Double electric control redundancy steering cooperation method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vehicles, and discloses a dual-electric-control redundant steering cooperation method and device, electronic equipment and a storage medium. The method comprises the following steps: establishing a redundant link of a first electric control and a second electric control; at least after the redundant link is established, the working states of the first electric control and the second electric control are monitored in real time; the working state of the opposite-end electric control is sent to the first electric control or the second electric control in real time through the redundant link; and in the vehicle steering process, if the working state of any electric control is abnormal, the fault level of the abnormal electric control is determined according to the abnormal information, and the working states of the first electric control and the second electric control are adjusted at least based on the fault level, so that the steering operation of the vehicle is completed. The overall reliability of the electric steering system is improved, and the vehicle using safety of a user is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a dual-electronic-control redundancy steering coordination method and device, electronic equipment and storage medium. BACKGROUND

[0002] With the development of commercial vehicle automatic driving technology, the electrification and intelligentization of the steering system are increasingly important. Currently, commercial vehicle electric steering controllers are mainly based on electro-hydraulic recirculating ball steering and pure electric recirculating ball steering systems.

[0003] The electro-hydraulic recirculating ball steering system is based on the traditional pure mechanical recirculating ball steering gear, with an electric power steering column added. The electric power steering column is composed of a worm gear transmission mechanism, a steering wheel torsion bar and a motor assembly. The power provided by the electric power steering column not only relieves the heavy feeling of the driver's steering operation, but also provides support for the realization of auxiliary driving.

[0004] The pure electric steering power system cancels the hydraulic oil and its associated mechanisms, which is environmentally friendly and reduces the overall vehicle weight, in line with the development trend of future commercial vehicles. The steering mechanism of the system is mainly based on the recirculating ball structure, and for heavy commercial vehicles, it is divided into single-motor power and double-motor power. The double-motor system not only reduces the power level of a single set of power, but also reduces the difficulty of realizing system redundancy.

[0005] The redundancy system of a single controller on the market has approximately the same power coordination strategy as passenger cars. The power coordination strategy of the dual-electronic-control redundancy scheme of the double controller is still in the exploratory stage. SUMMARY

[0006] The purpose of the present application is to provide a dual-electronic-control redundancy steering coordination method, device, electronic equipment and storage medium to realize the dual-electronic-control redundancy scheme of the double controller, which is beneficial to improving the user's driving experience and ensuring the normal driving of the vehicle.

[0007] To solve the above technical problems, in a first aspect, the present application provides a dual-electronic-control redundancy steering coordination method, comprising at least:

[0008] establishing a redundancy link of a first electronic control and a second electronic control;

[0009] real-time monitoring of the working state of the first electronic control and the second electronic control at least after the redundancy link is established;

[0010] sending the working state of the opposite electronic control to the first electronic control or the second electronic control in real time through the redundancy link;

[0011] If the working state of any of the electronic controls is abnormal during steering of the vehicle, a fault level of the abnormal electronic control is determined according to abnormal information, and the working state of the first electronic control and the second electronic control is adjusted based at least on the fault level to complete the steering operation of the vehicle.

[0012] Optionally, the method further comprises:

[0013] If the working state of any of the electronic controls is abnormal during steering of the vehicle, a fault level of the abnormal electronic control is determined according to abnormal information, and the working state of the first electronic control and the second electronic control is adjusted based at least on the fault level to complete the steering operation of the vehicle, specifically comprising:

[0014] If the external network vehicle speed message of the first electronic control is lost during steering of the vehicle, the fault level of the first electronic control is determined as a light fault level;

[0015] The external network vehicle speed message of the second electronic control is sent to the first electronic control through the redundant link, so that the first electronic control completes the steering operation of the vehicle according to the external network vehicle speed message of the second electronic control and cooperates with the second electronic control.

