Rear wheel steering belt gear skipping fault diagnosis method, device and equipment and storage medium

Abstract

The invention discloses a rear wheel steering belt gear skipping fault diagnosis method, device and equipment and a storage medium. The method comprises the following steps: acquiring an actual rear wheel steering angle absolute value; calculating the displacement difference between the rear wheel rack displacement and the motor displacement; detecting the change direction of the rack displacement, the change direction of the motor displacement and the motor torque; and according to the rear wheel steering angle absolute value, the displacement difference, the change direction and the motor torque, comprehensively diagnosing whether a rear wheel steering belt has a tooth skipping fault or not. According to the method, the rear wheel steering belt tooth skipping fault can be accurately diagnosed, the limited power and safety prompt can be triggered in time, the vehicle instability and collision risks are effectively avoided, and the driving safety is improved.

Description

Technical Field

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

[0002] Most mainstream vehicles currently use front-wheel steering systems. Rear-wheel steering technology, as a newer technology, can significantly reduce the vehicle's turning radius (e.g., to 60% of that of front-wheel steering), improve vehicle stability in narrow environments (such as parking lots and city streets), and optimize high-speed cornering stability. A rear-wheel steering system typically consists of a motor, belt drive mechanism, rack and pinion displacement sensor, and control unit (such as an RWS controller). The motor drives the rack via a belt to precisely adjust the rear wheel angle, thus assisting front-wheel steering. However, since rear-wheel steering relies on the motor driving the rack via a belt to change the wheel angle, if the belt skips teeth, the steering angle will be inconsistent with the expected angle, seriously affecting the vehicle's handling safety and driving stability.

[0003] Existing technologies primarily focus on mechanical structure design and steering control strategies, but do not provide effective diagnostic methods and handling mechanisms for specific faults such as belt skipping, and lack a systematic solution for fault identification, judgment, and vehicle response.

[0004] Therefore, how to accurately and in real time diagnose rear wheel steering belt skipping faults to ensure driving safety is a technical problem that urgently needs to be solved. 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 belt skipping faults. This method can accurately diagnose rear wheel steering belt skipping faults and promptly trigger power limiting and safety warnings, effectively avoiding vehicle instability and collision risks, and improving driving safety.

[0006] In a first aspect, this application provides a method for diagnosing rear wheel steering belt tooth skipping faults, wherein the method includes the following steps: Obtain the absolute value of the actual rear wheel steering angle; Calculate the displacement difference between the rear wheel rack displacement and the motor displacement; The direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque are detected. Based on the absolute value of the rear wheel angle, displacement difference, direction of change, and motor torque, a comprehensive diagnosis is made to determine whether the rear wheel steering belt has experienced a skipped tooth fault.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, when the absolute value of the actual rear wheel steering angle obtained is less than the calibrated threshold value of the absolute value of the limit angle of the rear wheel steering; The displacement difference between the rear wheel rack displacement and the motor displacement is greater than a set displacement threshold, and the direction of change of the rack displacement is the same as the direction of change of the motor displacement, and the duration is greater than a time threshold. If the motor torque exceeds the set torque threshold within a set time, a tooth skipping fault is diagnosed in the rear wheel steering belt.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, when it is determined that the absolute value of the actual rear wheel steering angle is greater than the calibrated threshold value of the absolute value of the limit angle of the rear wheel steering; Or the displacement difference between the rear wheel rack displacement and the motor displacement is less than a set displacement threshold, and the direction of change of the rack displacement is opposite to the direction of change of the motor displacement, and the duration is less than a time threshold; Alternatively, if the motor torque does not exceed the set torque threshold within the set time, the rear wheel steering belt is diagnosed as not having a tooth skipping fault.

[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 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.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, when the detected motor torque suddenly fluctuates and decreases and cannot be recovered, and the displacement difference also continues to increase, it is determined that the motor has disengaged from the rack.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, the rear wheel steering system is initialized, and the displacement sensor is checked for circuit failure. If so, the process of troubleshooting skipped teeth will be prohibited, and a fault signal will be sent to alert the user.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, when a skipped tooth fault is diagnosed in the rear wheel steering belt, the vehicle power is immediately limited, and the user is continuously alerted via a pop-up window on the instrument panel.

[0013] Secondly, this application provides a rear wheel steering belt skipping fault diagnosis device, the device comprising: The acquisition module is used to obtain the absolute value of the actual rear wheel steering angle; The calculation module is used to calculate the displacement difference between the rear wheel rack displacement and the motor displacement; The detection module is used to detect the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque; The diagnostic module is used to comprehensively diagnose whether the rear wheel steering belt has a skipped tooth fault based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change, and motor torque.

