides a driving mode switching method, the method comprising:

[0007] Acquire a real-time signal of a measuring sensor through a signal acquisition device to obtain a first signal and a second signal, wherein the measuring sensor is a dual-path sensor for measuring a main torque and a secondary torque;

[0008] Analyzing the first signal and the second signal to respectively determine a first working state of the primary torque and a second working state of the secondary torque;

[0009] executing a torque switching strategy corresponding to the first working state and the second working state in the driving strategy to achieve switching between the main torque and the secondary torque;

[0010] The driving strategy records driving modes under multiple different working conditions and the torque switching strategy corresponding to each driving mode.

[0011] In one possible implementation, executing the torque switching strategy corresponding to the first working state and the second working state in the driving strategy includes:

[0012] When the first working state is a non-fault state and the second working state is a non-fault state, detecting whether the consistency of the main torque and the secondary torque meets the standard, obtaining a detection result, and executing a torque switching strategy corresponding to the driving strategy according to the detection result;

[0013] When the first working state is a non-fault state and the second working state is a fault state, the driving mode is switched to the second driving mode, the main torque is used as the execution torque and the power assist reduction is performed;

[0014] When the first working state is a fault state and the second working state is a non-fault state, the driving mode is switched to a third driving mode, the secondary torque is used as the execution torque, and the power assist reduction is performed;

[0015] When the first working state is a fault state and the second working state is a fault state, the driving mode is switched to a fourth driving mode, the power assist is cut off and a fault alarm is executed.

[0016] In one possible implementation, analyzing the first signal and the second signal to respectively determine the first working state of the primary torque and the second working state of the secondary torque includes:

[0017] For any signal, using an analog-to-digital converter to obtain an effective voltage value of the signal;

[0018] The working state corresponding to the torque is determined according to the effective voltage value.

[0019] In one possible implementation, detecting whether the consistency between the primary torque and the secondary torque meets the standard and obtaining the detection result includes:

[0020] Obtaining a preset voltage sum value range and a preset voltage difference value range;

[0021] When the sum of the effective voltage values ​​of the first signal and the second signal is within the voltage sum value range, and the difference in the effective voltage values ​​is within the voltage difference value range, the consistency between the main torque and the secondary torque meets the standard;

[0022] When the sum of the effective voltage values ​​of the first signal and the second signal is outside the voltage sum range, or the difference between the effective voltage values ​​is outside the voltage difference range, the consistency between the main torque and the secondary torque does not meet the standard.

[0023] In one possible implementation, executing a corresponding torque switching strategy in a driving strategy according to the detection result includes:

[0024] If the detection result shows that the consistency does not meet the standard, performing voltage value correction on the effective voltage value of the first signal and the effective voltage value of the second signal respectively, and determining whether the corrected effective voltage values ​​meet the validity requirement;

[0025] When the validity requirement is met, a composite voltage value is obtained according to the effective voltage value of the first signal and the effective voltage value of the second signal, and the power-assisted derating is performed using the composite voltage value.

[0026] In one possible implementation, obtaining the effective voltage value of any signal by using an analog-to-digital converter includes:

[0027] For any signal, use a gain amplifier and a low-pass filter to pre-process the signal;

[0028] The torque voltage value of the pre-processed signal is obtained using an analog-to-digital converter;

[0029] The effective voltage value in the torque voltage value is obtained by using the sliding window median filter.

[0030] In one possible implementation, determining the working state of the corresponding torque according to the effective voltage value includes:

[0031] Obtaining a preset midpoint voltage and a first voltage difference threshold;

[0032] When the difference between the effective voltage value and the midpoint voltage is greater than the first voltage difference threshold, the working state of the torque is a fault state;

[0033] When the difference between the effective voltage value and the midpoint voltage is less than or equal to the first voltage difference threshold, the working state of the torque is a non-fault state.

[0034] In a second aspect, the present application provides a driving mode switching system, the system comprising:

[0035] An acquisition module is used to acquire a real-time signal from a measurement sensor through a signal acquisition device to obtain a first signal and a second signal. The measurement sensor is a dual-path sensor for measuring a main torque and a secondary torque.

[0036] a determination module, configured to analyze the first signal and the second signal to respectively determine a first working state of the primary torque and a second working state of the secondary torque;

[0037] an execution module, configured to execute a torque switching strategy corresponding to the first working state and the second working state in a driving strategy, so as to realize switching between a main torque and a secondary torque;

[0038] The driving strategy records driving modes under multiple different working conditions and the torque switching strategy corresponding to each driving mode.

[0039] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the driving mode switching method described in any one of the embodiments of the first aspect are implemented.

[0040] In a fourth aspect, the present application further provides a computer storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the driving mode switching method described in any embodiment of the first aspect are implemented.

