Steering driving device and method and vehicle

Abstract

The invention relates to a steering driving device and method and a vehicle. The device comprises a steering driving part, a first steering controller and a second steering controller. The steering driving part drives the steering mechanism to steer; under the condition that the first steering controller is in a normal operation state, the first steering controller is used for generating first control information; under the condition that the first steering controller is in the fault state, the second steering controller is used for generating second control information; the functional safety level of the first steering controller is higher than that of the second steering controller. As the duration of the first steering controller in the normal running state is longer than the duration of the first steering controller in the fault state during running of the vehicle, a user can maintain the first steering controller as soon as possible after the fault occurs, so that the duration of the second steering controller for controlling steering driving is shorter, and the user experience is improved. Therefore, the functional safety level of the second steering controller can be lower than that of the first steering controller, and the cost is reduced.

Description

[0001] The present application is a divisional application, the original application's application number is 202311377939.5, the original application's filing date is October 23, 2023, the original application's invention creation name is Steering drive device and vehicle, the original application's entire content is incorporated by reference in the present application. TECHNICAL FIELD

[0002] The present disclosure relates to the field of vehicles, and in particular to a steering drive device, method and vehicle. BACKGROUND

[0003] The electric drive steering system drives the driver to steer the vehicle by pushing the mechanical steering mechanism of the vehicle with the electric motor, greatly improving the driving pleasure and driving safety. The principle of the traditional electric drive steering system is that the driver turns the steering wheel, the sensor connected with the steering wheel senses the steering operation applied by the driver to the steering wheel or the steering operation borne by the steering wheel, and transmits it to the controller. The controller controls the output driving torque of the electric motor according to the received steering operation signal, and the driving torque is applied to the steering mechanism of the vehicle, thereby driving the steering mechanism to realize the steering drive of the vehicle.

[0004] The functional safety of the steering system is an important design goal of the electric drive steering system. When the steering system fails, the consequences of steering jamming or loss of steering ability will seriously affect the safety of the driver.

[0005] The prior art provides 50% drive through the parallel online operation of two sets of systems, each providing 50% drive. After the failure of one set of electric drive steering system, the other set of electric drive steering system continues to provide 50% drive capability, thereby ensuring the stability of the electric drive steering capability of the vehicle. However, since the two sets of systems are always running in parallel, both sets of systems are required to meet high functional safety levels, resulting in higher costs. SUMMARY

[0006] In order to solve at least one of the above technical problems, the present disclosure provides a steering drive device, method and vehicle.

[0007] According to an aspect of the present disclosure, a steering drive device is provided, comprising:

[0008] a steering drive member, a first steering controller and a second steering controller;

[0009] The steering drive member is used to drive the steering mechanism to steer; the working state of the first steering controller includes a normal running state and a fault state; the fault state represents that the first steering controller cannot control the steering drive member to perform the expected steering drive;

[0010] When the first steering controller is in normal operation, the first steering controller is used to generate first control information, which is used to control the steering drive to perform the desired steering drive, and the second steering controller does not control the steering drive to perform steering drive.

[0011] In the event that the first steering controller is in a faulty state, the second steering controller is used to generate second control information, which is used to control the steering drive to perform steering drive.

[0012] The functional safety level of the first steering controller is higher than that of the second steering controller.

[0013] Optionally, the steering drive device further includes a first inverter; the first inverter is connected to the first steering controller and the steering drive component respectively; the first inverter is used to receive first control information and control the steering drive component to perform steering drive according to the first control information.

[0014] Optionally, the steering drive device further includes a second inverter; the second inverter is connected to the second steering controller and the steering drive component respectively; the second inverter is used to receive second control information and control the steering drive component to perform steering drive according to the second control information.

[0015] Optionally, the second steering controller is connected to the first inverter; in the event of a fault in the first steering controller, the first inverter is used to receive second control information and control the steering drive to perform steering drive according to the second control information.

[0016] Optionally, the steering drive device further includes a first drive chip, which is connected between the first steering controller and the first inverter; the first drive chip is used to receive first control information and perform power amplification processing on the first control information; the first inverter is used to receive the power amplified first control information.

[0017] Optionally, the steering drive device further includes a second drive chip, which is connected between the second steering controller and the second inverter; the second drive chip is used to receive the second control information and perform power amplification processing on the second control information; the second inverter is used to receive the power amplified second control information.

[0018] Optionally, the second steering controller is connected to the first drive chip; in the event of a fault in the first steering controller, the first drive chip is used to receive the second control information and perform power amplification processing on the second control information; the first inverter is used to receive the power amplified second control information.