[0016] If the working state of any of the electronic controls is abnormal during steering of the vehicle, a fault level of the abnormal electronic control is determined according to abnormal information, and the working state of the first electronic control and the second electronic control is adjusted based at least on the fault level to complete the steering operation of the vehicle, specifically comprising:

[0017] If the first electronic control has a temperature abnormality during steering of the vehicle, the fault level of the first electronic control is determined as a moderate fault level;

[0018] A power assistance degradation coefficient of the first electronic control is determined according to temperature abnormality information;

[0019] The power assistance degradation coefficient and the moderate fault level of the first electronic control are sent to the second electronic control through the redundant link;

[0020] The output power assistance of the second electronic control is adjusted by the power assistance degradation coefficient and the moderate fault level, and the steering operation of the vehicle is completed cooperatively with the first electronic control.

[0021] If the working state of any of the electronic controls is abnormal during steering of the vehicle, a fault level of the abnormal electronic control is determined according to abnormal information, and the working state of the first electronic control and the second electronic control is adjusted based at least on the fault level to complete the steering operation of the vehicle, specifically comprising:

[0022] In the process of vehicle steering, if the first electric control appears a failure abnormality, the failure level of the first electric control is determined as a high failure level;

[0023] The first electric control is controlled to enter a safe failure mode, and the output assistance of the first electric control is turned off;

[0024] The high failure level of the first electric control is sent to the second electric control through the redundant link, so that the second electric control adjusts the output assistance according to the high failure level, and the steering operation of the vehicle is completed.

[0025] Optionally, if the sending state of the redundant link message is a loss state, the first electric control and the second electric control work independently, and adjust the output assistance according to the failure level, so as to complete the steering operation of the vehicle.

[0026] In a second aspect, the application further provides a dual-electric-control redundant steering cooperation device, which at least comprises:

[0027] A redundant establishment module is configured to establish a redundant link of the first electric control and the second electric control;

[0028] A redundant monitoring module is configured to monitor the working state of the first electric control and the second electric control in real time at least after the redundant link is established;

[0029] A state sending module is configured to send the working state of the opposite electric control to the first electric control or the second electric control in real time through the redundant link;

[0030] A steering operation module is configured to, in the process of vehicle steering, when the working state of any electric control is abnormal, determine the failure level of the abnormal electric control according to abnormal information, and adjust the working state of the first electric control and the second electric control based on at least the failure level, so as to complete the steering operation of the vehicle.

[0031] Optionally, the steering operation module is specifically configured to:

[0032] In the process of vehicle steering, when the external network vehicle speed message of the first electric control is lost, the failure level of the first electric control is determined as a light failure level; and the external network vehicle speed message of the second electric control is sent to the first electric control through the redundant link, so that the first electric control completes the steering operation of the vehicle according to the external network vehicle speed message of the second electric control and cooperates with the second electric control.

[0033] Optionally, the steering operation module is further specifically configured to:

[0034] In the process of vehicle steering, when the first electronic control appears temperature abnormality, the fault level of the first electronic control is determined as a moderate fault level; and a power assistance degradation coefficient of the first electronic control is determined according to the temperature abnormality; the power assistance degradation coefficient and the moderate fault level of the first electronic control are sent to the second electronic control through the redundant link; and the output power assistance of the second electronic control is adjusted through the power assistance degradation coefficient and the moderate fault level, and the first electronic control is cooperated to complete the steering operation of the vehicle.

[0035] In a third aspect, the present application further provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements the steps in the double-electronic-control redundant steering cooperation method of any one of the first aspect when executing the program.

[0036] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps in the double-electronic-control redundant steering cooperation method of any one of the first aspect when executed by a processor.

[0037] The technical solution provided by the embodiment of the present application firstly establishes a redundant link of the first electronic control and the second electronic control; secondly, at least after the establishment of the redundant link is completed, the working states of the first electronic control and the second electronic control are monitored in real time; then, the working state of the opposite electronic control is sent to the first electronic control or the second electronic control in real time through the redundant link; and finally, in the process of vehicle steering, if the working state of any electronic control is abnormal, the fault level of the abnormal electronic control is determined according to the abnormal information, and the working states of the first electronic control and the second electronic control are adjusted based on at least the fault level to complete the steering operation of the vehicle.

