Rear wheel steering sensor fault diagnosis method, device and equipment and storage medium

Abstract

The invention discloses a rear wheel steering sensor fault diagnosis method, device and equipment and a storage medium. The method comprises the step of judging whether assembly of a rear wheel steering sensor fails or not based on real-time monitoring of an actual rear wheel steering angle absolute value or detection of the stroke difference between a rear wheel rack displacement sensor and a motor displacement sensor, the stroke change direction of the rear wheel rack displacement sensor and the rear wheel steering target stroke direction. According to the invention, poor assembly of the rear wheel steering displacement sensor can be identified, and the safety and reliability of a rear wheel steering system are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering technology, and in particular to a method, apparatus, device, and storage medium for diagnosing rear wheel steering sensor faults. Background Technology

[0002] Most vehicles currently only have front-wheel steering. Rear-wheel steering, as a newer feature, can further reduce the turning radius of vehicles, improving their agility and handling. The rear-wheel steering displacement sensor is a core component of the rear-wheel steering system, and its working status directly affects the accuracy and reliability of rear-wheel steering. Since rear-wheel steering displacement cannot be directly perceived by the driver, it is mainly detected by the displacement sensor and fed back to the bus. Therefore, the normal operation of the displacement sensor is crucial to the rear-wheel steering system.

[0003] Current technologies lack effective monitoring and diagnosis of the assembly quality of rear-wheel steering displacement sensors, resulting in the inability to detect sensor assembly defects in a timely manner during production or use. Even if sensor assembly defects cause abnormalities in the rear-wheel steering system, current technologies lack corresponding fault handling mechanisms, failing to promptly alert the driver and prompt safety measures. This may lead to unexpected steering during vehicle operation, affecting driving safety. Furthermore, current technologies cannot distinguish between different types of faults, such as sensor range exceeding limits or abnormal sensor orientation, resulting in inaccurate fault diagnosis and low maintenance efficiency.

[0004] Therefore, it is crucial to identify malfunctions in the rear wheel steering displacement sensor to improve the safety and reliability of the rear wheel steering system. Summary of the Invention

[0005] The main objective of this invention is to provide a method, device, equipment, and storage medium for diagnosing rear wheel steering sensor faults, which can identify malfunctions in the rear wheel steering displacement sensor and improve the safety and reliability of the rear wheel steering system.

[0006] In a first aspect, this application provides a method for diagnosing a rear wheel steering sensor fault, wherein the method includes the following steps: The system determines whether the rear wheel steering sensor assembly is faulty by real-time monitoring of the actual absolute value of the rear wheel steering angle, or by detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the direction of the target travel of the rear wheel steering.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, the rear-wheel steering system is used to monitor the absolute value of the actual rear wheel steering angle at all times; If the actual absolute value of the rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, then the rear wheel steering sensor is determined to be out of range. If the sensor is found to be out of range, then the rear wheel steering sensor assembly is determined to be faulty.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, a fault pop-up window on the vehicle's instrument panel can be used to indicate that the displacement sensor assembly and positioning mechanism is malfunctioning and the sensor's range is out of range.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, the absolute value of the first limit angle of the steering displacement sensor is determined based on the mechanical limit when the wheel is turning. The absolute value of the second limit angle of the steering displacement sensor is determined based on the software limit when the wheel is turning. The maximum value is taken from the absolute values ​​of the first and second limit angles, and combined with the calibration margin, the threshold value of the absolute value of the limit angle of the rear wheel steering is obtained.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, if the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than a set difference, and the direction of the rack travel change is opposite to the target travel direction of the rear wheel steering, and the duration is greater than a set time, then the sensor direction is determined to be abnormal. If the abnormal sensor direction is confirmed, then the rear wheel steering sensor assembly is determined to be faulty.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, the instrument fault pop-up window can be used to indicate that the displacement sensor sensing device is reversed or the sensor software calibration direction is incorrect, and to check whether the internal sensing device assembly or calibration program of the sensor is normal.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, if it is determined that the absolute value of the actual rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, and the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack displacement sensor travel change is opposite to the direction of the rear wheel steering target travel, and the duration is greater than the set time, then the instrument fault pop-up window will be used to indicate that the displacement sensor positioning mechanism is abnormal and the sensing device is reversed, and the sensor assembly and the internal sensing chip of the sensor itself are reversed.