[0019] Optionally, the steering drive output of the steering drive component is controlled by the second steering controller to be less than or equal to a constant value of the desired steering action.

[0020] According to a second aspect of this disclosure, a vehicle is provided, the vehicle including a steering drive as described in any of the above embodiments.

[0021] According to a third aspect of this disclosure, a steering drive method is provided, applied to a first steering controller, the method comprising: when the first steering controller is in a normal operating state, the first steering controller generates first control information, the first control information being used to control a steering drive component to perform a desired steering drive; when the first steering controller is in a fault state, the first steering controller generates a fault signal and sends the fault signal to a second steering controller; the fault signal being used to instruct the second steering controller to control the steering drive component to perform steering drive; the fault state indicating that the first steering controller is unable to control the steering drive component to perform the desired steering drive; wherein, the functional safety level of the first steering controller is higher than the functional safety level of the second steering controller.

[0022] According to a fourth aspect of this disclosure, a steering drive method is provided, applied to a second steering controller, the method comprising: when a first steering controller is in normal operation, the second steering controller does not control a steering drive component to perform steering drive; when the first steering controller is in a fault state, the second steering controller generates second control information, the second control information being used to control the steering drive component to perform steering drive; the functional safety level of the first steering controller is higher than the functional safety level of the second steering controller.

[0023] Optionally, before the second steering controller generates the second control information, the method further includes: if the first steering controller is in a fault state, receiving a fault signal sent by the first steering controller, the fault signal being used to instruct the second steering controller to control the steering drive to perform steering drive.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0025] Implementing this disclosure will have the following beneficial effects:

[0026] When the first steering controller is operating normally, it controls the steering drive only; the second steering controller does not control the steering drive, or in other words, it does not output any steering drive action. However, when the first steering controller malfunctions, it cannot control the steering drive, or in other words, it cannot output the desired steering drive action. In this case, the second steering controller takes over control of the steering drive. Since the first steering controller operates normally for a much longer period than it malfunctions, and users typically repair it as soon as a fault occurs, while the second steering controller controls the steering drive for a relatively shorter period, its functional safety level does not need to be as high. In fact, its functional safety level can be lower than that of the first steering controller, thus effectively reducing costs.

[0027] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions and advantages in the embodiments or prior art of this specification, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Fig. 1 A schematic diagram of a steering drive device according to an embodiment of the present disclosure is shown;

[0030] Fig. 2 Another schematic diagram of a steering drive device according to an embodiment of the present disclosure is shown;

[0031] Fig. 3 Another schematic diagram of a steering drive device according to an embodiment of the present disclosure is shown. Detailed Implementation

[0032] For purposes of brevity and illustrativeness, this disclosure describes the principles of the invention primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equivalently applicable to all types of vehicle steering systems and that these same principles can be implemented therein, and that any such variations do not depart from the true spirit and scope of this patent application. Furthermore, reference is made in the following description to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical, and structural changes may be made to these embodiments without departing from the spirit and scope of this disclosure. Moreover, while features of this disclosure are disclosed in combination with only one of several embodiments, such features may be combined with one or more other features of other embodiments if desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be construed as limiting, and the scope of the invention is defined by the appended claims and their equivalents.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0034] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented using software programs, in one or more hardware modules or integrated circuits, or in different subnetworks and / or processor devices and / or microcontroller devices.

[0035] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0036] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0037] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0038] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0039] like Figs. 1-3 As shown, this disclosure provides a steering drive device and a vehicle using the steering drive device. Exemplarily, the vehicle is a medium-sized or large vehicle or a small car.

[0040] Optionally, the vehicle includes a steering wheel assembly, a steering drive unit, a steering mechanism, and wheels. The driver inputs steering operations through the steering wheel assembly to control the vehicle to steer, or the on-board terminal controls the vehicle to steer automatically. The steering drive unit controls the steering mechanism to steer based on the input steering operation or the steering information from the on-board terminal, and the steering mechanism drives the wheels to steer.

[0041] The steering drive can be used for electric power steering of a vehicle to provide at least partial steering assistance, or it can be used for steer-by-wire of a vehicle to provide all the steering assistance required for steering.

[0042] The steering drive unit includes a steering drive component, a first drive control unit, and a second drive control unit. The steering drive component is used to drive the steering mechanism to steer. Specifically, the steering drive component is a power source capable of outputting a steering drive action, such as a steering force or steering torque, which is applied to the steering mechanism to drive it to steer.