[0041] The above-mentioned technical solution provided by the embodiment of the present application has the following advantages compared with the existing technology: the method provided by the embodiment of the present application can monitor the signal status of the main torque sensor and the auxiliary torque sensor in real time, and intelligently adjust the driving mode according to the signal analysis results to ensure the safety and stability of the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of a driving mode switching method provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of the process of executing the driving sub-strategy provided in an embodiment of the present application;

[0044] Figure 3 A schematic flow chart of a voltage value correction method provided in an embodiment of the present application;

[0045] Figure 4 A schematic diagram of a process for obtaining an effective voltage value provided in an embodiment of the present application;

[0046] Figure 5 A schematic diagram of the steps of a driving mode switching method provided in an embodiment of the present application;

[0047] Figure 6 A schematic structural diagram of a driving mode switching system provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] The following disclosure provides many different embodiments or examples for implementing different configurations of the present invention. To simplify the disclosure of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.

[0051] To address the problem of complete power assistance being cut off in existing EPS systems due to a single-channel torque signal failure, a driving mode switching method is provided to achieve redundant switching of primary and secondary torques + reduced power assistance, maintaining the steering assist function in the event of a partial sensor failure, reducing driving risks and improving user experience.

[0052] Figure 1 A flow chart of a driving mode switching method provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method specifically includes:

[0053] S101. Acquire a real-time signal of a measuring sensor through a signal acquisition device to obtain a first signal and a second signal. The measuring sensor is a dual-path sensor for measuring a primary torque and a secondary torque.

[0054] In this embodiment, dual differential input channels are used to synchronously collect analog signals from the primary torque sensor T1 and the secondary torque sensor T2.

[0055] S102, analyzing the first signal and the second signal to respectively determine a first working state of the main torque and a second working state of the secondary torque;

[0056] In this embodiment, the first working state of the main torque is determined by analyzing the first signal and the second signal, and the second working state of the secondary torque is determined at the same time.

[0057] S103, executing the torque switching strategy corresponding to the first working state and the second working state in the driving strategy to achieve switching between the main torque and the secondary torque;

[0058] The driving strategy records driving modes under multiple different working conditions and the torque switching strategy corresponding to each driving mode.

[0059] In this embodiment, after determining the first working state and the second working state, the driving sub-strategy corresponding to the current state in the driving strategy is determined according to the different working states, and the driving sub-strategy is executed, thereby realizing intelligent switching of the driving mode.

[0060] The driving mode switching method provided in the embodiment of the present application can, during its specific implementation, monitor the signal status of the main torque sensor and the secondary torque sensor in real time, and intelligently adjust the driving mode according to the signal analysis results to ensure the safety and stability of the driving process.

[0061] Specifically, the embodiment of the present application uses "driving mode" as a carrier, deeply binds the signal status of the dual-channel torque sensor with the exclusive torque switching strategy, and constructs a closed-loop control system of "signal status-driving mode-execution strategy".

[0062] Among them, the driving modes are divided independently, and different independent driving modes are defined according to the working status of the main and auxiliary torques. Each mode corresponds to different torque switching rules. In normal mode, that is, in the dual-channel non-fault state, a two-dimensional consistency check (voltage sum + difference range) is performed; if the check is inconsistent, the "dynamic midpoint calibration + signal synthesis" strategy is started to ensure the validity of the torque signal. In the single-channel fault mode, different driving modes are switched to respectively, and the "reduction capacity + single-channel torque signal takeover" strategy is bound to maintain the power assist and avoid sudden changes in steering feel. In the dual-channel fault mode, the "power assist cut-off + fault alarm" strategy is bound to prioritize safety; the strategy of each mode not only covers signal processing, but also integrates actuator control and human-computer interaction, forming a complete closed loop of perception-decision-execution.

[0063] Figure 2 A schematic diagram of a process flow for executing a driving sub-strategy provided in an embodiment of the present application, wherein executing the torque switching strategy corresponding to the first working state and the second working state in the driving strategy includes:

[0064] S201: When the first working state is a non-fault state and the second working state is a non-fault state, detecting whether consistency between the main torque and the secondary torque meets a standard, obtaining a detection result, and executing a torque switching strategy corresponding to the driving strategy according to the detection result;

[0065] In this embodiment, under the premise that the first working state is confirmed to be a non-fault state and the second working state is also determined to be a non-fault state, the system will start the detection mechanism to detect the consistency between the main torque and the secondary torque to determine whether they meet the preset standards and requirements, and obtain specific detection results. Then, based on the obtained detection results, the system accurately selects and executes the corresponding torque switching strategy in the pre-set driving strategy to ensure the stability and safety of vehicle operation.

[0066] S202: When the first working state is a non-fault state and the second working state is a fault state, switching the driving mode to a second driving mode, using the main torque as the execution torque and performing power assist derating;

[0067] In this embodiment, when the first operating state is detected to be operating normally (i.e., without any faults), and a fault is confirmed in the second operating state, the current driving mode is switched to the second driving mode to adapt to the current fault and ensure the vehicle can continue to operate safely. Simultaneously, the main torque is used as the actuating torque, making the vehicle's primary power output dependent on the main torque. Furthermore, to further ensure safety, a power assist de-rate operation is performed to reduce the output power of the auxiliary system, thereby reducing reliance on and load on the vehicle's primary power system, thereby maintaining vehicle stability and controllability in the fault state.

[0068] S203: When the first working state is a fault state and the second working state is a non-fault state, switching the driving mode to a third driving mode, using the secondary torque as the execution torque, and performing power assist derating;

[0069] In this embodiment, when a fault is detected in the first working state and no fault occurs in the second working state, the current driving mode is switched to the third driving mode, the secondary torque is used as the main execution torque, and the power assist reduction operation is performed accordingly to ensure the stable operation and safety of the system.

