Fault diagnosis method and device, rear wheel steering system, equipment and storage medium

Abstract

The embodiment of the invention provides a fault diagnosis method and device, a rear wheel steering system and equipment and a computer readable storage medium, and relates to the technical field of vehicle control. The method comprises the steps that under the condition that a vehicle brake control system and a rear wheel steering system are normal, a front wheel steering angle is obtained; if it is determined that the steering request exists based on the front wheel steering angle, initial rear wheel steering sensing data are obtained; performing fault diagnosis based on the initial rear wheel steering sensing data to obtain a steering request execution state; and if the steering request execution state is an abnormal state and the vehicle is determined to be in a motion state, determining a rear wheel steering clamping stagnation fault. According to the embodiment of the invention, the misjudgment rate of the rear wheel steering clamping stagnation fault can be reduced, and the fault diagnosis efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a fault diagnosis method and device, a rear wheel steering system, equipment and a storage medium. BACKGROUND

[0002] The rear wheel steering system is used to control the rear wheels of the vehicle to steer according to specific conditions during the driving of the vehicle, so as to improve the maneuverability, stability and flexibility of the vehicle. With the development of vehicle intelligence and electrification, the rear wheel sticking fault has an increasingly prominent impact on driving safety. Traditional diagnosis methods mostly rely on mechanical detection, such as manually rotating the wheels to observe the resistance, which has the problem of high misdiagnosis rate. SUMMARY

[0003] The present application provides a fault diagnosis method, device, rear wheel steering system, equipment and storage medium, which is used to solve the problem of high misdiagnosis rate in the prior art.

[0004] According to one aspect of the present application, a fault diagnosis method is provided, the method comprising: obtaining a front wheel steering angle when the vehicle braking control system and the rear wheel steering system are both normal; if it is determined that there is a steering request based on the front wheel steering angle, obtaining initial rear wheel steering sensing data; performing fault diagnosis based on the initial rear wheel steering sensing data to obtain a steering request execution state; wherein the steering request execution state is a normal state or an abnormal state; if the steering request execution state is an abnormal state and it is determined that the vehicle is in a moving state, determining that there is a rear wheel steering sticking fault.

[0005] In one possible implementation, if it is determined that there is a steering request based on the front wheel steering angle, obtaining initial rear wheel steering sensing data, comprises: calculating a target steering displacement based on the front wheel steering angle; if the target steering displacement is greater than a preset displacement, it is determined that there is a steering request, and the initial rear wheel steering sensing data is obtained.

[0006] In one possible implementation, performing fault diagnosis based on the initial rear wheel steering sensing data to obtain a steering request execution state, comprises: at each first detection time in a preset first detection time period, obtaining target rear wheel steering sensing data corresponding to the first detection time, performing a displacement calculation operation based on the target rear wheel steering sensing data to obtain a displacement execution event corresponding to each displacement calculation operation; wherein the displacement execution event includes a completion event and a non-completion event; based on the displacement execution events corresponding to each displacement calculation operation, determining a displacement execution state; Based on the displacement execution state, fault diagnosis is performed to obtain a steering request execution state.

[0007] In yet another possible implementation, the above-mentioned obtaining target rear wheel steering sensing data corresponding to the first detection time comprises: If the displacement calculation operation is the first displacement calculation operation, the initial rear wheel steering sensing data is taken as the target rear wheel steering sensing data. If the displacement calculation operation is the non-first displacement calculation operation, the real-time collected rear wheel steering sensing data is taken as the target rear wheel steering sensing data.

[0008] In yet another possible implementation, the above-mentioned displacement calculation operation comprises: Based on the target rear wheel steering sensing data, an actual steering displacement is calculated. If the difference between the target steering displacement and the actual steering displacement is greater than a preset displacement threshold, it is determined that the displacement execution event is the non-completion event; if the difference between the target steering displacement and the current steering displacement is not greater than the preset displacement threshold, it is determined that the displacement execution event is the completion event.