[0043] Both the first drive control unit and the second drive control unit are connected to a power source that can be switched on and off. Both the first drive control unit and the second drive control unit are used to control the steering drive component to perform steering. Specifically, both the first drive control unit and the second drive control unit can control the steering drive component to perform steering based on steering operation information or steering information.

[0044] The steering operation information is generated based on the steering operation applied to the vehicle. For example, the steering operation includes at least one of the following: the direction of rotation of the steering wheel, the rotation angle, the rotation torque, and the rotation angular velocity.

[0045] Steering information represents the desired steering action of a vehicle, especially during autonomous or semi-autonomous driving. In autonomous driving scenarios, the vehicle drives automatically according to a preset driving route. Optionally, steering information is generated based on the preset driving route and driving environment perception information. The driving environment perception information represents the driving environment in which the vehicle is located. This information is obtained by sensing the driving environment through onboard sensing devices. The driving environment includes at least one of roads, obstacles, and driving instruction information, such as traffic light status and speed limit signs. For example, the onboard terminal generates steering information based on the preset driving route and driving environment perception information, and sends the steering information to a first drive control unit and / or a second drive control unit, so that the first or second drive control unit controls the steering drive components to perform steering actuation based on the steering information.

[0046] The second drive control unit is configured to control the steering drive component to perform steering when the first drive control unit is in a fault state (i.e., the first drive control unit cannot control the steering drive component to perform the desired steering); and not to control the steering drive component to perform steering when the first drive control unit is in a normal operating state (i.e., the first drive control unit can control the steering drive component to perform the desired steering). Specifically, when the first drive control unit is in a normal operating state, the steering drive device is controlled by the first drive control unit, and the second drive control unit is not working or is in a silent state. When the first drive control unit is in a fault state, it cannot control the steering mechanism to perform the desired steering, for example, if the vehicle's steering direction or steering angle is abnormal, or if the steering mechanism cannot be controlled, then the second drive control unit takes over the control of the steering drive component to perform steering, and the first drive control unit no longer controls the steering drive component to perform steering. Therefore, when the first drive control unit is in a fault state, the second drive control unit controls the steering drive component to perform the desired steering.

[0047] The first drive control unit has a higher functional safety level than the second drive control unit. Therefore, the first drive control unit, with its relatively higher functional safety level, controls the steering drive component for steering. When the first drive control unit fails, the second drive control unit, with its relatively lower functional safety level, takes over controlling the steering drive component. The second drive control unit only controls the steering drive component when the first drive control unit fails, resulting in shorter operating time and a lower probability of failure. This effectively reduces costs while maintaining the functional safety performance of the steering drive system. Furthermore, when the first drive control unit fails, the second drive control unit provides the desired driving capability, ensuring stable driving capability. Neither the first nor the second drive control unit performs steering control simultaneously, avoiding the doubled failure rate and improved stability of the steering drive system. Having only one drive control unit controlling steering at a time reduces electromagnetic interference generated during operation, improving the system's electromagnetic interference immunity.

[0048] In one optional implementation, the functional safety level of the first drive control unit is not lower than AS I LD. The first drive control unit is also used to detect the operating status of the first drive control unit and identify whether the first drive control unit is in a normal operating state or a fault state. Thus, the first drive control unit has fault diagnosis capability, and can identify the occurrence of faults in real time when a fault occurs, so as to respond to the fault in a timely manner.

[0049] In one optional embodiment, the first drive control unit generates a fault signal in response to entering a fault state and sends the fault signal to the second drive control unit, causing the second drive control unit to switch to an operating state based on the fault signal. Thus, the fault signal sent by the first drive control unit wakes up the second drive control unit, realizing the switching between the first and second drive control units. In another optional embodiment, when the first drive control unit is in normal operation, there is no communication between the first and second drive control units. Therefore, when the first drive control unit is in normal operation, there is no communication between the first and second drive control units, eliminating the need for frequent data communication between them, simplifying complex signal communication between the first and second drive control units, reducing hardware signal interconnection requirements, and lowering process requirements.

[0050] In one optional implementation, the second drive control unit is configured to periodically send monitoring signals to the first drive control unit when the first drive control unit is in normal operation, and to obtain response behavior information generated by the first drive control unit based on the monitoring signals, wherein the response behavior information characterizes the operating status of the first drive control unit.