[0070] S204: When the first working state is a fault state and the second working state is a fault state, the driving mode is switched to a fourth driving mode, the power assist is cut off, and a fault alarm is executed.

[0071] In this embodiment, when a fault is detected in the first working state and the second working state is also in a fault state, measures are automatically taken to switch the current driving mode to the fourth driving mode. During this process, the power assist system is cut off to ensure the safety of the vehicle, and a fault alarm program is executed to warn the driver that there is a fault in the vehicle and that inspection and repair are required.

[0072] Specifically, the triggering conditions are: T1 and T2 have signal disconnection or over-range at the same time, or single-channel faults are triggered one after another and have not been restored.

[0073] Processing flow: The ECU immediately cuts off the power-assist motor relay and enters safety failure mode; stores the dual-path fault code and prohibits any power-assist output until the fault is manually cleared.

[0074] In addition, this embodiment also records key data during the switching process, including switching time, driving mode before and after switching, and changes in actuation torque, for subsequent analysis and optimization. To further improve the reliability and safety of the system, this embodiment also provides a fault self-diagnosis and fault recovery mechanism. When a fault is detected, it can automatically locate the fault and take appropriate recovery measures based on the fault type, such as switching to a backup sensor and adjusting power-assist parameters, to maximize the maintenance of the vehicle's steering power function.

[0075] The driving sub-strategy execution method provided in the embodiment of the present application monitors the driving mode switching in real time to ensure the smoothness and accuracy of the switching process. After switching to a new driving mode, it will intelligently adjust the power assist output according to the current vehicle operating status and driving mode to ensure the stability and safety of the driving process.

[0076] In an optional solution of the embodiment of the present invention, analyzing the first signal and the second signal to respectively determine the first working state of the main torque and the second working state of the secondary torque includes:

[0077] For any signal, using an analog-to-digital converter to obtain an effective voltage value of the signal;

[0078] An analog-to-digital converter is an electronic device that converts analog signals into digital signals so that they can be processed by computers or other digital systems. During the conversion process, the analog-to-digital converter measures the voltage level of the signal and converts it into a corresponding digital code.

[0079] In this embodiment, for any signal, the effective voltage value represented by the signal is effectively obtained by using an analog-to-digital converter.

[0080] The working state corresponding to the torque is determined according to the effective voltage value.

[0081] In this embodiment, the effective voltage value of the signal is used to determine the working state of the torque.

[0082] In an optional solution of the embodiment of the present invention, the detecting whether the consistency between the main torque and the secondary torque meets the standard and obtaining the detection result includes:

[0083] Obtaining a preset voltage sum value range and a preset voltage difference value range;

[0084] When the sum of the effective voltage values ​​of the first signal and the second signal is within the voltage sum value range, and the difference in the effective voltage values ​​is within the voltage difference value range, the consistency between the main torque and the secondary torque meets the standard;

[0085] When the sum of the effective voltage values ​​of the first signal and the second signal is outside the voltage sum range, or the difference between the effective voltage values ​​is outside the voltage difference range, the consistency between the main torque and the secondary torque does not meet the standard.

[0086] In this embodiment, the signal is checked for consistency as follows. According to the design principle of the dual-channel torque sensor, under normal working conditions, the sum of the output voltages of the first sensor and the second sensor should approach a fixed value. By calculating the relative deviation between the actual voltage and the theoretical value and comparing it with the threshold, it can be determined whether the two signals are synchronized and whether there is any abnormality.

[0087] ;

[0088] in Indicates the consistency of the output signals of K sampling values ​​T1 and T2. Represents the filtered voltage value at the kth sampling moment. 5.0 volts represents the theoretical voltage sum. It is a standard value used to describe the maximum voltage that an electronic device or circuit can withstand under specific conditions. Should be close to 5V, is the relative difference threshold, and a value of 0.15 means that the deviation between the sum of the two-way voltage and the theoretical value is allowed to be no more than 15%.

[0089] Figure 3 A flow chart of a voltage value correction method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the method further includes:

[0090] S301: If the detection result shows that the consistency does not meet the standard, perform voltage value correction on the effective voltage value of the first signal and the effective voltage value of the second signal, and determine whether the corrected effective voltage values ​​meet the validity requirement;

[0091] In this embodiment, if the detection result is that the consistency does not meet the standard, it indicates that there is a significant inconsistency between the signals of the two sensors. In this case, the effective voltage values ​​of the two signals are corrected to try to eliminate or reduce the error.

[0092] The correction process may include steps such as signal filtering, noise removal, or signal enhancement to improve the accuracy and reliability of the signal.

[0093] S302 : When the validity requirement is met, obtain a composite voltage value according to the effective voltage value of the first signal and the effective voltage value of the second signal, and perform power-assisted capacity reduction using the composite voltage value.

[0094] In this embodiment, if the effective voltage value meets the effectiveness requirement, the corrected voltage value is used to perform the power assist reduction operation, and maintaining a certain power assist function is necessary to ensure driving safety and stability.