[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 belt skipping faults. The method includes the following steps: obtaining the absolute value of the actual rear wheel rotation angle; calculating the displacement difference between the rear wheel rack displacement and the motor displacement; detecting the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque; and comprehensively diagnosing whether a rear wheel steering belt skipping fault has occurred based on the absolute value of the rear wheel rotation angle, the displacement difference, the direction of change, and the motor torque. This application can accurately diagnose rear wheel steering belt skipping faults and promptly trigger power limiting and safety warnings, effectively avoiding vehicle instability and collision risks, and improving driving safety.

[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 method for diagnosing rear wheel steering belt tooth skipping faults provided in an embodiment of this application; Figure 2 This is a schematic diagram of a rear wheel steering belt skipping tooth fault diagnosis device provided in the embodiments of this application; Figure 3 This is a schematic diagram illustrating a rear wheel steering belt skipping fault diagnosis method 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] This application provides a method, device, equipment, and storage medium for diagnosing rear wheel steering belt skipping tooth faults. It can accurately diagnose rear wheel steering belt skipping tooth faults and promptly trigger power limiting and safety warnings, effectively avoiding vehicle instability and collision risks, and improving driving safety.

[0023] To achieve the aforementioned technical effects, the general concept of this application is as follows: A method for diagnosing rear wheel steering belt skipping faults, the method includes the following steps: S101: Obtain the absolute value of the actual rear wheel steering angle.

[0024] S102: Calculate the displacement difference between the rear wheel rack displacement and the motor displacement.

[0025] S103: Detect the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque.

[0026] S104: Based on the absolute value of the rear wheel angle, displacement difference, direction of change, and motor torque, comprehensively diagnose whether the rear wheel steering belt has a tooth skipping fault.

[0027] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0028] Reference Figure 1 , Figure 1 The diagram shown is a flowchart of a rear wheel steering belt skipping tooth fault diagnosis method provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Obtain the absolute value of the actual rear wheel steering angle.

[0029] Specifically, based on the mechanical limit when the wheel is turning, the first limit angle absolute value of the steering displacement sensor is determined; based on the software limit when the wheel is turning, the second limit angle absolute value of the steering displacement sensor is determined; the maximum value between the first limit angle absolute value and the second limit angle absolute value is taken, and combined with the calibration margin, the limit angle absolute value threshold of the rear wheel steering is obtained.

[0030] Understandably, 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 angle, Ag_threshold, is set as Max(Ag1, Ag2) + Ag' (with a margin of 0.5° TBD). The wheel steering system constantly monitors the actual absolute value of the rear wheel steering angle, Ag, via the rack displacement sensor.

[0031] In one embodiment, the rear wheel steering system is initialized, and a circuit fault is detected in the displacement sensor; if so, the skipped tooth fault diagnosis process is prevented, and a fault signal is sent to alert the user.

[0032] Step S102: Calculate the displacement difference between the rear wheel rack displacement and the motor displacement.

[0033] The rear wheel rack displacement and motor displacement are obtained, and the displacement difference between the two is calculated. Understandably, if the rear wheel steering system monitors a discrepancy between the displacement calculated by the rack travel displacement sensor and the motor position sensor, and the direction of change in the rack travel displacement sensor's travel is the same as the direction of change in the rear wheel steering motor displacement sensor's travel, and the travel difference Sdifference > Sdifference threshold (2mm, TBD) and persists for a certain period Tdifference (5S TBD), then it is determined that there is a possibility of a skipped tooth fault in the rear wheel steering belt. Further judgment is needed, i.e., the RWS monitors the motor torque in real time. If the motor torque Tor suddenly decreases in a short period (example only: a decrease in torque exceeding 500Nm within 1 second) and then recovers, it can be determined that there is an abnormal decrease or fluctuation in the motor torque.

[0034] Based on obtaining the absolute value of the actual rear wheel steering angle; calculating the displacement difference between the rear wheel rack displacement and the motor displacement; detecting the change direction of the rack displacement, the change direction of the motor displacement, and the motor torque, a comprehensive diagnosis is made as to whether the rear wheel steering belt has a tooth skipping fault.

[0035] Step S103: Detect the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque.

[0036] Understandably, if the rear wheel steering system detects that the displacement calculated by the rack travel displacement sensor is inconsistent with that of the motor position sensor, and the direction of change of the rack travel displacement sensor is the same as that of the rear wheel steering motor displacement sensor, and the travel difference S_difference > S_difference threshold (2mm, TBD) and continues for a certain period of time T_difference (5S TBD), then it is determined that there is a possibility of tooth skipping fault in the rear wheel steering belt, and further judgment is required.