[0051] Specifically, the response behavior information includes a response signal. The second drive control unit monitors the first drive control unit and periodically sends monitoring signals to it. The first drive control unit generates a response signal corresponding to the received monitoring signal and sends it to the second drive control unit. If both the response signal and its reception time match the monitoring signal, the first drive control unit is determined to be in normal operation; otherwise, it is in a fault state. The response behavior information can also be an empty signal, meaning the second drive control unit does not receive a response signal corresponding to the monitoring signal. In this case, the first drive control unit is determined to be in a fault state.

[0052] Optionally, the first drive control unit and the second drive control unit are connected via at least two communication connection paths to avoid misjudgment by the second drive control unit due to communication failure. The communication connection methods include at least one of CAN, SPI, UART and PWM, and preferably include at least two communication connection paths.

[0053] When the response behavior information indicates that the first drive control unit is in normal operation, the second drive control unit does not control the steering drive component to perform steering; when the response behavior information indicates that the first drive control unit is in a fault state, the second drive control unit controls the steering drive component to perform steering. Therefore, based on the detected operating state of the first drive control unit, the second drive control unit selects whether to control the steering drive component to perform steering.

[0054] Optionally, the second drive control unit is configured to, in the event of a failure of the first drive control unit, control the steering drive component to output a steering drive action to the steering mechanism, thereby driving the steering mechanism to steer the wheels. Specifically, the steering drive action output by the steering drive component to the steering mechanism by the second drive control unit is equal to the desired steering action, that is, the second drive control unit controls the steering drive component to output 100% of the desired steering force or desired steering torque. Specifically, the desired steering action is the steering action required for the steering mechanism to perform the desired steering drive; it is the steering action required for the vehicle to turn corresponding to the steering operation applied by the user to the steering wheel assembly, or the steering action required for the vehicle to perform a preset steering action when the vehicle is automatically steered by the on-board terminal. The desired steering action is the desired steering drive or desired steering force.

[0055] Optionally, the second drive control unit controls the ratio between the steering drive action L1 output by the steering drive component to the steering mechanism and the desired steering action L2 to decrease. Specifically, the ratio (L1 / L2) between the steering drive action L1 and the desired steering action L2 decreases with driving time or vehicle travel distance, so as to guide the user to return the vehicle for repair in a timely manner without affecting the user's driving safety.

[0056] For example, after the second drive control unit controls the steering drive to perform steering drive, for a vehicle that is being driven, the steering drive action L1 output by the steering drive to the steering mechanism is reduced by 10% every 3 hours or every 50 kilometers.

[0057] Optionally, the ratio (L1 / L2) between the steering drive action L1 and the desired steering action L2 is 20-100%, for example, 30%, 40%, 50%, 70%, 80%, 90%, or 95%.

[0058] Optionally, the steering drive action L1 is greater than or equal to a preset drive action threshold, such as 0.3L2 or 0.5L2, to ensure user driving safety.

[0059] Optionally, the second drive control unit controls the steering drive component to output a preset steering drive force to the steering mechanism. This preset steering drive force is a constant value, such as 0.3*L2, 0.5L2, or L2.

[0060] In an optional embodiment, the first drive control unit is configured to generate fault indication information in response to the first drive control unit entering a fault state, and send the fault indication information to an indication device, so that the indication device can indicate the fault state of the first drive control unit based on the fault indication information. The fault indication information includes voice indication information and / or text indication information. For example, the first drive control unit sends voice indication information to the vehicle's voice device, so that the voice device can provide voice indication of the fault state of the first drive control unit based on the voice fault indication information; the first drive control unit sends text indication information to the vehicle's display screen device or instrument panel device, so that the display screen device or instrument panel device can provide text indication or icon indication of the fault state of the first drive control unit based on the text indication information. In an optional embodiment, the first drive control unit includes a first steering controller and a first inverter. The first steering controller is connected to the first inverter, and the first steering controller is configured to generate first control information based on steering information or steering operations applied to the vehicle, and send the first control information to the first inverter. Optionally, the first steering controller is a microcontroller or MCU. The first inverter is configured to generate a first AC control signal based on the first control information, and the first AC control signal is used to control the steering drive components to perform steering drive. Therefore, the first drive control unit can control the steering drive to perform steering drive corresponding to the desired steering action of the vehicle or the steering operation applied to the vehicle.