[0095] For example, during bench testing, a signal generator is used to simulate different voltages at the primary and secondary torque output terminals to determine if there is a significant difference in assist torque. A dynamic midpoint voltage calibration strategy is employed to dynamically track the sensor's baseline offset, avoiding reconstruction errors caused by the fixed midpoint assumption.

[0096] The midpoint voltage calculation formula is as follows:

[0097] ;

[0098] in, Represents the dynamic midpoint voltage, and L represents the sliding window length (number of sampling points).

[0099] Then the signal is corrected and synthesized.

[0100] The main moment correction formula is as follows:

[0101] ;

[0102] Indicates the midpoint voltage, generally set to 2.5V.

[0103] The secondary torque correction formula is as follows:

[0104] ;

[0105] in, is the corrected main torque voltage, is the corrected secondary torque voltage.

[0106] Synthesis and symbol checking:

[0107] ;

[0108] in, is the composite voltage value, Ensure directional consistency.

[0109] Validity Verification: It is required that the deviation between the composite voltage and the theoretical midpoint does not exceed 2.0V to avoid the use of extreme abnormal values ​​that may cause power steering to lose control.

[0110] The driving mode switching method provided in the embodiment of the present application can not only effectively identify abnormalities in sensor signals when sensors are inconsistent, but also activate the correction mechanism when dual-path signals are inconsistent, correct the effective voltage value of the signal, thereby achieving a systematic repair of the dual-path sensor differences and synthesizing a new voltage value for performing power-assisted capacity reduction operations, thereby ensuring safety and stability during driving and reducing driving risks caused by sensor failures.

[0111] Figure 4 A schematic diagram of a flow chart for obtaining an effective voltage value provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, for any signal, using an analog-to-digital converter to obtain the effective voltage value of the signal includes:

[0112] S401, for any signal, pre-process the signal using a gain amplifier and a low-pass filter;

[0113] In this embodiment, an integrated programmable gain amplifier and a 12th-order elliptical low-pass filter preprocess the signal to enhance its amplitude and remove high-frequency noise, thereby improving the signal-to-noise ratio. The gain amplifier adjusts its amplification factor based on signal strength to ensure the signal is within the input range of the analog-to-digital converter (ADC). The low-pass filter removes high-frequency components from the signal, retaining useful low-frequency information and minimizing the impact of high-frequency noise on signal quality. This preprocessing step significantly improves the sampling precision and accuracy of the ADC, providing a reliable data foundation for subsequent signal analysis and driving mode switching.

[0114] S402, using an analog-to-digital converter to obtain a torque voltage value of the preprocessed signal;

[0115] In this embodiment, the signal is converted into a digital quantity by ADC after conditioning, and the conversion formula is:

[0116] ;

[0117] in, is the torque voltage value after processing, is the digital value corresponding to the torque, is the set digital zero value, represents the full-scale digital value of the ADC, Indicates the reference voltage provided to the ADC for conversion.

[0118] S403 , using a sliding window median filter to obtain an effective voltage value from the torque voltage value.

[0119] In this embodiment, the collected signal is subjected to a sliding window mean filter and a median filter cascade process, according to the following formula:

[0120] ;

[0121] in is the effective signal voltage representation, i represents the i-th input signal, N represents the set sliding window width, Represents the original voltage value at the mth sampling moment.

[0122] Specifically, It represents the voltage value of the main torque (i=1) or secondary torque (i=2) sensor after filtering at the kth sampling moment. It is the effective signal voltage representation after noise suppression, and the unit is volt. The serial number representing the sampling moment increases with time and is used to mark the sampling conditions at different time points.

[0123] N is the set sliding window width, and its value is 15, which means that when performing filtering calculations, the voltage values ​​at the current moment and the previous 14 moments (a total of 15 moments) will be considered to comprehensively determine the current filtered output voltage.

[0124] is the raw voltage value of the primary torque (i = 1) or secondary torque (i = 2) sensor at the mth sampling moment, without filtering. The value of m ranges from k - N + 1 to k, that is, the raw voltage value corresponding to each sampling moment covered by the current sliding window.

[0125] The effective voltage value acquisition method provided in the embodiment of the present application not only pre-processes the signal through a gain amplifier and a low-pass filter to enhance the signal amplitude and remove high-frequency noise, but also converts the pre-processed signal into a digital quantity through an analog-to-digital converter, and further obtains the effective voltage value in the torque voltage value using a sliding window median filter, thereby ensuring the accuracy and reliability of the signal and providing a data basis for subsequent signal analysis and driving mode switching.

[0126] In an optional solution of the embodiment of the present invention, determining the first working state of the main torque according to the effective voltage value of the first signal includes:

[0127] Obtaining a preset midpoint voltage and a first voltage difference threshold;

[0128] When the difference between the effective voltage value of the first signal and the midpoint voltage is greater than the first voltage difference threshold, the first working state of the main torque is a fault state;

[0129] When the difference between the effective voltage value of the first signal and the midpoint voltage is less than or equal to the first voltage difference threshold, the first working state of the main torque is a non-fault state.

[0130] In this embodiment, the first working state of the main torque is determined according to the effective voltage value of the first signal;

[0131] For example, the single-channel signal fault judgment is based on the following:

[0132] ;

[0133] in is a flag function, 1 means there is a fault, 0 means there is no fault, The effective signal voltage represents the midpoint voltage, is the absolute threshold.