[0009] In another possible implementation, the above-mentioned target rear wheel steering sensing data comprises at least one of motor displacement sensing data and rack stroke sensing data. The above-mentioned calculation of the actual steering displacement based on the target rear wheel steering sensing data comprises: If the target rear wheel steering sensing data comprises the motor displacement sensing data or the rack stroke sensing data, the actual steering displacement is calculated based on the motor displacement sensing data or the rack stroke sensing data. If the target rear wheel steering sensing data comprises the motor displacement sensing data and the rack stroke sensing data, a first steering displacement is calculated based on the motor displacement sensing data, and a second steering displacement is calculated based on the rack stroke sensing data; the actual steering displacement is determined based on the first steering displacement and the second steering displacement.

[0010] In another possible implementation, the above-mentioned displacement execution state comprises an abnormal execution state or a normal execution state. The above-mentioned determination of the displacement execution state based on the displacement execution events corresponding to each displacement calculation operation comprises: If the displacement execution events corresponding to each target displacement calculation operation are all non-completion events, it is determined that the displacement execution state is the abnormal execution state; otherwise, it is determined that the displacement execution state is the normal execution state; wherein, the target displacement calculation operation is all displacement calculation operations performed within a first time period; the first time period is any time period within a target time length in a first detection time period.

[0011] In another possible implementation, the fault diagnosis based on the displacement execution state obtains a steering request execution state, and includes: If the displacement execution state is the abnormal execution state, real-time rear wheel steering sensing data in a second detection time period is collected; Based on the real-time rear wheel steering sensing data, an actual steering displacement change amount in each unit time period in the second detection time period is calculated; A displacement change state is determined based on the actual steering displacement change amounts; The fault diagnosis based on the displacement change state obtains the steering request execution state.

[0012] In another possible implementation, the displacement change state includes a low change state or a normal change state. The displacement change state is determined based on the actual steering displacement change amounts, and includes: If the actual steering displacement change amounts corresponding to a continuous target number of unit time periods are all less than a preset low change threshold, the displacement change state is determined to be the low change state; otherwise, the displacement change state is determined to be the normal change state.

[0013] In another possible implementation, the fault diagnosis based on the displacement change state obtains the steering request execution state, and includes: If the displacement change state is the low change state, the steering request execution state is determined to be an abnormal state; otherwise, the steering request execution state is determined to be a normal state.

[0014] In another possible implementation, after the rear wheel steering jam fault is determined, the method further includes: A fault prompt information is sent to a vehicle information system.

[0015] In another possible implementation, after the rear wheel steering jam fault is determined, the method further includes: Real-time current rear wheel steering sensing data is acquired, and a rear wheel steering angle is calculated based on the current rear wheel steering sensing data; If the rear wheel steering angle is greater than a preset threshold, a power limitation instruction and a parking warning are sent to the vehicle information system.

[0016] According to another aspect of the embodiments of the present application, a fault diagnosis apparatus is provided, and the apparatus includes: An acquisition module is configured to acquire a front wheel steering angle when a vehicle braking control system and a rear wheel steering system are both normal; A steering module is configured to acquire initial rear wheel steering sensing data if it is determined that there is a steering request based on the front wheel steering angle. The diagnostic module is used to perform fault diagnosis based on the initial rear wheel steering sensor data and obtain the steering request execution status; wherein the steering request execution status is a normal state or an abnormal state; The determination module is used to determine a rear wheel steering jamming fault if the steering request execution status is abnormal and the vehicle is determined to be in motion.

[0017] According to another aspect of this application, a rear-wheel steering system is provided, including a controller and sensors, wherein the controller acquires sensing data from the sensors and performs fault diagnosis of rear-wheel steering sticking fault based on the method shown in the first aspect of this application.

[0018] According to another aspect of this application, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method shown in the first aspect of this application.

[0019] According to another aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the method shown in the first aspect of this application.