[0061] In one optional embodiment, the second drive control unit includes a second steering controller and a second inverter. The second steering controller is connected to the second inverter and is used to generate second control information based on steering information or steering operations applied to the vehicle, and to send the second control information to the second inverter. Optionally, the second steering controller is a microcontroller or MCU. The second inverter is used to generate a second AC control signal based on the second control information, and the second AC control signal is used to control the steering drive components to perform steering drive. Thus, the second drive control unit can control the steering drive components to perform steering drive corresponding to the desired steering action of the vehicle or the steering operation applied to the vehicle.

[0062] For example, when the first drive control unit is in a fault state, the connection between the first inverter and the power supply is disconnected, and / or the connection between the first inverter and the steering drive is disconnected. For example, the relay between the first inverter and the power supply and / or the relay between the first inverter and the steering drive is switched to the off state, and the second inverter is connected to the power supply and the second inverter is connected to the steering drive. For example, the relay between the second inverter and the power supply is set, and the relay between the second inverter and the steering drive is in the connected state. The second drive control unit controls the steering drive to perform steering drive corresponding to the desired steering action of the vehicle or the steering operation applied to the vehicle.

[0063] In one alternative implementation, the first steering controller has a higher functional safety level than the second steering controller. Thus, the first steering controller, with its higher functional safety level, provides the vehicle with highly stable steering drive capability, while the second steering controller, with its lower functional safety level, ensures stable steering drive capability and reduces costs.

[0064] In an alternative implementation, the second steering controller is also connected to the first inverter. In the event of an abnormal state of the first steering controller, the second steering controller replaces the first steering controller in controlling the steering drive component for steering actuation. The abnormal state indicates that the first steering controller is unable to control the steering drive component to perform the desired steering actuation. Specifically, the second steering controller generates second control information based on steering information or steering operations applied to the vehicle and sends the second control information to the first inverter. The first inverter generates a third AC control signal based on the second control information, which is used to control the steering drive component for steering actuation. Thus, in the event of an abnormal state of the first steering controller of the first drive control unit, only the second steering controller replaces the first steering controller of the first drive control unit for steering actuation control, maintaining a high level of functional safety for the steering drive device.

[0065] Optionally, the first drive control unit further includes a first drive chip, which is used to amplify the power of the first control information. Specifically, the first steering controller, the first drive chip, and the first inverter are connected in sequence. The first drive chip amplifies the power of the first control information output by the first steering controller to obtain amplified first control information, and sends the amplified first control information to the first inverter so that the first inverter generates a first AC control signal based on the amplified first control information.

[0066] Optionally, the second drive control unit further includes a second drive chip, which amplifies the second control information. Specifically, the second steering controller, the second drive chip, and the second inverter are connected in sequence. The second drive chip amplifies the second control information output by the second steering controller to obtain amplified second control information, and sends the amplified second control information to the second inverter, so that the second inverter generates a second AC control signal based on the amplified second control information.

[0067] In an alternative implementation, the second steering controller is connected to the first inverter via a first driver chip, which also amplifies the second control information. Specifically, the second steering controller sends the second control information to the first driver chip, which amplifies the second control information to obtain amplified second control information and sends it to the first inverter. This amplified second control information causes the first inverter to generate a third AC control signal based on the amplified second control information, and the steering drive unit performs steering actuation based on the third AC control signal.

[0068] For example, when the first drive control unit is faulty and the first steering controller is malfunctioning, the second steering controller replaces the first steering controller to perform steering drive. The first inverter generates a third AC control signal based on the second control information, so that the steering drive component performs the desired steering drive according to the third AC control signal. When the first drive control unit is faulty but the first steering controller is not malfunctioning, the second drive control unit replaces the first drive control unit to perform steering drive. The second steering controller sends second control information to the second inverter, so that the second inverter generates a second AC control signal based on the second control information, and the steering drive component performs the desired steering drive according to the second AC control signal. Thus, the second drive control unit provides a multi-level redundancy structure, improving the functional safety of the steering drive device without adding excessive redundant hardware.

[0069] Optionally, the first inverter is connected to the power supply via a relay, and the first inverter is also connected to the steering drive unit via a relay. In the event of a fault in the first drive control unit, the relay located between the first inverter and the power supply and / or the relay located between the first inverter and the steering drive unit is disconnected, causing the first drive control unit to cease controlling the steering drive unit for steering.

[0070] Optionally, the second inverter is connected to the power supply via relays, and also connected to the steering drive unit via relays. When the first drive control unit is operating normally, the relays between the second inverter and the power supply, and between the second inverter and the steering drive unit, are disconnected. When the first drive control unit is malfunctioning, the relays between the second inverter and the power supply, and between the second inverter and the steering drive unit, are connected, enabling the second drive control unit to control the steering drive unit for steering.