[0013] Secondly, this application provides a rear wheel steering sensor fault diagnosis device, the device comprising: The processing module is used to determine whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detection of the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the travel change direction of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering.

[0014] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0015] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0016] This application provides a method, apparatus, device, and storage medium for diagnosing rear wheel steering sensor faults. The method includes the steps of: determining whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering. This application can identify poor assembly of the rear wheel steering displacement sensor, improving the safety and reliability of the rear wheel steering system.

[0017] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 This is a flowchart of a rear wheel steering sensor fault diagnosis method provided in an embodiment of this application; Figure 2 This is a schematic diagram of a rear wheel steering sensor fault diagnosis device provided in an embodiment of this application; Figure 3 This is a schematic diagram of a rear wheel steering sensor fault diagnosis provided in an embodiment of this application; Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 5 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0021] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0023] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a rear wheel steering sensor fault diagnosis method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detection of the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the travel change direction of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering, determine whether the rear wheel steering sensor assembly is faulty.

[0024] Specifically, determining whether the rear wheel steering sensor assembly is faulty is based on real-time monitoring of the absolute value of the actual rear wheel steering angle, including: The rear-wheel steering system is used to monitor the absolute value of the actual rear wheel steering angle at all times. If the actual absolute value of the rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, then the rear wheel steering sensor is determined to be out of range. If the sensor is found to be out of range, then the rear wheel steering sensor assembly is determined to be faulty.

[0025] Among them, the absolute value of the first limit angle of the steering displacement sensor is determined based on the mechanical limit when the wheel is turning; The absolute value of the second limit angle of the steering displacement sensor is determined based on the software limit when the wheel is turning. The maximum value is taken from the absolute values ​​of the first and second limit angles, and combined with the calibration margin, the threshold value of the absolute value of the limit angle of the rear wheel steering is obtained.

[0026] Specifically, the rear-wheel steering system is initialized with no open or short circuit faults in the displacement sensor. The absolute limit angle value Ag1 of the displacement sensor is derived from the mechanical limit. The absolute limit angle value Ag2 of the displacement sensor is derived from the software limit. The threshold value of the absolute limit angle of the rear-wheel steering is set to Ag_threshold = Max(Ag1,Ag2) + Ag' (with a margin of 0.5° TBD). The rear-wheel steering system continuously monitors the actual absolute value of the rear wheel steering angle Ag. If Ag > Ag_threshold, timing begins. If this continues for a certain period T > T_threshold (5 seconds TBD), the rear-wheel steering sensor is determined to be out of range.

[0027] Once it is determined that the sensor is out of range, the rear wheel steering sensor assembly is faulty. This includes: using a vehicle instrument panel fault pop-up window to indicate that the displacement sensor assembly positioning mechanism is abnormal and the sensor range is out of range.

[0028] The system continuously monitors the absolute value of the actual rear wheel steering angle Ag. If Ag > Ag threshold, timing begins. If the timing continues for a certain period of time T > T threshold (5S TBD), the rear wheel steering sensor is determined to be out of range. After this, an instrument fault pop-up window will indicate that the displacement sensor assembly positioning mechanism is abnormal and the sensor range is out of range. Please check.

[0029] To determine if there is a fault in the rear wheel steering sensor assembly, the method involves detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor relative to the target travel direction of the rear wheel steering. This includes: If the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack travel change is opposite to the target travel direction of the rear wheel steering, and the duration is greater than the set time, then the sensor direction is determined to be abnormal. If the abnormal sensor direction is confirmed, then the rear wheel steering sensor assembly is determined to be faulty.

[0030] To illustrate this, if the rear wheel steering system detects a discrepancy between the displacement calculated by the rack travel displacement sensor and that calculated by the motor position sensor (travel difference Sdifference > Sdifference (2mm, TBD)), and the direction of the rack travel displacement sensor's travel change is opposite to the target travel direction of the rear wheel steering system, and this discrepancy persists for a certain period Tdifference (5S TBD), then the sensor orientation is considered abnormal. If the RWS detects a sensor out of range or an abnormal sensor orientation, then the rear wheel steering sensor is considered poorly assembled.