[0038] Therefore, it can be seen that, on the one hand, the embodiment of the present application forms a double-electronic-control backup mechanism by establishing a redundant link of the first electronic control and the second electronic control, avoids the failure of the electric power steering system caused by single-point failure, significantly improves the overall reliability of the electric power steering system, and further guarantees the safety of the user in driving. On the other hand, the embodiment of the present application adjusts the working states of the double electronic controls based on the fault level when any electronic control appears abnormal, can continuously maintain the stable output of the vehicle steering power assistance, ensures the continuity of the steering operation, avoids the loss of control due to the failure of the electronic control, and significantly improves the driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a flowchart of a double-electronic-control redundant steering cooperation method provided by the embodiment of the present application;

[0040] Figure 2 is a double-electronic-control system framework diagram provided by the embodiment;

[0041] Figure 3 is a flow chart of a dual electric control system signal transmission provided by the embodiment of the present application;

[0042] Figure 4 is a flow chart of another dual electric control redundancy steering cooperation method provided by the embodiment of the present application;

[0043] Figure 5 is a flow chart of another dual electric control redundancy steering cooperation method provided by the embodiment of the present application;

[0044] Figure 6 is a flow chart of another dual electric control redundancy steering cooperation method provided by the embodiment of the present application;

[0045] Figure 7 is a structural schematic diagram of a dual electric control redundancy steering cooperation device provided by the embodiment of the present application;

[0046] Figure 8 is a structural schematic diagram of an electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Multiple" generally includes at least two.

[0049] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0050] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the description. For example, without departing from the scope of the embodiments of the present application, the first can also be called the second, and similarly, the second can also be called the first.

[0051] Depending on the context, the word "if' can be interpreted to mean "when" or "upon" or "in response to determining" or "in response to detecting," generally or as used in this document. Similarly, the phrase "if it is determined" or "if [a stated condition or event] is detected" can be interpreted to mean "upon determining" or "in response to determining" or "upon detecting [the stated condition or event]" or "in response to detecting [the stated condition or event]," generally or as used in this document.

[0052] It is also important to note that the terms "comprises", "comprising", or other variations thereof are intended to cover a non-exclusive inclusion, such that a product or method that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such product or method. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the product or method that includes the stated element.

[0053] It is particularly important to note that the symbols and / or numbers present in the specification, if not marked in the description of the figures, are not figure references.

[0054] Figure 1 is a flow chart of a dual-electronic-control redundant steering cooperation method provided by an embodiment of the present application. The embodiment is applicable at least to a steering assist scene of a pure electric commercial vehicle, and is particularly applicable to a pure electric heavy commercial vehicle. The dual-electronic-control redundant steering cooperation method can be executed by a dual-electronic-control redundant steering cooperation device in the embodiment of the present application as an execution subject, and the execution subject can be realized in the form of software and / or hardware. As shown in the figure, the dual-electronic-control redundant steering cooperation method at least includes the following steps: Figure 1

[0055] S1, a redundant link of a first electronic control and a second electronic control is established.

[0056] The first electronic control and the second electronic control can be two sets of electronic controllers with the same configuration. The establishment mode of the redundant link can be to set a Sent type redundant TAS sensor, and signals of the TAS sensor are output to the first electronic control and the second electronic control in two paths respectively.

[0057] S2, at least after the establishment of the redundant link is completed, a working state of the first electronic control and the second electronic control is monitored in real time.

[0058] The working state can be a temperature, a network condition, an error reporting condition, etc. of the first electronic control or the second electronic control when working.

[0059] S3, the working state of the opposite electronic control is sent to the first electronic control or the second electronic control in real time through the redundant link.

[0060] ​It can be understood that the opposite end of the first electric control is the second electric control, and the opposite end of the second electric control is the first electric control.

[0061] S4, in the process of vehicle steering, if the working state of any electric control is abnormal, the fault level of the abnormal electric control is determined according to the abnormal information, and the working state of the first electric control and the second electric control is adjusted based on at least the fault level, so as to complete the steering operation of the vehicle.

[0062] Among them, the fault level can be divided into three fault levels, such as low, medium and high fault. The fault level can be used to represent the working condition of the electric controller. The abnormal information can be warning information in the working process of the electric controller, such as temperature abnormality, signal loss, etc.