[0037] In one embodiment, when the detected motor torque suddenly fluctuates and decreases and cannot be recovered, and the displacement difference also continues to increase, it is determined that the motor has disengaged from the rack.

[0038] It is understandable that if the motor torque suddenly fluctuates and decreases and cannot be restored to a low level, and the stroke difference also continues to increase, it can be determined that the motor and rack have disengaged and cannot transmit motion.

[0039] Step S104: Based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change, and motor torque, comprehensively diagnose whether the rear wheel steering belt has a tooth skipping fault.

[0040] Specifically, based on the absolute value of the rear wheel angle, displacement difference, direction of change, and motor torque, a comprehensive diagnosis is made as to whether the rear wheel steering belt has experienced a skipped tooth fault. This includes: when the actual absolute value of the rear wheel angle is less than the calibrated absolute value threshold of the rear wheel steering limit angle; the displacement difference between the rear wheel rack displacement and the motor displacement is greater than the set displacement threshold, and the direction of change of the rack displacement is the same as the direction of change of the motor displacement, and the duration is greater than the time threshold; and when the motor torque exceeds the set torque threshold within the set time, a skipped tooth fault is diagnosed in the rear wheel steering belt.

[0041] In one embodiment, when it is determined that the absolute value of the actual rear wheel steering angle is greater than the calibrated threshold value of the absolute value of the limit angle of the rear wheel steering; Or the displacement difference between the rear wheel rack displacement and the motor displacement is less than a set displacement threshold, and the direction of change of the rack displacement is opposite to the direction of change of the motor displacement, and the duration is less than a time threshold; Alternatively, if the motor torque does not exceed the set torque threshold within the set time, the rear wheel steering belt is diagnosed as not having a tooth skipping fault.

[0042] For ease of understanding, an example is used to illustrate how 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 for the absolute limit angle of the rear wheel steering is set as Ag_threshold = Max(Ag1, Ag2) + Ag' (with a margin of 0.5° TBD). The rear wheel steering system constantly monitors the absolute value of the actual rear wheel steering angle Ag through a rack displacement sensor, and Ag < Ag threshold is always satisfied.

[0043] If the rear wheel steering system detects 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's change is the same as that of the rear wheel steering motor displacement sensor's change, and the travel difference Sdifference > Sdifference threshold (2mm, TBD) and persists for a certain period of time Tdifference (5S TBD), then it is determined that there is a possibility of tooth skipping fault in the rear wheel steering belt, requiring further investigation. The RWS monitors the motor torque in real time. If the motor torque Tor suddenly decreases in a short period (example only: a decrease in torque exceeding 500Nm within 1 second) and then recovers, it can be determined that there is an abnormal decrease or fluctuation in motor torque.

[0044] If all of the above conditions are met, it can be determined that a skipped tooth fault has occurred; otherwise, it is not a skipped tooth fault.

[0045] In one embodiment, after comprehensively diagnosing whether the rear wheel steering belt has a skipped tooth fault based on the absolute value of the rear wheel steering angle, displacement difference, direction of change, and motor torque, the process includes: when a skipped tooth fault is diagnosed in the rear wheel steering belt, immediately limiting the vehicle power and continuously prompting the user through a pop-up window on the instrument panel.

[0046] Understandably, belt slippage during highway or city driving can have fatal consequences. Whether in intelligent driving or human-driven scenarios, if the rear wheels don't respond at the required angle, the vehicle's stability becomes uncontrollable, potentially leading to instability. Furthermore, if the rear wheels don't respond at the target angle, insufficient rear-wheel steering contribution can cause the emergency avoidance function to fail, resulting in a collision. Therefore, upon encountering this fault, the vehicle's power should be immediately limited, and a continuous pop-up warning on the instrument panel should prompt the driver to gently apply the brakes, pull over, and contact after-sales service.

[0047] In addition, if the rear wheel steering belt skips teeth, the current power cycle should remain in the fault state even after the problem is resolved, to alert customers to have the vehicle repaired as soon as possible.

[0048] In summary, existing methods that rely solely on displacement sensors to monitor angles are prone to misdiagnosis of skipped teeth due to confusion with rear wheel steering jamming or sensor malfunctions. This application aims to combine the differences between the motor displacement sensor and the rack displacement sensor, the movement directions of the motor displacement sensor and the rack displacement sensor, the duration after the conditions are met, and the torque value to jointly determine skipped teeth, thereby improving the accuracy and robustness of the judgment logic.