[0020] The beneficial effects of the technical solution provided in this application are: The fault diagnosis method provided in this application can acquire initial rear-wheel steering sensing data when both the vehicle's braking control system and rear-wheel steering system are normal and a steering request is confirmed. Fault diagnosis is performed using this initial rear-wheel steering sensing data to obtain the steering request execution status. Then, under the condition that the steering request execution status is abnormal and the vehicle is in motion, a rear-wheel steering jamming fault is determined. This application uses initial rear-wheel steering sensing data for fault diagnosis to obtain the steering request execution status, and combines this status with the vehicle's motion state to determine the rear-wheel steering jamming fault. This avoids data interference when the vehicle is stationary, effectively improving fault diagnosis accuracy. Furthermore, ensuring that both the vehicle's braking control system and rear-wheel steering system are normal before fault diagnosis ensures the real-time nature and validity of the initial rear-wheel steering sensing data collected by the rear-wheel steering system and the vehicle speed data acquired by the vehicle's braking control system. This avoids data judgment errors between the initial rear-wheel steering sensing data and the vehicle's motion state, further reducing the misjudgment rate of rear-wheel steering jamming faults and improving fault diagnosis efficiency. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a fault diagnosis method provided in an embodiment of this application; Figure 2 A flowchart illustrating the process of determining the execution status of a redirection request in a fault diagnosis method provided in this application embodiment; Figure 3 This is a schematic diagram of the displacement calculation operation process in a fault diagnosis method provided in an embodiment of this application; Figure 4 A flowchart illustrating an example of a fault diagnosis method provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a fault diagnosis device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a rear-wheel steering system provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0024] The accompanying drawings illustrate various structural schematics according to embodiments of the present disclosure. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0025] In the context of this disclosure, when a layer / element is referred to as being "above" another layer / element, the layer / element may be directly above the other layer / element, or there may be an intermediate layer / element between them. Additionally, if a layer / element is "above" another layer / element in one orientation, then when the orientation is reversed, the layer / element may be "below" the other layer / element.

[0026] The technological development of rear-wheel steering systems can be traced back to the exploratory stage of the early 20th century, with its core objective being to optimize vehicle handling performance through dynamic adjustment of the rear wheel angle. Rear-wheel active steering systems rely on a steering motor on the rear axle working in conjunction with sensors. Sensors collect data such as vehicle speed and steering wheel angle in real time, and the steering motor uses this data to precisely adjust the steering angle of the rear wheels.

[0027] On the one hand, rear-wheel steering enhances driving agility, making U-turns in parking lots easier. It also provides more precise control during emergency maneuvers, improving vehicle safety. On the other hand, rear-wheel steering reduces body roll for rear passengers, improving driver and passenger comfort.

[0028] When a vehicle experiences rear wheel sticking, it increases the vehicle's rolling resistance, causing the rear-wheel steering system to have to overcome additional resistance. This can result in a heavier steering wheel or difficulty in returning to its original position. Rear wheel sticking may also trigger misjudgments by the Anti-lock Braking System (ABS) or the Electronic Stability Program (ESP), indirectly affecting the torque distribution logic of the electronic power steering, leading to steering wheel sticking or abnormal power steering. Therefore, timely diagnosis of rear wheel sticking is crucial.

[0029] Based on the aforementioned technical problems, some embodiments of this application can acquire initial rear-wheel steering sensing data when both the vehicle braking control system and the rear-wheel steering system are functioning normally and a steering request is confirmed. Fault diagnosis is then performed using this initial rear-wheel steering sensing data to obtain the steering request execution state. Finally, when the steering request execution state is abnormal and the vehicle is in motion, a rear-wheel steering jamming fault is determined. This application uses initial rear-wheel steering sensing data for fault diagnosis to obtain the steering request execution state, and combines this state with the vehicle's motion state to determine the rear-wheel steering jamming fault. This avoids data interference when the vehicle is stationary, effectively improving fault diagnosis accuracy. Furthermore, ensuring that both the vehicle braking control system and the rear-wheel steering system are functioning normally before fault diagnosis ensures the real-time performance and validity of the initial rear-wheel steering sensing data collected by the rear-wheel steering system and the vehicle speed data acquired by the vehicle braking control system. This avoids data judgment errors between the initial rear-wheel steering sensing data and the vehicle's motion state, further reducing the misjudgment rate of rear-wheel steering jamming faults and improving fault diagnosis efficiency.