[0134] In addition, the triggering of the main and auxiliary torque switching or capacity reduction strategy includes a capacity reduction power assist control module. The capacity reduction power assist control module adopts the classic PID control strategy in the vehicle power assist system. In normal mode, the system is in a relatively stable and ideal working state. Larger parameter values ​​can be used to ensure that the system has a faster response speed and dynamic performance for power assist torque control to meet the precise requirements for power assist during driving.

[0135] Specifically, in the capacity reduction mode, the system is in a fault or abnormal response state, so the parameter value is appropriately reduced to make the change of the control quantity relatively smooth, thereby achieving the optimization of the power assist control under different conditions.

[0136] ;

[0137] in, Represents the PID output control quantity at the kth sampling moment, : proportionality coefficient, Control error, : integration coefficient, : differential coefficient.

[0138] ;

[0139] Finally, the assist torque value is calculated according to the above formula. : The final output power torque value, : Torque gain coefficient, : The input torque signal after processing, : vehicle speed gain coefficient, v: vehicle speed, : Derating coefficient.

[0140] Specifically, It is the control variable output by the PID controller at the kth sampling moment, which is used to adjust the actuators such as the power-assisted motor. For example, it can adjust the motor's drive current, PWM duty cycle, etc. to achieve the desired power-assisted torque output. Its specific physical meaning depends on the control method of the actual actuator.

[0141] Kp is the proportional coefficient. It takes a value of 8 in normal mode and 5 in derating mode. It determines the proportional relationship between the control quantity and the current error e(k). That is, the larger the error, the greater the contribution of the proportional term to the control quantity. By adjusting the proportional coefficient, the system's response speed to the error and the intensity of control can be changed. A larger Kp can make the system respond to errors quickly, but may cause the system stability to deteriorate. Therefore, different values ​​are used in different modes to balance the response speed and stability.

[0142] It is the control error at the kth sampling moment, usually defined as the difference between the desired power assist torque (the target value calculated based on various inputs such as vehicle speed and steering angle) and the actual current power assist torque. It reflects the current control deviation of the system and is the basis for PID control adjustment.

[0143] The integral coefficient is 0.5 in normal mode and 0.3 in reduced capacity mode. It is used to eliminate the steady-state error of the system. By accumulating historical errors, the system can achieve the desired control target more accurately after long-term operation. Its value is adjusted in different modes to adapt to the needs of eliminating steady-state errors under different working conditions and to avoid problems such as integral saturation.

[0144] is the differential coefficient, which is 0.1 in normal mode and 0.05 in reduced capacity mode. It reflects the rate of change of the error. By introducing this item, the system can respond to the changing trend of the error in advance, suppress the overshoot of the system, and improve the dynamic performance of the system. Similarly, in different modes, its value can be adjusted according to actual needs to optimize the control effect.

[0145] It is the torque input for power assist calculation. It can be the main torque sensor signal (in normal or specific fault mode), the auxiliary torque sensor signal (after switching) or the reconstructed synthetic torque signal, etc. It is the key intermediate variable that determines the size of the power assist torque.

[0146] Figure 5 A schematic diagram of the steps of a driving mode switching method provided in an embodiment of the present application is shown as follows: Figure 5 As shown:

[0147] Hardware Configuration: The dual-channel signal acquisition module uses dual differential input circuits to synchronously acquire T1 and T2 analog signals. It integrates a programmable gain amplifier (PGA) (gain range 1-100x) to accommodate sensors of varying sensitivity. A 12th-order elliptic low-pass filter (cutoff frequency 25Hz, stopband attenuation ≥60dB) is then connected to the backstage to filter out high-frequency interference. A 16-bit Σ-Δ ADC converts the analog signals into digital quantities. =200 (corresponding to 0V bias), Dfull = 4095, Vref = 5V (reference voltage). Signal preprocessing uses a sliding window mean filter (window width N = 15) cascaded with a median filter to suppress random noise and pulse interference.

[0148] Software system implementation: Real-time calculation of the absolute deviation and change rate of the signal voltage from the midpoint value (Vmid=2.5V), The signal consistency check is then performed on both channels, and the relative deviation between the sum of the voltages and the theoretical value is calculated.

[0149] Finite State Machine (FSM) control flow:

[0150] Normal state (S0): T1 and T2 are both normal and consistent, and the assist torque is calculated using the T1 signal.

[0151] T1 fault switching state (S1): T1 fails and T2 is normal, switching to T2 signal and reducing output capacity.

[0152] T2 fault reduced capacity state (S2): T2 fails and T1 is normal, the T1 signal is maintained and the output capacity is reduced.

[0153] Excessive difference reconstruction state (S3): The signal difference exceeds the threshold but there is no fault in a single channel. A valid signal is generated through dynamic midpoint calibration and signal synthesis. After verifying the same direction, the output is reduced.

[0154] Dual-path failure state (S4): Dual-path failure or reconstruction failure, power assistance is cut off and a fault code is stored.