[0063] In a specific implementation scenario, the first electric control, the second electric control and the TAS sensor can jointly constitute a set of double electric control system, Figure 2 is a double electric control system framework provided by the embodiment, as shown in Figure 2 , the double electric control system includes external TAS sensor, TAS sensor analysis SWC, function control SWC, redundancy coordination SWC, motor control SWC and motor MPS sensor group. The first electric control and the second electric control can transmit signals through internal private CAN protocol. It can be understood that under normal circumstances, the first electric control and the second electric control are both normal, at this time, the first electric control and the second electric control both receive TAS signal, vehicle speed, engine speed and other signals, and then calculate the respective assist torque through the steering function SWC. After the assist torque instructions of the first electric control and the second electric control pass through the coordination control SWC, the respective assist torque is output to the motor control SWC of the respective controller. The first electric control and the second electric control output the respective assist torque through the motor control SWC to realize the assist steering function. Figure 3 is a flow chart of signal transmission of the double electric control system provided by the embodiment, as shown in Figure 3 , a single electric controller receives two torque signals and an angle signal. The torque of the TAS sensor is verified internally and externally. When the torque signal of a certain electric controller fails, the redundant torque signal is transmitted through the private CAN protocol. The angle signal of the TAS sensor is only double redundant between the controllers. When the angle signal of a certain controller fails, the redundant angle signal is transmitted through the private CAN. After the function control receives the hand force signal analyzed by the TAS sensor (used to obtain the torque of the driver acting on the steering wheel, obtained by the torque monitoring SWC in Figure 3 ), the required assist request torque is calculated. The redundancy coordination receives the request torque of the two side ECUs, and then outputs the final request torque to the motor control module after the coordination management.

[0064] The logical relationship between SWCs can be that the TAS sensor resolves the SWCs ( Figure 3 The fault status signal and torque angle redundancy signal of the sensor SWC, and the motor control SWC ( Figure 3 The input values ​​of various signals, such as the fault status signal of the actuator SWC, the requested torque signal of the function control SWC, and the fault status signal of the torque monitoring SWC, are transmitted to the redundant coordination SWC. The redundant coordination SWC realizes the interaction between the controller fault status and the redundant link message through the private CAN in the basic software layer BSW. Finally, the redundant coordination SWC calculates the actual steering assist requested torque and sends it to the motor control SWC, thereby completing the vehicle steering operation.

[0065] The technical solution provided in this embodiment first establishes a redundant link between the first and second electronic controllers; second, at least after the redundant link is established, the working status of the first and second electronic controllers is monitored in real time; then, the working status of the peer electronic controller is sent to the first or second electronic controller in real time through the redundant link; finally, during the vehicle steering process, if the working status of either electronic controller is abnormal, the fault level of the abnormal electronic controller is determined according to the abnormal information, and the working status of the first and second electronic controllers is adjusted at least based on the fault level to complete the vehicle steering operation.

[0066] Therefore, this embodiment demonstrates that, on the one hand, by establishing redundant links between the first and second electronic controls, a dual-control backup mechanism is formed, avoiding electric power steering system failure due to single-point faults, significantly improving the overall reliability of the electric power steering system, and further ensuring user safety. On the other hand, when either electronic control malfunctions, this embodiment adjusts the operating state of the dual electronic controls based on the fault level, continuously maintaining a stable output of vehicle steering assistance, ensuring the continuity of steering operation, preventing steering loss of control due to electronic control failures, and significantly improving driving safety.

[0067] Based on the above embodiments or implementation methods Figure 4 This is a flowchart of another dual-electronic-controlled redundant steering coordination method provided in an embodiment of the present invention. This embodiment is based on the above embodiment with additions. Figure 4 As shown, the dual-electronic-controlled redundant steering coordination method includes at least the following steps:

[0068] S1. Establish redundant links between the first and second electronic controls.

[0069] S2. At least after the redundant link is established, monitor the working status of the first and second electronic controllers in real time.