[0071] Optionally, the aforementioned relay includes a MOSFET.

[0072] In an alternative implementation, the second steering controller has a functional safety level lower than ASIL-D, for example, ASIL-B or ASIL-C.

[0073] Optionally, the functional safety level of the second driver chip is lower than ASIL-D, for example, ASIL-B or ASIL-C.

[0074] Optionally, the second inverter may have a functional safety level lower than ASIL-D, for example, ASIL-B or ASIL-C.

[0075] Optionally, the relay used to connect the second inverter to the power supply has a functional safety level lower than ASIL-D, for example, ASIL-B or ASIL-C; alternatively, the relay located between the second inverter and the steering drive has a functional safety level lower than ASIL-D, for example, ASIL-B or ASIL-C.

[0076] In an optional embodiment, the steering drive device further includes a steering operation sensor for sensing steering operations applied to the vehicle and obtaining steering operation information, so that the first drive control unit or the second drive control unit can control the steering drive component to perform steering drive based on the steering operation information. For example, the steering operation sensor senses at least one of the steering direction, rotation angle, torque, and angular velocity of the vehicle's steering wheel, and generates steering operation information, which includes at least one of the steering direction information, rotation angle information, torque information, and angular velocity information. This steering operation information is then sent to the first drive control unit and / or the second drive control unit, enabling the first and second drive control units to control the steering drive component to perform steering drive corresponding to the steering operation applied to the steering wheel by the driver.

[0077] Optionally, the steering drive unit includes two steering operation sensors arranged in parallel, each capable of sensing the steering operation applied to the vehicle. The first drive control unit is connected to one of the two steering operation sensors, and the first drive control unit is connected to the other of the two steering operation sensors.

[0078] Optionally, the steering drive device includes a first steering operation sensor and a second steering operation sensor, which are arranged in parallel and capable of sensing steering operations applied to the vehicle. A first drive control unit is connected to both the first and second steering operation sensors, and a second drive control unit is also connected to both. Specifically, in the default state, when the first steering operation sensor is functioning normally, the first drive control unit obtains the steering operation applied to the vehicle through the first steering operation sensor; if the first steering operation sensor malfunctions, the first drive control unit obtains the steering operation applied to the vehicle through the second steering operation sensor. The second drive control unit preferentially obtains the steering operation applied to the vehicle through the second steering operation sensor. For example, if the second steering operation sensor is functioning normally, the second drive control unit obtains the steering operation applied to the vehicle through the second steering operation sensor; if the second steering operation sensor malfunctions, the second drive control unit obtains the steering operation applied to the vehicle through the first steering operation sensor.

[0079] Optionally, the first steering operation sensor has a functional safety level of ASIL-D, and the second steering operation sensor has a functional safety level lower than ASIL-D.

[0080] Optionally, the steering operation sensors include a torque angle sensor and a motor position sensor. The steering wheel assembly includes a steering wheel and a column connected to each other. The torque angle sensor is used to acquire the steering torque applied to the steering wheel or column, obtaining steering torque information. The steering torque information can indicate the steering intention or steering speed corresponding to the steering torque applied to the steering wheel or column, such as quick steering or slow steering. The motor position sensor is used to acquire the rotation angle of the steering wheel, specifically to acquire the drive position of the motor connected to the steering wheel or column. This position is used to indicate the rotation angle of the steering wheel, thereby obtaining steering wheel angle information. This motor can be an auxiliary rotation motor or a resistance motor. The auxiliary rotation motor is used to output steering action to rotate the steering wheel and / or column to assist the user in turning the steering wheel. The resistance motor is used to provide resistance to the steering wheel or column so that the user can overcome the resistance to turn the steering wheel, facilitating accurate control of the steering wheel.

[0081] Optionally, the first steering operation sensor includes a first torque angle sensor and a first motor position sensor. The functional safety level of the first torque angle sensor is ASIL-D, and the functional safety level of the first motor position sensor is ASIL-D.

[0082] The second steering operation sensor includes a second torque angle sensor and a second motor position sensor. The functional safety level of the second torque angle sensor is lower than ASIL-D, and the functional safety level of the second motor position sensor is also lower than ASIL-D.

[0083] In one optional embodiment, the steering drive includes a steering drive motor, with a first drive control unit and a second drive control unit respectively connected to the steering drive motor. During vehicle operation, one of the first drive control unit and the second drive control unit controls the steering drive motor to perform steering.