[0155] The derating assist control is realized by performing PID adjustment according to the variable parameter PID control. Normal mode:

[0156] =8, =0.5, =0.1; derating mode: =5, =0.3, =0.05. Then calculate the assist torque. 5Nm / V, 0.1Nm / (km / h), =0.7.

[0157] The fault handling process is as follows: Main torque (T1) fault handling: If T1 is abnormal for N consecutive sampling cycles, if T2 is normal, switch to T2 and reduce the capacity. Otherwise, enter the dual-path fault mode. Output control: Light up the warning light and send a reduction command via the CAN bus.

[0158] Auxiliary torque (T2) fault handling: If T2 is abnormal for M consecutive sampling cycles, maintain T1 and reduce the capacity if T1 is normal; otherwise, cut off the power assist and issue an alarm. Output control: Record the number of T2 faults and enter single-channel operation mode to continuously monitor T1.

[0159] To handle large signal differences, calculate the real-time midpoint values ​​of T1 and T2 through a 50-point sliding window. Then the main and auxiliary torques are reconstructed, the reconstructed signals are synthesized and sign-checked, and the synthesized voltage value is finally output.

[0160] Dual-path fault handling. Trigger condition: Simultaneous abnormality of both signals or a fault in a single path that has not been resolved. A second fault is added when both signals are abnormal. Handling process: Disconnect the motor relay, store the dual-path fault code, and transmit the fault status via the CAN bus.

[0161] This embodiment designs a method for switching between primary and secondary EPS torques, aiming to optimize the torque strategy so that the power steering system does not enter a faulty mode due to a unilateral torque failure. This optimization scheme can be used when a single-path torque failure results in a loss of power steering during vehicle operation, overcoming previous shortcomings. The specific advantages include increasing the torque sensor's lifespan, reducing the need for torque sensor replacements throughout the vehicle, overcoming the impact of a single-path torque failure on power steering output, and increasing the smoothness of the power steering by adding multiple control methods.

[0162] For example, in actual product control applications, this solution checks the torque sensor for proper function before the ECU is powered on or during operation. It provides power steering output if no other faults are present. Torque fault detection is performed in real time within a specific detection period. If no torque faults are falsely detected, the vehicle defaults to using the primary torque sampled value as the power steering input. If the primary torque is disconnected or abnormal, the secondary torque sampled value is switched to the power steering input. Power steering output derating is also a fault handling strategy within this solution. If the secondary torque is also disconnected or abnormal within the same detection period, the ECU disconnects the relay and enters fault mode, removing power steering output. If a secondary torque fault is reported first, the ECU also removes power steering output and enters fault mode. If neither primary or secondary torque fault is present, but the voltage between the primary and secondary torques exceeds a software-defined threshold and meets the detection period, the ECU determines the fault as an excessive difference between the primary and secondary torques. In this case, the combined primary and secondary torques are used as the power steering input, and the fault handling is power steering output derating.

[0163] Figure 6 A schematic diagram of the structure of a driving mode switching system provided in an embodiment of the present application is shown as follows: Figure 6 As shown, the system specifically includes:

[0164] An acquisition module 601 is configured to acquire a real-time signal from a measurement sensor through a signal acquisition device to obtain a first signal and a second signal. The measurement sensor is a dual-path sensor for measuring a primary torque and a secondary torque.

[0165] a determination module 602 for analyzing the first signal and the second signal to respectively determine a first working state of the primary torque and a second working state of the secondary torque;

[0166] An execution module 603 is configured to execute a torque switching strategy corresponding to the first working state and the second working state in the driving strategy to achieve switching between the main torque and the secondary torque;

[0167] The driving strategy records driving modes under multiple different working conditions and the torque switching strategy corresponding to each driving mode.

[0168] In one possible embodiment, the execution module 603 is also used to detect whether the consistency between the main torque and the secondary torque meets the standard when the first working state is a non-fault state and the second working state is a non-fault state, obtain a detection result, and execute the corresponding torque switching strategy in the driving strategy according to the detection result; when the first working state is a non-fault state and the second working state is a fault state, switch the driving mode to the second driving mode, use the main torque as the execution torque and execute power assist reduction; when the first working state is a fault state and the second working state is a non-fault state, switch the driving mode to the third driving mode, use the secondary torque as the execution torque and execute power assist reduction; when the first working state is a fault state and the second working state is a fault state, switch the driving mode to the fourth driving mode, cut off the power assist and execute a fault alarm.

[0169] In a possible implementation, the determination module 602 is further configured to obtain an effective voltage value of any signal using an analog-to-digital converter; and determine a working state corresponding to the torque according to the effective voltage value.

[0170] In one possible embodiment, the determination module 602 is also used to obtain a preset voltage sum value range and a preset voltage difference value range; when the sum of the effective voltage values ​​of the first signal and the second signal is within the voltage sum value range, and the difference between the effective voltage values ​​is within the voltage difference range, the consistency between the main torque and the secondary torque meets the standard; when the sum of the effective voltage values ​​of the first signal and the second signal is outside the voltage sum value range, or the difference between the effective voltage values ​​is outside the voltage difference range, the consistency between the main torque and the secondary torque does not meet the standard.