[0070] In the embodiment, a protection mechanism for redundant link message loss is also provided. In a specific implementation, optionally, the sending state of the redundant link message is monitored in real time, and if the sending state of the redundant link message is a loss state, the first electronic control and the second electronic control work independently and adjust the output assistance of themselves according to the fault level to complete the steering operation of the vehicle. It can be known that the redundant link message is used to monitor the working state of the redundant link, and the first electronic control can periodically send a heartbeat message to the second electronic control and wait for a response from the second electronic control. If the first electronic control receives the response message (i.e., the redundant link message) of the second electronic control, it is considered that the redundant link is working normally.

[0071] S3, sending the working state of the opposite end electronic control to the first electronic control or the second electronic control in real time through the redundant link.

[0072] S41, in the process of steering the vehicle, if the external network vehicle speed message of the first electronic control is lost, it is determined that the fault level of the first electronic control is a light fault level.

[0073] In the embodiment, the external network vehicle speed message contains a vehicle speed signal, and the electronic controller needs to calculate the assistance to be output according to the vehicle speed signal.

[0074] S42, sending the external network vehicle speed message of the second electronic control to the first electronic control through the redundant link, so that the first electronic control completes the steering operation of the vehicle according to the external network vehicle speed message of the second electronic control and cooperates with the second electronic control.

[0075] On the basis of the above embodiment or implementation, Figure 5 is a flowchart of another double-electronic-control redundant steering cooperation method provided by the embodiment, and the embodiment is added on the basis of the above embodiment. As shown in the figure, Figure 5 the double-electronic-control redundant steering cooperation method at least includes the following steps:

[0076] S1, establishing a redundant link of the first electronic control and the second electronic control.

[0077] S2, monitoring the working state of the first electronic control and the second electronic control in real time at least after the redundant link is established.

[0078] S3, sending the working state of the opposite end electronic control to the first electronic control or the second electronic control in real time through the redundant link.

[0079] S43, in the process of steering the vehicle, if the first electronic control appears temperature abnormality, it is determined that the fault level of the first electronic control is a moderate fault level.

[0080] S44, determining the assistance degradation coefficient of the first electronic control according to the temperature abnormality information.

[0081] The trigger condition of the temperature abnormality information can be that the working temperature of the first electric control exceeds a preset temperature range, such as [85, 120]. It can be understood that when the temperature of the electric controller exceeds the normal working range, the output assistance of the electric controller needs to be reduced to ensure the normal operation of the electric controller, and in order to ensure that the vehicle can have sufficient assistance to complete steering, the output assistance of the other electric controller needs to be correspondingly increased to ensure that the total output assistance remains unchanged, so that the embodiment designs an assistance degradation coefficient for prompting the increase coefficient of the normal electric controller output assistance. The assistance degradation coefficient can change linearly with the temperature overrun value (the overrun value exceeding the normal temperature range).

[0082] S45, sending the assistance degradation coefficient and the moderate fault level of the first electric control to the second electric control through the redundant link.

[0083] S46, adjusting the output assistance of the second electric control through the assistance degradation coefficient and the moderate fault level, and cooperating with the first electric control to complete the steering operation of the vehicle.

[0084] On the basis of the above embodiment or implementation, Figure 6 is a flowchart of another dual electric control redundant steering cooperation method provided by the embodiment of the application, which is based on the above embodiment and is additionally added. As shown in the figure, Figure 6 the dual electric control redundant steering cooperation method at least includes the following steps:

[0085] S1, establishing a redundant link of the first electric control and the second electric control.

[0086] S2, monitoring the working states of the first electric control and the second electric control in real time at least after the redundant link is established.

[0087] S3, sending the working state of the opposite electric control to the first electric control or the second electric control in real time through the redundant link.

[0088] S47, if the first electric control has an assistance failure abnormality in the process of steering the vehicle, determining that the fault level of the first electric control is a high fault level.

[0089] S48, controlling the first electric control to enter a failsafe mode and turn off the output assistance of the first electric control.

[0090] The failsafe mode can be a failsafe mode.

[0091] S49, sending the high fault level of the first electric control to the second electric control through the redundant link, so that the second electric control adjusts the output assistance according to the high fault level to complete the steering operation of the vehicle.