[0084] For example, by default, the steering drive device controls the steering drive motor to drive the steering through the first drive control unit. If the first drive control unit is in a faulty state, the second drive control unit takes over the control of the steering drive motor to drive the steering.

[0085] Optionally, the steering drive motor includes a stator and a rotor, with the rotor located on the stator. A first drive control unit and a second drive control unit are respectively connected to the stator. The stator consists of motor windings. The steering drive device controls the rotor rotation of the steering drive motor for steering drive by connecting the first drive control unit to the stator. In the event of a failure of the first drive control unit, the second drive control unit replaces the first drive control unit and connects to the stator.

[0086] Optionally, the steering drive motor includes a first stator, a second stator, and a rotor, with the rotor located within the first and second stators. A first drive control unit is connected to the first stator, and a second drive control unit is connected to the second stator. The first stator and second stator are motor windings. The steering drive device controls the rotor rotation of the steering drive motor for steering drive through the first drive control unit connected to the first stator. In the event of a fault in the first drive control unit, the second drive control unit controls the rotor rotation of the steering drive motor for steering drive through the second stator.

[0087] Preferably, the steering drive motor is a three-phase motor, the first inverter is a first three-phase full-bridge inverter, and the second inverter is a second three-phase full-bridge inverter. The three output terminals of the first three-phase full-bridge inverter are respectively connected to the steering drive motor through relays, and the three output terminals of the second three-phase full-bridge inverter are respectively connected to the steering drive motor through three relays.

[0088] In one optional embodiment, the steering drive includes a first steering drive motor and a second steering drive motor, a first drive control unit is connected to the first steering drive motor, and a second drive control unit is connected to the second steering drive motor.

[0089] For example, in the default state, the steering drive device controls the first steering drive motor to perform steering drive through the first drive control unit. In the case of a failure of the first drive control unit, the second drive control unit replaces the first drive control unit to perform steering drive control, and the second drive control unit controls the second steering drive motor to perform steering drive.

[0090] Preferably, the first steering drive motor is a three-phase motor, the second steering drive motor is a three-phase motor, the first inverter is a first three-phase full-bridge inverter, and the second inverter is a second three-phase full-bridge inverter. The three output terminals of the first three-phase full-bridge inverter are respectively connected to the first steering drive motor through relays, and the three output terminals of the second three-phase full-bridge inverter are respectively connected to the second steering drive motor through three relays.

[0091] In an alternative implementation, the first steering controller is used to issue a fault signal and a control status signal in response to the first drive control unit entering a fault state. The fault signal indicates that the first drive control unit is in a fault state, and the control status signal is used to indicate whether the first steering controller is in an abnormal state or a normal state. The normal state indicates that the first steering controller can control the steering drive to perform the desired steering drive. The second drive control unit performs steering drive control based on the fault signal and the control status signal.

[0092] For example, when the control status signal indicates that the first steering controller is in an abnormal state, the second steering controller replaces the first steering controller to perform steering drive according to the fault signal and the control status signal. The first inverter generates a third AC control signal according to the second control information so that the steering drive unit performs the desired steering drive according to the third AC control signal. When the control status signal indicates that the first steering controller is in a normal state, the second steering controller switches the second drive control unit to the working state based on the fault signal and the control status signal so that the second drive control unit replaces the first drive control unit to perform steering drive.

[0093] In one optional implementation, the second steering controller is configured to issue a failure signal in response to a failure state of the second drive control unit, the failure state indicating that the second drive control unit is unable to control the steering drive component to perform the desired steering drive. This facilitates monitoring of the second drive control unit, enabling the user to promptly address any failures of the second drive control unit and preventing the inability to determine its functionality when it is not in operation during normal operation.

[0094] For example, during the power-on self-test of the steering drive device (e.g., the steering drive device starts the self-test at a preset time after power-on each time), the second AC control signal output by the second inverter is detected to confirm whether the second drive control unit is functioning normally or has failed, thus having the ability to make backup in case of failure.

[0095] Optionally, during the power-on self-test of the steering drive device, the first control information output by the first steering controller is detected to confirm whether the first steering controller is functioning normally or has failed based on the first control information.

[0096] Optionally, during the power-on self-test of the steering drive unit, the first AC control signal output by the first inverter is detected to confirm whether the first drive control unit is functioning normally or in a fault state. For example, if the first AC control signal is empty (i.e., the first inverter does not output the first AC control signal), or if the first AC control signal does not correspond to the steering operation information or drive information, then the first drive control unit is in a fault state.