[0171] In one possible embodiment, the determination module 602 is also used to perform voltage value correction on the effective voltage value of the first signal and the effective voltage value of the second signal respectively when the detection result shows that the consistency does not meet the standard, and to determine whether the corrected effective voltage values ​​meet the validity requirements; when the validity requirements are met, a composite voltage value is obtained based on the effective voltage value of the first signal and the effective voltage value of the second signal, and the composite voltage value is used to perform assisted capacity reduction.

[0172] In one possible embodiment, the determination module 602 is also used to perform voltage value correction on the effective voltage value of the first signal and the effective voltage value of the second signal respectively when the detection result shows that the consistency does not meet the standard, and to determine whether the corrected effective voltage values ​​meet the validity requirements; when the validity requirements are met, a composite voltage value is obtained based on the effective voltage value of the first signal and the effective voltage value of the second signal, and the composite voltage value is used to perform assisted capacity reduction.

[0173] In one possible embodiment, the determination module 602 is also used to preprocess any signal using a gain amplifier and a low-pass filter; obtain the torque voltage value of the preprocessed signal using an analog-to-digital converter; and obtain the effective voltage value in the torque voltage value using a sliding window median filter.

[0174] In one possible embodiment, the determination module 602 is also used to obtain a preset midpoint voltage and a first voltage difference threshold; when the difference between the effective voltage value and the midpoint voltage is greater than the first voltage difference threshold, the working state of the torque is a fault state; when the difference between the effective voltage value and the midpoint voltage is less than or equal to the first voltage difference threshold, the working state of the torque is a non-fault state.

[0175] The driving mode switching system provided in this embodiment can be as follows Figure 6 The driving mode switching system shown in FIG can perform the following operations: Figure 1-5 All steps of the driving mode switching method in the Figure 1-5 For details on the technical effects of the driving mode switching method shown, please refer to Figure 1-5 For the sake of brevity, the relevant description will not be repeated here.

[0176] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the objectives of this embodiment based on actual needs.

[0177] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, an embodiment of the present application provides an electronic device, including a processor 701, a communication interface 702, a memory 703, and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other via the communication bus 704; the memory 703 is used to store computer programs; the processor 701 is used to implement the steps of the driving mode switching method provided by any of the aforementioned method embodiments when executing the program stored in the memory 703:

[0178] A real-time signal of a measuring sensor is acquired through a signal acquisition device to obtain a first signal and a second signal, wherein the measuring sensor is a dual-path sensor for measuring the main torque and the secondary torque; the first signal and the second signal are analyzed to respectively determine a first working state of the main torque and a second working state of the secondary torque; a torque switching strategy corresponding to the first working state and the second working state in the driving strategy is executed to achieve switching between the main torque and the secondary torque; wherein the driving strategy records driving modes under multiple different working states and a torque switching strategy corresponding to each driving mode.

[0179] In one possible implementation, when the first working state is a non-fault state and the second working state is a non-fault state, the consistency between the main torque and the secondary torque is detected to see if it meets the standard, a detection result is obtained, and a torque switching strategy corresponding to the driving strategy is executed according to the detection result; when the first working state is a non-fault state and the second working state is a fault state, the driving mode is switched to the second driving mode, the main torque is used as the execution torque, and power assist derating is executed; when the first working state is a fault state and the second working state is a non-fault state, the driving mode is switched to the third driving mode, the secondary torque is used as the execution torque, and power assist derating is executed; when the first working state is a fault state and the second working state is a fault state, the driving mode is switched to the fourth driving mode, the power assist is cut off, and a fault alarm is executed.

[0180] In a possible implementation, for any signal, an analog-to-digital converter is used to obtain an effective voltage value of the signal; and a working state corresponding to the torque is determined based on the effective voltage value.

[0181] In one possible embodiment, a preset voltage sum value range and a preset voltage difference value range are obtained; when the sum of the effective voltage values ​​of the first signal and the second signal is within the voltage sum value range, and the difference between the effective voltage values ​​is within the voltage difference range, the consistency between the main torque and the secondary torque meets the standard; when the sum of the effective voltage values ​​of the first signal and the second signal is outside the voltage sum value range, or the difference between the effective voltage values ​​is outside the voltage difference range, the consistency between the main torque and the secondary torque does not meet the standard.

[0182] In one possible implementation, when the detection result shows that the consistency does not meet the standard, voltage value correction is performed on the effective voltage value of the first signal and the effective voltage value of the second signal respectively, and it is determined whether the corrected effective voltage values ​​meet the validity requirements; when the validity requirements are met, a composite voltage value is obtained based on the effective voltage value of the first signal and the effective voltage value of the second signal, and the composite voltage value is used to perform assisted capacity reduction.

[0183] In one possible implementation, for any signal, a gain amplifier and a low-pass filter are used to preprocess the signal; an analog-to-digital converter is used to obtain the torque voltage value of the preprocessed signal; and a sliding window median filter is used to obtain the effective voltage value in the torque voltage value.

[0184] In one possible embodiment, a preset midpoint voltage and a first voltage difference threshold are obtained; when the difference between the effective voltage value and the midpoint voltage is greater than the first voltage difference threshold, the working state of the torque is a fault state; when the difference between the effective voltage value and the midpoint voltage is less than or equal to the first voltage difference threshold, the working state of the torque is a non-fault state.