[0092] It can be known that, under normal circumstances, the output assistances of the first electric control and the second electric control are each half of the total output assistance, if the second electric control receives the high fault level signal of the first electric control, at this time, the second electric control will adjust its output assistance to be twice the original (i.e. the total output assistance) according to the high fault level.

[0093] It can be seen that, on the one hand, the embodiment forms a double electric control backup mechanism by establishing a redundant link of the first electric control and the second electric control, avoids the failure of the electric power steering system caused by single point failure, significantly improves the overall reliability of the electric power steering system, and further guarantees the safety of the user's vehicle. On the other hand, when any electric control is abnormal, the working state of the double electric control is adjusted based on the fault level, the stable output of the vehicle steering assistance can be continuously maintained, the continuity of the steering operation is guaranteed, the steering out of control caused by the electric control failure is avoided, and the driving safety is significantly improved.

[0094] Figure 7 is a structural schematic diagram of a double electric control redundant steering cooperation device provided by the embodiment of the application, the embodiment is at least applicable to a steering assistance scene of a pure electric commercial vehicle, and is particularly applicable to a pure electric heavy commercial vehicle. The double electric control redundant steering cooperation device can be realized in a software and / or hardware manner. As shown in the figure, the double electric control redundant steering cooperation device at least comprises: Figure 7

[0095] The redundant establishment module 110 is configured to establish a redundant link of the first electric control and the second electric control.

[0096] The redundant monitoring module 120 is configured to monitor the working states of the first electric control and the second electric control in real time at least after the redundant link is established.

[0097] The state sending module 130 is configured to send the working state of the opposite electric control to the first electric control or the second electric control in real time through the redundant link.

[0098] The steering operation module 140 is configured to, when the working state of any electric control is abnormal in the process of vehicle steering, determine the fault level of the abnormal electric control according to the abnormal information, and adjust the working states of the first electric control and the second electric control based on at least the fault level, so as to complete the steering operation of the vehicle.

[0099] Optionally, the steering operation module 140 is specifically configured to:

[0100] In the process of vehicle steering, when the external network vehicle speed message of the first electric control is lost, the fault level of the first electric control is determined as a light fault level; and the external network vehicle speed message of the second electric control is sent to the first electric control through the redundant link, so that the first electric control completes the steering operation of the vehicle according to the external network vehicle speed message of the second electric control and cooperates with the second electric control.

[0101] ​Optionally, the steering operation module 140 is further specifically used for:

[0102] In the process of vehicle steering, when the first electric control appears temperature abnormality, the fault level of the first electric control is determined as a moderate fault level; and the assist degradation coefficient of the first electric control is determined according to the temperature abnormality; and the assist degradation coefficient and the moderate fault level of the first electric control are sent to the second electric control through the redundant link; and the output assist of the second electric control is adjusted by the assist degradation coefficient and the moderate fault level, and the steering operation of the vehicle is completed in cooperation with the first electric control.

[0103] Optionally, the steering operation module 140 is further specifically used for:

[0104] In the process of vehicle steering, when the first electric control appears assist fault abnormality, the fault level of the first electric control is determined as a high fault level; and the first electric control is controlled to enter a safe failure mode and the output assist of the first electric control is turned off; and the high fault level of the first electric control is sent to the second electric control through the redundant link, so that the output assist is adjusted by the second electric control according to the high fault level, and the steering operation of the vehicle is completed.

[0105] Optionally, the method further comprises:

[0106] The redundancy abnormality module 150 is used for monitoring the sending state of the redundant link message in real time, and when the sending state of the redundant link message is a loss state, the first electric control and the second electric control work independently and adjust the output assist of themselves according to the fault level, so as to complete the steering operation of the vehicle.

[0107] The technical scheme provided by the embodiment first establishes the redundant link of the first electric control and the second electric control through the redundancy establishment module. Further, after the redundant link is established, the working state of the first electric control and the second electric control is monitored in real time through the redundancy monitoring module. Further, the working state of the opposite end electric control is sent to the first electric control or the second electric control in real time based on the redundant link through the state sending module. Finally, in the process of vehicle steering, when the working state of any electric control is abnormal, the fault level of the abnormal electric control is determined according to the abnormal information through the steering operation module, and the working state of the first electric control and the second electric control is adjusted based on at least the fault level, so as to complete the steering operation of the vehicle.