[0030] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0031] This application provides a fault diagnosis method, such as... Figure 1 As shown, this method can be applied to rear-wheel steering systems and may include: S101, under the condition that the vehicle's braking control system and rear wheel steering system are both normal, obtains the front wheel steering angle.

[0032] The aforementioned rear-wheel steering system may include sensors.

[0033] Specifically, the rear wheel steering system can obtain the working status of the vehicle braking control system and the status of the rear wheel steering system itself in real time. When both the vehicle braking control system and the rear wheel steering system are normal, the above sensors are all normal, and the vehicle speed signal obtained by the vehicle braking control system is valid. Then the rear wheel steering system can obtain the front wheel steering angle from the vehicle braking control system.

[0034] S102, if a steering request is determined based on the front wheel angle, then the initial rear wheel steering sensing data is obtained.

[0035] The aforementioned sensors may include at least one of a motor displacement sensor and a rack travel sensor. The aforementioned initial rear wheel steering sensing data may include at least one of a motor displacement sensing data and a rack travel sensing data.

[0036] Specifically, if the rear wheel steering system calculates the target steering displacement based on the front wheel steering angle, it determines that a steering request exists and acquires the initial rear wheel steering sensing data.

[0037] S103, based on the initial rear wheel steering sensor data, performs fault diagnosis and obtains the steering request execution status.

[0038] The execution status of the redirection request is either normal or abnormal.

[0039] Specifically, the actual displacement data can be calculated based on the initial rear wheel steering sensor data, and fault diagnosis can be performed based on the actual displacement data and the target steering displacement to obtain the steering request execution status.

[0040] S104 If the steering request execution status is abnormal and it is determined that the vehicle is in motion, then a rear wheel steering jamming fault is determined.

[0041] Specifically, when both the vehicle braking control system and the rear wheel steering system are functioning normally, the rear wheel steering system can also obtain the real-time vehicle speed from the vehicle braking control system; if the real-time vehicle speed is greater than the preset vehicle speed threshold, it is determined that the vehicle is in motion.

[0042] Furthermore, the aforementioned vehicle speed threshold can be 3 km / h or 5 km / h.

[0043] This application embodiment can acquire initial rear-wheel steering sensor data when both the vehicle braking control system and the rear-wheel steering system are normal and a steering request is confirmed. Fault diagnosis is performed using this initial rear-wheel steering sensor data to obtain the steering request execution status. Then, under the condition that the steering request execution status is abnormal and the vehicle is in motion, a rear-wheel steering jamming fault is determined. This application uses initial rear-wheel steering sensor data for fault diagnosis to obtain the steering request execution status, and combines this status with the vehicle's motion state to determine the rear-wheel steering jamming fault. This avoids data interference when the vehicle is stationary, effectively improving fault diagnosis accuracy. Furthermore, ensuring that both the vehicle braking control system and the rear-wheel steering system are normal before fault diagnosis ensures the real-time nature and validity of the initial rear-wheel steering sensor data collected by the rear-wheel steering system and the vehicle speed data acquired by the vehicle braking control system. This avoids data judgment errors between the initial rear-wheel steering sensor data and the vehicle's motion state, further reducing the misjudgment rate of rear-wheel steering jamming faults and improving fault diagnosis efficiency.

[0044] This application provides a possible implementation method in which, if a steering request is determined based on the front wheel steering angle, initial rear wheel steering sensing data is obtained, including: S201, the target steering displacement is calculated based on the front wheel steering angle.

[0045] Specifically, the target steering displacement can be calculated based on the vehicle's Ackerman steering geometry, using information such as the front wheel angle, vehicle wheelbase, and turning radius.

[0046] S202, if the target steering displacement is greater than the preset displacement, then a steering request is determined and the initial rear wheel steering sensing data is obtained.

[0047] The preset displacement can be 0 mm.

[0048] The embodiments of this application calculate the target steering displacement based on the front wheel steering angle. When the target steering displacement is greater than 0, it is determined that there is a steering request and the initial rear wheel steering sensing data is obtained. This lays a good foundation for subsequent fault diagnosis based on the initial rear wheel steering sensing data and improves the accuracy of fault diagnosis.