[0049] Reference Figure 2 , Figure 2 The diagram shown is a schematic of a rear wheel steering belt skipping tooth fault diagnosis device provided by the present invention. Figure 2 As shown, the device includes: Acquisition module 201: It is used to obtain the absolute value of the actual rear wheel steering angle.

[0050] Calculation module 202: It is used to calculate the displacement difference between the rear wheel rack displacement and the motor displacement.

[0051] Detection module 203: It is used to detect the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque.

[0052] Diagnostic module 204: It is used to comprehensively diagnose whether the rear wheel steering belt has a skipped tooth fault based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change and motor torque.

[0053] Furthermore, in one possible implementation, the diagnostic module is also used to determine when the actual rear wheel steering angle absolute value is less than the calibrated limit angle absolute value threshold of the rear wheel steering. The displacement difference between the rear wheel rack displacement and the motor displacement is greater than a set displacement threshold, and the direction of change of the rack displacement is the same as the direction of change of the motor displacement, and the duration is greater than a time threshold. If the motor torque exceeds the set torque threshold within a set time, a tooth skipping fault is diagnosed in the rear wheel steering belt.

[0054] Furthermore, in one possible implementation, the diagnostic module is also used to determine when the actual absolute value of the rear wheel steering angle is greater than the calibrated threshold value of the absolute value of the rear wheel steering limit angle. Or the displacement difference between the rear wheel rack displacement and the motor displacement is less than a set displacement threshold, and the direction of change of the rack displacement is opposite to the direction of change of the motor displacement, and the duration is less than a time threshold; Alternatively, if the motor torque does not exceed the set torque threshold within the set time, the rear wheel steering belt is diagnosed as not having a tooth skipping fault.

[0055] Furthermore, in one possible implementation, the calculation 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 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.

[0056] Furthermore, in one possible implementation, the diagnostic module is also used to determine that the motor has disengaged from the rack when the detected motor torque suddenly fluctuates and decreases and cannot be recovered, and the displacement difference also continues to increase.

[0057] Furthermore, in one possible implementation, the diagnostic module is also used to initialize the rear wheel steering system and detect whether the displacement sensor has a circuit failure. If so, the process of troubleshooting skipped teeth will be prohibited, and a fault signal will be sent to alert the user.

[0058] Furthermore, in one possible implementation, the diagnostic module is also used to immediately limit the vehicle power and continuously prompt the user via a pop-up window on the instrument panel when a tooth skipping fault is diagnosed in the rear wheel steering belt.

[0059] Reference Figure 3 , Figure 3 The diagram shown is a schematic diagram of a rear wheel steering belt skipping tooth fault diagnosis method provided by the present invention. Figure 3 As shown: Example 1: The rear wheel steering system was initialized, and there were circuit faults such as open circuit or short circuit in the displacement sensor.

[0060] Example 2: The absolute value of the limit angle of the displacement sensor, Ag1, can be derived from the mechanical limit.

[0061] The absolute value of the limit angle of the displacement sensor, Ag2, can be derived from the software limit.

[0062] Set the absolute threshold value of the rear wheel steering angle as Ag_threshold = Max(Ag1, Ag2) + Ag' (with a margin of 0.5° TBD). Example 3: The rear wheel steering system constantly monitors the absolute value of the actual rear wheel steering angle Ag through a rack displacement sensor, and Ag < Ag threshold is always satisfied.

[0063] Example 4: If the rear wheel steering system detects that the displacement calculated by the rack travel displacement sensor is inconsistent with that of the motor position sensor, and the direction of change of the rack travel displacement sensor is the same as the direction of change of the rear wheel steering motor displacement sensor, and the travel difference S_difference > S_difference threshold (2mm, TBD) and continues for a certain period of time T_difference (5S TBD), then it is determined that there is a possibility of tooth skipping fault in the rear wheel steering belt, and further determination is required in Example 5.

[0064] Example 5: RWS monitors the motor torque in real time. If the motor torque Tor suddenly decreases in a short period of time (example only: torque decrease of more than 500Nm within 1 second) and then recovers, it can be determined that there is an abnormal decrease and fluctuation in the motor torque.

[0065] If Examples 3 to 5 are met simultaneously, it can be determined that a skipped tooth fault has occurred (there is a stroke difference, and a sudden small fluctuation in torque is possible only when skipped teeth occur).

[0066] Special Circumstances: If the motor torque suddenly fluctuates and decreases and cannot be restored to a low level, and the travel difference also continues to increase, it can be determined that the motor has disengaged from the rack and pinion and cannot transmit motion.