[0108] It can be seen that, on the one hand, the redundant link of the first electric control and the second electric control is established in the embodiment, forming a double electric control backup mechanism, avoiding the failure of the electric power steering system caused by single point failure, significantly improving the overall reliability of the electric power steering system, and further protecting the user's driving safety. On the other hand, when any electric control is abnormal, the working state of the double electric control is adjusted based on the fault level in the embodiment, which can continuously maintain the stable output of the vehicle steering assist, ensure the continuity of the steering operation, avoid the steering out of control caused by the electric control failure, and significantly improve the driving safety.

[0109] The embodiment provides an electronic device, Figure 8 is a structural schematic diagram of an electronic device provided by the embodiment of the application, referring to Figure 8 The electronic device 1000 comprises a processor 1001 and a memory 1002, and the memory 1002 stores computer readable instructions, when the computer readable instructions are executed by the processor 1001, the steps in any one of the double-electronic-control redundant steering cooperation methods described above are executed. Through the technical scheme described above, the processor 1001 and the memory 1002 are interconnected and communicate with each other through a communication bus and / or other forms of connection mechanisms (not marked), the memory 1002 stores a computer program executable by the processor, when the electronic device 1000 is running, the processor 1001 executes the computer program to execute the double-electronic-control redundant steering cooperation method in any optional implementation manner of the above embodiment, so as to at least realize the following functions: establishing a redundant link of a first electronic control and a second electronic control; at least after the redundant link is established, the working states of the first electronic control and the second electronic control are monitored in real time; the working state of the opposite end electronic control is sent to the first electronic control or the second electronic control in real time through the redundant link; in the process of vehicle steering, if the working state of any electronic control is abnormal, the fault level of the abnormal electronic control is determined according to the abnormal information, and the working states of the first electronic control and the second electronic control are adjusted based on at least the fault level, so as to complete the steering operation of the vehicle.

[0110] The embodiment provides a computer readable storage medium, which stores a computer program, when the computer program is executed by a processor, the double-electronic-control redundant steering cooperation method provided by all the application embodiments is realized: a redundant link of a first electronic control and a second electronic control is established; at least after the redundant link is established, the working states of the first electronic control and the second electronic control are monitored in real time; the working state of the opposite end electronic control is sent to the first electronic control or the second electronic control in real time through the redundant link; in the process of vehicle steering, if the working state of any electronic control is abnormal, the fault level of the abnormal electronic control is determined according to the abnormal information, and the working states of the first electronic control and the second electronic control are adjusted based on at least the fault level, so as to complete the steering operation of the vehicle.

[0111] Any combination of one or more computer readable medium can be utilized. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0112] A computer readable signal medium can include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0113] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0114] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In an embodiment, the present application is directed to computer program products comprising machine-readable media for carrying or having machine-executable instructions or programs

[0115] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dual-electronic-controlled redundant steering coordination method, characterized in that, At least including: Establish redundant links between the first and second electronic control units; At least after the redundant link is established, the operating status of the first and second electronic controls is monitored in real time. The redundant link is used to send the operating status of the peer control to the first or second control in real time. If any of the electronic controls is abnormal during vehicle steering, the fault level of the abnormal electronic control is determined based on the abnormal information, and the operating states of the first and second electronic controls are adjusted based on at least the fault level to complete the vehicle steering operation.

2. The dual-electronic-controlled redundant steering coordination method according to claim 1, characterized in that, During vehicle steering, if any electronic control device experiences an abnormal operating state, the fault level of the abnormal electronic control device is determined based on the abnormality information, and the operating states of the first and second electronic control devices are adjusted based on at least the fault level to complete the vehicle steering operation. Specifically, this includes: If the external network vehicle speed report of the first electronic control unit is lost during the vehicle turning process, the fault level of the first electronic control unit is determined to be a minor fault level. The redundant link is used to send the external network vehicle speed message of the second electronic control unit to the first electronic control unit, so that the first electronic control unit, in accordance with the external network vehicle speed message of the second electronic control unit and in coordination with the second electronic control unit, completes the steering operation of the vehicle.