[0049] This application provides one possible implementation method, such as...Figure 2 As shown, the above fault diagnosis based on initial rear wheel steering sensor data yields the steering request execution status, including: S301, at each first detection moment within the preset first detection time period, acquire the target rear wheel steering sensing data corresponding to the first detection moment, perform a displacement calculation operation based on the target rear wheel steering sensing data, and obtain the displacement execution event corresponding to each displacement calculation operation.

[0050] The displacement execution event includes completion events and non-completion events. The first detection time can be determined based on a preset time interval, which can be 10ms or 20ms. The aforementioned first detection time period can be 5 minutes or 10 minutes.

[0051] Furthermore, the acquisition of the target rear wheel steering sensor data corresponding to the first detection moment may include: If the displacement calculation operation is the first displacement calculation operation, the initial rear wheel steering sensor data will be used as the target rear wheel steering sensor data; if the displacement calculation operation is not the first displacement calculation operation, the real-time collected rear wheel steering sensor data will be used as the target rear wheel steering sensor data.

[0052] Furthermore, such as Figure 3 As shown, the above displacement calculation operation includes: The actual steering displacement is calculated based on the target rear wheel steering sensor data; if the difference between the target steering displacement and the actual steering displacement is greater than the preset displacement threshold, the displacement execution event is determined to be a non-completion event; if the difference between the target steering displacement and the current steering displacement is not greater than the preset displacement threshold, the displacement execution event is determined to be a completion event.

[0053] The preset displacement threshold can be 2mm.

[0054] Specifically, if the difference between the target steering displacement and the actual steering displacement is greater than 2mm, it is determined as a non-completion event; if the difference between the target steering displacement and the actual steering displacement is less than or equal to 2mm, it is determined as a completion event.

[0055] S302, based on the displacement execution events corresponding to each displacement calculation operation, the displacement execution status is determined.

[0056] Specifically, the displacement execution state can be determined based on the number and continuity of displacement execution events. The specific process for determining the displacement execution state will be explained in detail below.

[0057] S303, based on the displacement execution status, performs fault diagnosis and obtains the steering request execution status.

[0058] Specifically, the rear-wheel steering system can also determine the displacement change state and determine the steering request execution state based on the displacement execution state and the displacement change state.

[0059] This application embodiment acquires target rear wheel steering sensor data at each first detection moment within a preset first detection time period. Based on this data, a displacement calculation operation is performed to obtain the displacement execution event corresponding to each calculation operation. Statistical analysis is then performed on the displacement execution events determined for each calculation operation to obtain the displacement execution state, and the steering request execution state is determined based on this state. This application implements a comparison operation between the actual steering displacement and the target steering displacement to determine the displacement execution state corresponding to each calculation operation. This effectively determines the deviation between the executed displacement and the target displacement, improving the effectiveness and accuracy of fault diagnosis.

[0060] This application provides a possible implementation method in which the target rear wheel steering sensing data includes at least one of motor displacement sensing data and rack travel sensing data.

[0061] The actual steering displacement calculated based on the target rear wheel steering sensor data includes: In some implementations, if the target rear wheel steering sensing data includes motor displacement sensing data or rack travel sensing data, the actual steering displacement is calculated based on the motor displacement sensing data or rack travel sensing data.

[0062] In other implementations, if the target rear wheel steering sensing data includes motor displacement sensing data and rack travel sensing data, then a first steering displacement is calculated based on the motor displacement sensing data, and a second steering displacement is calculated based on the rack travel sensing data; the actual steering displacement is determined based on the first steering displacement and the second steering displacement.

[0063] Specifically, the average of the first steering displacement and the second steering displacement can be used as the actual steering displacement; alternatively, weighted data can be predetermined, and the first steering displacement and the second steering displacement can be weighted and summed to obtain the actual steering displacement. In this embodiment, no specific limitation is made.

[0064] This application provides a possible implementation method, wherein the above displacement execution state includes an abnormal execution state or a normal execution state.