[0097] According to a second aspect of this disclosure, a vehicle is provided, including a steering mechanism and a steering drive device according to the foregoing technical solution, wherein the steering drive device is dynamically connected to the steering mechanism; specifically, the steering drive device is dynamically connected to the steering mechanism.

[0098] It should be noted that the elements disclosed and described herein (including flowcharts and block diagrams in the accompanying drawings) refer to logical boundaries between elements. However, in accordance with software or hardware engineering practice, the described elements and their functions can be executed on a machine via a computer-executable medium having a processor capable of executing program instructions stored thereon, whether as a monolithic software architecture, as an independent software module, or as a module using external programs, code, services, etc., or any combination thereof, and all such execution schemes may fall within the scope of this disclosure.

[0099] The above examples primarily illustrate the steering drive device and vehicle of this disclosure. Various embodiments of this disclosure have been described above; these descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A steering drive device, characterized in that, Includes a steering drive unit, a first steering controller, and a second steering controller; The steering drive component is used to drive the steering mechanism; the operating states of the first steering controller include a normal operating state and a fault state; the fault state indicates that the first steering controller is unable to control the steering drive component to perform the desired steering drive. When the first steering controller is in the normal operating state, the first steering controller is used to generate first control information, the first control information is used to control the steering drive to perform the desired steering drive, and the second steering controller does not control the steering drive to perform steering drive. When the first steering controller is in a faulty state, the second steering controller is used to generate second control information, which is used to control the steering drive to perform steering drive; The functional safety level of the first steering controller is higher than that of the second steering controller.

2. The steering drive device according to claim 1, characterized in that, The steering drive device further includes a first inverter; the first inverter is connected to the first steering controller and the steering drive component respectively; the first inverter is used to receive the first control information and control the steering drive component to perform steering drive according to the first control information.

3. The steering drive device according to claim 1 or 2, characterized in that, The steering drive device further includes a second inverter; the second inverter is connected to the second steering controller and the steering drive component respectively; the second inverter is used to receive the second control information and control the steering drive component to perform steering drive according to the second control information.

4. The steering drive device according to claim 2, characterized in that, The second steering controller is connected to the first inverter; when the first steering controller is in a fault state, the first inverter is used to receive the second control information and control the steering drive to perform steering drive according to the second control information.

5. The steering drive device according to claim 2 or 4, characterized in that, The steering drive device further includes a first drive chip, which is connected between the first steering controller and the first inverter; the first drive chip is used to receive the first control information and perform power amplification processing on the first control information; the first inverter is used to receive the power amplified first control information.

6. The steering drive device according to claim 3, characterized in that, The steering drive device further includes a second drive chip, which is connected between the second steering controller and the second inverter; the second drive chip is used to receive the second control information and perform power amplification processing on the second control information; the second inverter is used to receive the power amplified second control information.

7. The steering drive device according to claim 5, characterized in that, The second steering controller is connected to the first drive chip; when the first steering controller is in a fault state, the first drive chip is used to receive the second control information and perform power amplification processing on the second control information; the first inverter is used to receive the power amplified second control information.

8. The steering drive device according to any one of claims 1, 2 and 4, characterized in that, The second steering controller controls the steering drive to output a constant value that is less than or equal to the desired steering action.

9. A vehicle, characterized in that, The vehicle includes a steering drive as described in any one of claims 1 to 8.

10. A steering drive method, applied to a first steering controller, characterized in that, The method includes: When the first steering controller is in normal operation, the first steering controller generates first control information, which is used to control the steering drive to perform the desired steering drive. When the first steering controller is in a fault state, the first steering controller generates a fault signal and sends the fault signal to the second steering controller; the fault signal is used to instruct the second steering controller to control the steering drive to perform steering drive; the fault state indicates that the first steering controller is unable to control the steering drive to perform the desired steering drive; The functional safety level of the first steering controller is higher than that of the second steering controller.

11. A steering drive method applied to a second steering controller, characterized in that, The method includes: When the first steering controller is in normal operation, the second steering controller does not control the steering drive to perform steering drive; When the first steering controller is in a faulty state, the second steering controller generates second control information, which is used to control the steering drive to perform steering drive; The functional safety level of the first steering controller is higher than that of the second steering controller.

12. The steering drive method according to claim 11, characterized in that, Before the second steering controller generates the second control information, the method further includes: When the first steering controller is in a fault state, a fault signal sent by the first steering controller is received, and the fault signal is used to instruct the second steering controller to control the steering drive to perform steering drive.

Images