3. The dual-electronic-controlled redundant steering coordination method according to claim 1, characterized in that, During vehicle steering, if any electronic control device experiences an abnormal operating state, the fault level of the abnormal electronic control device is determined based on the abnormality information, and the operating states of the first and second electronic control devices are adjusted based on at least the fault level to complete the vehicle steering operation. Specifically, this includes: If the first electronic control unit experiences an abnormal temperature during vehicle steering, the fault level of the first electronic control unit is determined to be a moderate fault level. The assist degradation coefficient of the first electronic control unit is determined based on the temperature anomaly information; The first electronic control unit sends the assist degradation coefficient and the moderate fault level to the second electronic control unit via the redundant link; The second electronic control unit adjusts the output assist of the second electronic control unit by adjusting the assist degradation coefficient and the moderate fault level, and works in conjunction with the first electronic control unit to complete the steering operation of the vehicle.

4. The dual-electronic-controlled redundant steering coordination method according to claim 1, characterized in that, During vehicle steering, if any electronic control device experiences an abnormal operating state, the fault level of the abnormal electronic control device is determined based on the abnormality information, and the operating states of the first and second electronic control devices are adjusted based on at least the fault level to complete the vehicle steering operation. Specifically, this includes: If the first electronic control unit malfunctions during vehicle steering, the fault level of the first electronic control unit is determined to be a high fault level. Control the first electronic control unit to enter the safety failure mode and turn off the output assist of the first electronic control unit; The first electronic control unit (ECU) sends the high fault level to the second ECU via the redundant link, so that the second ECU adjusts the output assist according to the high fault level to complete the steering operation of the vehicle.

5. The dual-electronic-controlled redundant steering coordination method according to claim 1, characterized in that, The transmission status of redundant link messages is monitored in real time. If the transmission status of redundant link messages is lost, the first and second electronic controls work independently and adjust their output assistance according to the fault level to complete the steering operation of the vehicle.

6. A dual-electronic-controlled redundant steering coordination device, characterized in that, At least including: A redundancy establishment module is used to establish redundant links between the first and second electronic controls. The redundancy monitoring module is used to monitor the working status of the first electronic control unit and the second electronic control unit in real time, at least after the redundant link is established. The status transmission module is used to transmit the working status of the peer control to the first or second control unit in real time via the redundant link. The steering operation module is used to determine the fault level of any electronic control device when its operating state is abnormal during vehicle steering, based on the abnormal information, and adjust the operating states of the first and second electronic controls at least based on the fault level to complete the vehicle steering operation.

7. The dual electronically controlled redundant steering coordination device according to claim 6, characterized in that, The steering operation module is specifically used for: When the external network vehicle speed message of the first electronic control unit is lost during the vehicle turning process, the fault level of the first electronic control unit is determined to be a minor fault level; and the external network vehicle speed message of the second electronic control unit is sent to the first electronic control unit through the redundant link, so that the first electronic control unit completes the vehicle turning operation according to the external network vehicle speed message of the second electronic control unit and in coordination with the second electronic control unit.

8. The dual electronically controlled redundant steering coordination device according to claim 6, characterized in that, The steering operation module is also specifically used for: When the first electronic control unit experiences a temperature abnormality during vehicle steering, the fault level of the first electronic control unit is determined to be a moderate fault level; and the power assist degradation coefficient of the first electronic control unit is determined based on the temperature abnormality. And, the assist degradation coefficient and the moderate fault level of the first electronic control unit are sent to the second electronic control unit through the redundant link; Furthermore, the output assist of the second electronic control unit is adjusted by the assist degradation coefficient and the moderate fault level, and in coordination with the first electronic control unit, the steering operation of the vehicle is completed.

9. An electronic device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the dual-electronic-controlled redundant steering coordination method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the dual-electronic-controlled redundant steering cooperative method according to any one of claims 1 to 5.

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