[0185] Through the description of the above embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a general hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0186] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0187] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A driving mode switching method, characterized in that: include: Acquire a real-time signal of a measuring sensor through a signal acquisition device to obtain a first signal and a second signal, wherein the measuring sensor is a dual-path sensor for measuring a main torque and a secondary torque; Analyzing the first signal and the second signal to respectively determine a first working state of the primary torque and a second working state of the secondary torque; executing a torque switching strategy corresponding to the first working state and the second working state in a driving strategy to achieve switching between a primary torque and a secondary torque; wherein the driving strategy records driving modes under a plurality of different working states and a torque switching strategy corresponding to each driving mode; The executing of the torque switching strategy corresponding to the first working state and the second working state in the driving strategy includes: When the first working state is a non-fault state and the second working state is a non-fault state, detecting whether the consistency of the main torque and the secondary torque meets the standard, obtaining a detection result, and executing a torque switching strategy corresponding to the driving strategy according to the detection result; When the first working state is a non-fault state and the second working state is a fault state, the driving mode is switched to the second driving mode, the main torque is used as the execution torque and the power assist reduction is performed; When the first working state is a fault state and the second working state is a non-fault state, the driving mode is switched to a third driving mode, the secondary torque is used as the execution torque, and the power assist reduction is performed; When the first working state is a fault state and the second working state is a fault state, the driving mode is switched to a fourth driving mode, the power assist is cut off and a fault alarm is executed.

2. The method according to claim 1, characterized in that The analyzing the first signal and the second signal to respectively determine the first working state of the main torque and the second working state of the secondary torque includes: For any signal, using an analog-to-digital converter to obtain an effective voltage value of the signal; The working state corresponding to the torque is determined according to the effective voltage value.

3. The method according to claim 1, characterized in that The detecting whether the consistency between the main torque and the secondary torque meets the standard and obtaining the detection result includes: Obtaining a preset voltage sum value range and a preset voltage difference range; When the sum of the effective voltage values ​​of the first signal and the second signal is within the voltage sum value range, and the difference in the effective voltage values ​​is within the voltage difference value range, the consistency between the main torque and the secondary torque meets the standard; When the sum of the effective voltage values ​​of the first signal and the second signal is outside the voltage sum range, or the difference between the effective voltage values ​​is outside the voltage difference range, the consistency between the main torque and the secondary torque does not meet the standard.

4. The method according to claim 3, characterized in that The executing a torque switching strategy corresponding to the driving strategy according to the detection result includes: If the detection result shows that the consistency does not meet the standard, performing voltage value correction on the effective voltage value of the first signal and the effective voltage value of the second signal respectively, and determining whether the corrected effective voltage values ​​meet the validity requirement; When the validity requirement is met, a composite voltage value is obtained according to the effective voltage value of the first signal and the effective voltage value of the second signal, and the power-assisted derating is performed using the composite voltage value.

5. The method according to claim 2, characterized in that The step of obtaining an effective voltage value of any signal by using an analog-to-digital converter includes: For any signal, use a gain amplifier and a low-pass filter to pre-process the signal; The torque voltage value of the pre-processed signal is obtained using an analog-to-digital converter; The effective voltage value in the torque voltage value is obtained by using the sliding window median filter.

6. The method according to claim 2, characterized in that The determining of the working state of the corresponding torque according to the effective voltage value includes: Obtaining a preset midpoint voltage and a first voltage difference threshold; When the difference between the effective voltage value and the midpoint voltage is greater than the first voltage difference threshold, the working state of the torque is a fault state; When the difference between the effective voltage value and the midpoint voltage is less than or equal to the first voltage difference threshold, the working state of the torque is a non-fault state.

7. A driving mode switching system, characterized in that: include: An acquisition module is used to acquire a real-time signal from a measurement sensor through a signal acquisition device to obtain a first signal and a second signal. The measurement sensor is a dual-path sensor for measuring a main torque and a secondary torque. a determination module, configured to analyze the first signal and the second signal to respectively determine a first working state of the primary torque and a second working state of the secondary torque; an execution module, configured to execute the torque switching strategy corresponding to the first working state and the second working state in the driving strategy, so as to realize the switching between the main torque and the auxiliary torque; wherein the driving strategy records the driving modes under multiple different working states and the torque switching strategy corresponding to each driving mode The executing of the torque switching strategy corresponding to the first working state and the second working state in the driving strategy includes: When the first working state is a non-fault state and the second working state is a non-fault state, detecting whether the consistency of the main torque and the secondary torque meets the standard, obtaining a detection result, and executing a torque switching strategy corresponding to the driving strategy according to the detection result; When the first working state is a non-fault state and the second working state is a fault state, the driving mode is switched to the second driving mode, the main torque is used as the execution torque and the power assist reduction is performed; When the first working state is a fault state and the second working state is a non-fault state, the driving mode is switched to a third driving mode, the secondary torque is used as the execution torque, and the power assist reduction is performed; When the first working state is a fault state and the second working state is a fault state, the driving mode is switched to a fourth driving mode, the power assist is cut off and a fault alarm is executed.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the driving mode switching method according to any one of claims 1 to 6 are implemented.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the driving mode switching method according to any one of claims 1 to 6 are implemented.

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