[0031] In one embodiment, after determining that the sensor direction is abnormal, the assembly of the rear wheel steering sensor is faulty, and the process includes: using an instrument fault pop-up window to indicate that the displacement sensor sensing device is reversed or the sensor software calibration direction is incorrect, and checking whether the assembly or calibration program of the internal sensing device of the sensor is normal.

[0032] Understandably, if the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than a set difference, and the direction of the rack travel displacement sensor's change is opposite to the target travel direction of the rear wheel steering, and the duration is greater than a set time, then the sensor direction is determined to be abnormal. If the sensor direction is determined to be abnormal, then the rear wheel steering sensor assembly is determined to be faulty. Subsequently, an instrument panel fault pop-up will indicate that the displacement sensor's sensing element is reversed or the sensor software calibration direction is incorrect; please check whether the internal sensor element assembly or calibration program is normal.

[0033] In one embodiment, if it is determined that the absolute value of the actual rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, and the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack travel change of the rack displacement sensor is opposite to the direction of the target travel of the rear wheel steering, and the duration is greater than the set time, then the instrument fault pop-up window will be used to indicate that the displacement sensor positioning mechanism is abnormal and the sensing device is reversed, and the sensor assembly and the internal sensing chip of the sensor itself are reversed.

[0034] It should be noted that if a sensor malfunction occurs, the vehicle's power should be immediately limited, and a continuous pop-up window on the instrument panel will prompt you to gently apply the brakes and pull over to the side of the road, and contact after-sales service. (An unexpected angle of the rear wheels may cause vehicle instability).

[0035] If a rear wheel steering sensor malfunctions, the current power cycle will remain active, and even after the system recovers, the malfunction status should be maintained to alert customers to have the vehicle inspected as soon as possible.

[0036] In summary, this application determines whether the rear wheel steering sensor assembly is faulty by real-time monitoring of the actual absolute value of the rear wheel steering angle or by detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering. This application can identify poor assembly of the rear wheel steering displacement sensor, thereby improving the safety and reliability of the rear wheel steering system.

[0037] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a rear wheel steering sensor fault diagnosis device provided by the present invention. Figure 2 As shown, the device includes: Processing module 201: It is used to determine whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detection of the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the travel change direction of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering.

[0038] Furthermore, in one possible implementation, the processing module is also used to continuously monitor the absolute value of the actual rear wheel steering angle using the rear wheel steering system; If the actual absolute value of the rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, then the rear wheel steering sensor is determined to be out of range. If the sensor is found to be out of range, then the rear wheel steering sensor assembly is determined to be faulty.

[0039] Furthermore, in one possible implementation, the processing module is also used to use a vehicle instrument fault pop-up window to indicate that the displacement sensor assembly positioning mechanism is abnormal and the sensor range is out of range.

[0040] Furthermore, in one possible implementation, the processing module is also used to determine the absolute value of the first limit angle of the steering displacement sensor based on the mechanical limit when the wheel is turning. The absolute value of the second limit angle of the steering displacement sensor is determined based on the software limit when the wheel is turning. The maximum value is taken from the absolute values ​​of the first and second limit angles, and combined with the calibration margin, the threshold value of the absolute value of the limit angle of the rear wheel steering is obtained.

[0041] Furthermore, in one possible implementation, the processing module is also used to determine that the sensor direction is abnormal if the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than a set difference, and the direction of the rack displacement sensor travel change is opposite to the target travel direction of the rear wheel steering, and the duration is greater than a set time. If the abnormal sensor direction is confirmed, then the rear wheel steering sensor assembly is determined to be faulty.

[0042] Furthermore, in one possible implementation, the processing module is also used to use the instrument fault pop-up window to indicate that the displacement sensor sensing device is reversed or the sensor software calibration direction is incorrect, and to check whether the assembly or calibration program of the internal sensing device of the sensor is normal.