[0065] Based on the displacement execution events corresponding to each displacement calculation operation, the displacement execution state is determined, including: If all displacement execution events corresponding to each target displacement calculation operation are non-completion events, then the displacement execution state is determined to be an abnormal execution state; otherwise, the displacement execution state is determined to be a normal execution state.

[0066] The target displacement calculation operation refers to all displacement calculation operations performed within the first time period; the first time period is any time period within the target duration that falls within the first detection time period.

[0067] Furthermore, the target duration can be 10s or 15s, and is not specifically limited in this embodiment.

[0068] Specifically, real-time displacement calculation can be continuously performed during the first detection period to compare the difference between the target steering displacement and the actual steering displacement at each first detection moment, and determine the displacement execution event based on the difference, i.e. whether the target steering displacement is executed normally; if the target steering displacement is not executed normally, i.e., if non-completion events are continuously detected within the target duration such as 10 seconds, the displacement execution state is determined to be an abnormal execution state.

[0069] This application embodiment can determine whether the displacement execution state is normal or abnormal based on the target displacement calculation operation. That is, if, within any time period of the target duration within the first detection time period, all displacement execution events corresponding to each displacement calculation operation are non-complete events (i.e., the duration of non-complete events is continuously monitored to be greater than or equal to the target duration), then the displacement execution state is determined to be abnormal; otherwise, it is considered normal. This application embodiment achieves continuous monitoring of the displacement execution state, laying a solid foundation for subsequent fault diagnosis.

[0070] This application provides a possible implementation method in which the above-mentioned fault diagnosis based on displacement execution state is used to obtain the steering request execution state, including: S401, if the displacement execution state is an abnormal execution state, then collect real-time rear wheel steering sensor data during the second detection time period.

[0071] S402 calculates the actual steering displacement change in each unit time period within the second detection time period based on real-time rear wheel steering sensor data.

[0072] The unit of time period can be 1 second.

[0073] S403 determines the displacement change state based on the actual steering displacement changes.

[0074] Specifically, the displacement change state can be determined based on the difference between the actual change in steering displacement and the preset low change threshold.

[0075] S404, based on the displacement change state, performs fault diagnosis and obtains the steering request execution state.

[0076] This application provides a possible implementation method, wherein the displacement change state includes a low change state or a normal change state.

[0077] The above determination of displacement change state based on each actual steering displacement change includes: If the actual change in steering displacement corresponding to the number of consecutive targets per unit time period is less than the preset low change threshold, then the displacement change state is determined to be a low change state; otherwise, the displacement change state is determined to be a normal change state.

[0078] The preset low change threshold can be 0.5 mm. When the time period is 1 second, the corresponding number of targets can be 5.

[0079] This application provides a possible implementation method in which the above-mentioned fault diagnosis based on displacement change state is used to obtain the steering request execution state, including: If the displacement change status is low, the steering request execution status is determined to be abnormal; otherwise, the steering request execution status is determined to be normal.

[0080] In this embodiment, real-time monitoring of rear wheel steering sensor data can be performed. If the actual steering displacement change within a unit time period is less than a preset low change threshold (e.g., 0.5 mm) and the duration is greater than a certain duration (e.g., 5 seconds), the displacement change state can be determined to be a low change state, i.e., the displacement is too small. Fault diagnosis can then be performed based on this low displacement state. This embodiment combines the execution state of the target steering displacement and the displacement change within a unit time period to perform fault diagnosis, further improving the accuracy of fault diagnosis.

[0081] This application provides a possible implementation method, which, after determining the rear wheel steering sticking fault, includes: Send fault alert information to the vehicle information system.

[0082] In this embodiment of the application, after determining that the rear wheel steering is stuck, the rear wheel steering system can send the rear wheel steering stuck fault information, i.e., fault prompt information, to the in-vehicle information system (IVI) so that the driver can be informed of the fault in a timely manner.

[0083] This application provides a possible implementation method, which, after determining the rear wheel steering sticking fault, further includes: S501 acquires the current rear wheel steering sensor data in real time and calculates the rear wheel steering angle based on the current rear wheel steering sensor data.