[0067] Example 6: Abnormal belt slippage during highway or city driving can have fatal consequences. Whether in intelligent driving or manual driving scenarios, if the rear wheels do not respond at the required angle, the vehicle's stability becomes uncontrollable, potentially leading to vehicle instability. Furthermore, if the rear wheels do not respond at the target angle, insufficient rear-wheel steering contribution can cause the emergency avoidance function to fail, resulting in a collision. Therefore, upon encountering this fault, it is necessary to immediately limit the vehicle's power, and the instrument panel should continuously display a pop-up warning to immediately gently apply the brakes, pull over, and contact after-sales service.

[0068] Example 7: If the rear wheel steering belt skips teeth, the current power cycle should be maintained even after the problem is resolved to alert the customer to have the vehicle repaired as soon as possible.

[0069] It should be noted that the existing method of monitoring the angle solely with the displacement sensor is prone to misdiagnosis of tooth skipping faults due to confusion with rear wheel steering sticking or sensor malfunctions. This application requires combining the difference between the motor displacement sensor and the rack displacement sensor, the direction of movement of the motor displacement sensor and the rack displacement sensor, the duration value after the condition is met, and the torque value to jointly determine the tooth skipping fault, thereby improving the accuracy and robustness of the judgment logic.

[0070] The above logic exists in the rear wheel steering controller software and is implemented through interaction with the vehicle via the CAN network.

[0071] 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.

[0072] 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).

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] refer to Figure 5 As 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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).

[0085] 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.

[0086] 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.

[0087] 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 rear wheel steering belt tooth skipping failure diagnosis method characterized by, include: Obtain the absolute value of the actual rear wheel steering angle; Calculate the displacement difference between the rear wheel rack displacement and the motor displacement; The direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque are detected. Based on the absolute value of the rear wheel angle, displacement difference, direction of change, and motor torque, a comprehensive diagnosis is made to determine whether the rear wheel steering belt has experienced a skipped tooth fault.

2. The method of claim 1, wherein, The method of comprehensively diagnosing whether the rear wheel steering belt has skipped teeth based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change, and motor torque includes: When the actual absolute value of the rear wheel steering angle is determined to be less than the calibrated threshold value of the absolute value of the rear wheel steering limit angle; The displacement difference between the rear wheel rack displacement and the motor displacement is greater than a set displacement threshold, and the direction of change of the rack displacement is the same as the direction of change of the motor displacement, and the duration is greater than a time threshold. If the motor torque exceeds the set torque threshold within a set time, a tooth skipping fault is diagnosed in the rear wheel steering belt.

3. The method of claim 2, wherein, Also includes: When it is determined that the absolute value of the actual rear wheel steering angle is greater than the calibrated threshold value of the absolute value of the limit angle of the rear wheel steering; Or the displacement difference between the rear wheel rack displacement and the motor displacement is less than a set displacement threshold, and the direction of change of the rack displacement is opposite to the direction of change of the motor displacement, and the duration is less than a time threshold; Alternatively, if the motor torque does not exceed the set torque threshold within the set time, the rear wheel steering belt is diagnosed as not having a tooth skipping fault.

4. The method of claim 3, wherein, 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 of claim 1, wherein, Also includes: If the detected motor torque suddenly fluctuates and decreases and cannot be recovered, and the displacement difference also continues to increase, it is determined that the motor has disengaged from the rack.

6. The method of claim 1, wherein, Before obtaining the absolute value of the actual rear wheel steering angle, the following steps are included: Initialize the rear wheel steering system and check for circuit faults in the displacement sensor; If so, the process of troubleshooting skipped teeth will be prohibited, and a fault signal will be sent to alert the user.

7. The method according to claim 1, characterized in that, After comprehensively diagnosing whether the rear wheel steering belt has skipped teeth based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change, and motor torque, the process includes: When a tooth skipping fault is diagnosed in the rear wheel steering belt, the vehicle power is immediately limited, and the user is continuously alerted via a pop-up window on the instrument panel.

8. A device for diagnosing rear wheel steering belt skipping teeth, characterized in that, include: The acquisition module is used to obtain the absolute value of the actual rear wheel steering angle; The calculation module is used to calculate the displacement difference between the rear wheel rack displacement and the motor displacement; The detection module is used to detect the direction of change of the rack displacement, the direction of change of the motor displacement, and the motor torque; The diagnostic module is used to comprehensively diagnose whether the rear wheel steering belt has a skipped tooth fault based on the absolute value of the rear wheel rotation angle, displacement difference, direction of change, and motor torque.

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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