[0043] Furthermore, in one possible implementation, the processing module is also configured to, if it determines that the absolute value of the actual rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, and the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack displacement sensor travel change is opposite to the direction of the rear wheel steering target travel, and the duration is greater than the set time, then use an instrument fault pop-up window to indicate that the displacement sensor positioning mechanism is abnormal and the sensing device is reversed, and check whether the sensor assembly and the internal sensing chip of the sensor are reversed.

[0044] Reference Figure 3 , Figure 3 The diagram shown is a fault diagnosis diagram of a rear wheel steering sensor provided by the present invention. Figure 3 As shown: Example 1: Rear wheel steering system initialization, no displacement sensor open circuit, short circuit or other circuit faults.

[0045] Example 2: The absolute value of the displacement sensor's limit angle, Ag1, is derived from the mechanical limit. The absolute value of the displacement sensor's limit angle, Ag2, is derived from the software limit. The threshold value of the absolute value of the rear wheel steering limit angle, Ag_threshold, is set as Max(Ag1,Ag2) + Ag' (with a margin of 0.5° TBD).

[0046] Example 3: The rear wheel steering system constantly monitors the absolute value of the actual rear wheel steering angle Ag. If Ag > Ag threshold, timing begins. If the time T > T threshold (5S TBD) is maintained for a certain period of time, the rear wheel steering sensor is determined to be out of range.

[0047] Example 4: If the rear wheel steering system monitors that the displacement calculated by the rack travel displacement sensor is inconsistent with that of the motor position sensor, and the direction of the rack travel displacement sensor is opposite to the target travel direction of the rear wheel steering system, and the travel difference S_difference > S_difference threshold (2mm, TBD) and continues for a certain period of time T_difference (5S TBD), then the sensor direction is determined to be abnormal.

[0048] Example 5: If the RWS detection sensor is out of range or the sensor direction is abnormal, it is determined that the rear wheel steering sensor is poorly assembled.

[0049] Example 6: If a sensor malfunction occurs, immediately limit the vehicle's power, and the instrument panel will continuously display a pop-up message requesting you to gently apply the brakes and pull over to the side of the road, then contact after-sales service. (An unexpected angle of the rear wheels may cause vehicle instability.) Example 7: If only Example 3 is true, then: The instrument fault pop-up window indicates that the displacement sensor assembly positioning mechanism is abnormal and the sensor range is out of range. Please check. If only Example 4 is valid, then: The instrument fault pop-up window indicates that the displacement sensor sensing device is reversed or the sensor software calibration direction is incorrect. Please check whether the internal sensing device assembly or calibration program of the sensor is normal. If both Example 3 and Example 4 are true, then: the instrument fault pop-up window will indicate that the displacement sensor positioning mechanism is abnormal and the sensing device is reversed. Please check whether the sensor assembly and the internal sensing chip of the sensor are reversed.

[0050] Example 8: When a rear wheel steering sensor malfunctions, the current power cycle should be maintained even after the system recovers, in order to alert customers to have the vehicle repaired as soon as possible.

[0051] In one embodiment, rear wheel steering sensor malfunctions can be identified during the production stage before the vehicle rolls off the assembly line, preventing the malfunctions from flowing to the downstream market. During use, if the rear wheel steering sensor malfunctions due to positioning failure or other reasons, it can be detected in time and the instrument panel can be used to alert the customer, preventing rear wheel steering loss of control and vehicle instability, thus ensuring driving safety.

[0052] In summary, this application determines whether the rear wheel steering sensor assembly is faulty by real-time monitoring of the actual absolute value of the rear wheel steering angle or by detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering. This application can identify poor assembly of the rear wheel steering displacement sensor, thereby improving the safety and reliability of the rear wheel steering system.

[0053] The following reference Figure 4 To describe an electronic device 400 according to this embodiment of the present invention. Figure 4 The electronic device 400 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0054] like Figure 4 As shown, the electronic device 400 is manifested in the form of a general-purpose computing device. The components of the electronic device 400 may include, but are not limited to: at least one processing unit 410, at least one storage unit 420, and a bus 430 connecting different system components (including storage unit 420 and processing unit 410).