[0084] Specifically, the current actual displacement travel can be calculated based on the current rear wheel steering sensor data, and the corresponding rear wheel steering angle can be obtained by querying based on the current actual displacement travel.

[0085] S502 If the rear wheel angle is greater than a preset threshold, a power limit command and a parking warning are sent to the vehicle information system.

[0086] The aforementioned preset threshold can be 0.1°.

[0087] Specifically, when a rear wheel steering jamming fault occurs, it is necessary to further determine the current rear wheel steering angle. If the rear wheel steering angle is greater than the preset threshold, the vehicle power needs to be immediately limited, and the IVI system's instrument panel will continuously display a pop-up prompting the driver to gently apply the brakes and pull over to the side of the road, and to contact the vehicle's after-sales service. If the rear wheel steering angle is not greater than the preset threshold, there is no need to limit the vehicle power, and the driver can drive normally.

[0088] In this embodiment of the application, after a rear wheel steering jamming fault occurs, if the real-time rear wheel steering angle is detected to reach the target steering angle after the vehicle is restarted and restored, that is, the difference between the current actual steering displacement and the target steering displacement is less than 0.5mm, for example, the current actual steering displacement and the target steering displacement are both 15mm, then the fault alarm status still needs to be maintained to remind the driver to repair the vehicle as soon as possible to ensure driving safety.

[0089] To better understand the above fault diagnosis methods, the following will combine... Figure 4 A detailed example of a fault diagnosis method of this application, applied to a rear-wheel steering system, is provided. The method includes the following steps: S601, when both the vehicle braking control system and the rear wheel steering system are functioning normally, the rear wheel steering system can obtain the front wheel steering angle from the vehicle braking control system.

[0090] S602, the rear wheel steering system can calculate the target steering displacement based on the front wheel steering angle. If the target steering displacement is greater than 0, it is determined that there is a steering request and the initial rear wheel steering sensing data is obtained.

[0091] The initial rear wheel steering sensing data mentioned above may include motor displacement sensing data and rack travel sensing data.

[0092] S603: At each first detection moment within a preset first detection time period, acquire the target rear wheel steering sensing data corresponding to the first detection moment, perform a displacement calculation operation based on the target rear wheel steering sensing data, and obtain the displacement execution event corresponding to each displacement calculation operation.

[0093] The displacement calculation operation may include: calculating the actual steering displacement based on the target rear wheel steering sensor data; if the difference between the target steering displacement and the actual steering displacement is greater than 2mm, the displacement execution event is determined to be a non-completion event; if the difference between the target steering displacement and the current steering displacement is not greater than 2mm, the displacement execution event is determined to be a completion event.

[0094] Furthermore, the first detection time can be determined based on a preset time interval, which can be 10ms. If the displacement calculation operation is the first displacement calculation operation, the target rear wheel steering sensing data is the initial rear wheel steering sensing data; if the displacement calculation operation is not the first displacement calculation operation, the target rear wheel steering sensing data is the real-time acquired rear wheel steering sensing data.

[0095] S604, if the duration of consecutive non-complete events detected is greater than 10s within the first detection time period, the displacement execution state is determined to be an abnormal execution state, and real-time rear wheel steering sensing data is collected within the second detection time period.

[0096] S605 calculates the actual steering displacement change in each unit time period within the second detection time period based on real-time rear wheel steering sensor data.

[0097] The unit of time period can be 1 second.

[0098] S606, if the actual steering displacement change is detected to be less than 0.5mm within 15 consecutive seconds, the displacement change state is determined to be low change state, and the steering request execution state is determined to be abnormal state.

[0099] S607, the rear wheel steering system obtains the real-time vehicle speed from the vehicle braking control system; if the real-time vehicle speed is greater than the preset vehicle speed threshold, it is determined that the vehicle is in motion and that there is a rear wheel steering jamming fault.

[0100] In the S608, the rear-wheel steering system can send rear-wheel steering jamming fault information, i.e., fault warning information, to the IVI (In-Vehicle Infotainment System), so that the driver can be informed of the fault in a timely manner. Simultaneously, the rear-wheel steering system can also acquire current rear-wheel steering sensor data in real time and calculate the rear-wheel steering angle based on this data. If the rear-wheel steering angle is greater than 0.1°, a power limiting command and a stop warning are sent to the on-board information system.