[0055] The storage unit stores program code that can be executed by the processing unit 410, causing the processing unit 410 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0056] Storage unit 420 may include readable media in the form of volatile storage units, such as random access memory (RAM) 421 and / or cache memory 422, and may further include read-only memory (ROM) 423.

[0057] Storage unit 420 may also include a program / utility 424 having a set (at least one) of program modules 425, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0058] Bus 430 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0059] Electronic device 400 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 400, and / or any device that enables electronic device 400 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 450. Furthermore, electronic device 400 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 460. As shown, network adapter 460 communicates with other modules of electronic device 400 via bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0060] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0061] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0062] refer to Figure 5As shown, a program product 500 for implementing the above-described method according to an embodiment of the present invention is described. It may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0063] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0064] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0065] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0066] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0067] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0068] In summary, this application provides a method, apparatus, device, and storage medium for diagnosing rear wheel steering sensor faults. The method includes the steps of: determining whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detection of the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering. This application can identify poor assembly of the rear wheel steering displacement sensor, improving the safety and reliability of the rear wheel steering system.

[0069] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0070] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method for diagnosing rear wheel steering sensor faults, characterized in that, include: The system determines whether the rear wheel steering sensor assembly is faulty by real-time monitoring of the actual absolute value of the rear wheel steering angle, or by detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the direction of the target travel of the rear wheel steering.

2. The method according to claim 1, characterized in that, The method of determining whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle includes: The rear-wheel steering system is used to monitor the absolute value of the actual rear wheel steering angle at all times. If the actual absolute value of the rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, then the rear wheel steering sensor is determined to be out of range. If the sensor is found to be out of range, then the rear wheel steering sensor assembly is determined to be faulty.

3. The method according to claim 2, characterized in that, When it is determined that the sensor is out of range, the subsequent determination of a rear wheel steering sensor assembly fault includes: The vehicle's instrument panel displays a fault message indicating an abnormality in the displacement sensor's assembly and positioning mechanism, and that the sensor's range is out of range.

4. The method according to claim 2, characterized in that, include: The absolute value of the first limit angle of the steering displacement sensor is determined based on the mechanical limit when the wheel is turning. The absolute value of the second limit angle of the steering displacement sensor is determined based on the software limit when the wheel is turned. The maximum value between the first and second limit angle absolute values ​​is taken, and combined with the calibration margin, to obtain the threshold value of the limit angle absolute value of the rear wheel steering.

5. The method according to claim 1, characterized in that, The method of detecting the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the direction of travel change of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering, to determine whether the rear wheel steering sensor assembly is faulty includes: If the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack travel change is opposite to the target travel direction of the rear wheel steering, and the duration is greater than the set time, then the sensor direction is determined to be abnormal. If the abnormal sensor direction is confirmed, then the rear wheel steering sensor assembly is determined to be faulty.

6. The method according to claim 5, characterized in that, When it is determined that the sensor direction is abnormal, the subsequent determination of a rear wheel steering sensor assembly fault includes: If the instrument fault pop-up window indicates that the displacement sensor's sensing element is reversed or the sensor software calibration direction is incorrect, check whether the internal sensing element assembly or calibration program of the sensor is normal.

7. The method according to claim 1, characterized in that, Also includes: If the actual absolute value of the rear wheel steering angle is greater than the set absolute value threshold of the limit angle, and the duration is greater than the set time, and the difference between the displacement calculated by the rear wheel rack travel displacement sensor and the displacement measured by the motor displacement sensor is greater than the set difference, and the direction of the rack travel change of the rack travel sensor is opposite to the direction of the target travel of the rear wheel steering, and the duration is greater than the set time, then the instrument fault pop-up window will indicate that the displacement sensor positioning mechanism is abnormal and the sensing device is reversed. Check the sensor assembly and whether the internal sensing chip of the sensor is reversed.

8. A rear wheel steering sensor fault diagnosis device, characterized in that, include: The processing module is used to determine whether the rear wheel steering sensor assembly is faulty based on real-time monitoring of the absolute value of the actual rear wheel steering angle or detection of the travel difference between the rear wheel rack displacement sensor and the motor displacement sensor, as well as the travel change direction of the rear wheel rack displacement sensor and the target travel direction of the rear wheel steering.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.

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