[0101] Furthermore, if a rear wheel steering jamming fault occurs and the vehicle is restarted and restored, and the real-time rear wheel steering angle is detected to reach the target steering angle (i.e., the difference between the current actual steering displacement and the target steering displacement is less than 0.5mm, for example, if both the current actual steering displacement and the target steering displacement are 15mm), then the fault alarm status should still be maintained to remind the driver to have the vehicle repaired as soon as possible to further ensure driving safety.

[0102] This application provides a fault diagnosis device, such as... Figure 5 As shown, the fault diagnosis device 50 may include: an acquisition module 501, a steering module 502, a diagnosis module 503, and a determination module 504; The acquisition module 501 is used to acquire the front wheel angle when the vehicle braking control system and rear wheel steering system are both normal. Steering module 502 is used to acquire initial rear wheel steering sensing data if a steering request is determined based on the front wheel steering angle. The diagnostic module 503 is used to perform fault diagnosis based on the initial rear wheel steering sensor data to obtain the steering request execution status; wherein the steering request execution status is a normal state or an abnormal state. The determination module 504 is used to determine a rear wheel steering jamming fault if the steering request execution status is abnormal and the vehicle is determined to be in motion.

[0103] This application embodiment provides a possible implementation method in which the steering module 502, when determining a steering request based on the front wheel steering angle and acquiring initial rear wheel steering sensing data, is used to: The target steering displacement is calculated based on the front wheel steering angle; If the target steering displacement is greater than the preset displacement, a steering request is determined, and initial rear wheel steering sensor data is acquired.

[0104] This application embodiment provides a possible implementation method in which the diagnostic module 503, when performing fault diagnosis based on initial rear wheel steering sensor data and obtaining the steering request execution status, is used to: At each first detection moment within a preset first detection time period, the target rear wheel steering sensor data corresponding to the first detection moment is acquired. A displacement calculation operation is performed based on the target rear wheel steering sensor data to obtain the displacement execution event corresponding to each displacement calculation operation. The displacement execution event includes completion events and non-completion events. Based on the displacement execution events corresponding to each displacement calculation operation, the displacement execution status is determined; Fault diagnosis is performed based on the displacement execution status to obtain the steering request execution status.

[0105] This application embodiment provides a possible implementation method in which the diagnostic module 503, when acquiring the target rear wheel steering sensing data corresponding to the first detection moment, is used to: If the displacement calculation operation is the first displacement calculation operation, then the initial rear wheel steering sensor data will be used as the target rear wheel steering sensor data. If the displacement calculation operation is not the first displacement calculation operation, then the real-time collected rear wheel steering sensor data will be used as the target rear wheel steering sensor data.

[0106] This application embodiment provides a possible implementation method, wherein the above displacement calculation operation includes: The actual steering displacement is calculated based on the target rear wheel steering sensor data; If the difference between the target steering displacement and the actual steering displacement is greater than the preset displacement threshold, the displacement execution event is determined to be a non-completion event; if the difference between the target steering displacement and the current steering displacement is not greater than the preset displacement threshold, the displacement execution event is determined to be a completion event.

[0107] This application provides a possible implementation method in which the target rear wheel steering sensing data includes at least one of motor displacement sensing data and rack travel sensing data. When the diagnostic module 503 calculates the actual steering displacement based on the target rear wheel steering sensor data, it is used to: If the target rear wheel steering sensor data includes motor displacement sensor data or rack travel sensor data, the actual steering displacement is calculated based on the motor displacement sensor data or rack travel sensor data. If the target rear wheel steering sensing data includes motor displacement sensing data and rack travel sensing data, then the first steering displacement is calculated based on the motor displacement sensing data, and the second steering displacement is calculated based on the rack travel sensing data; the actual steering displacement is determined based on the first steering displacement and the second steering displacement.

[0108] This application provides a possible implementation method, wherein the above displacement execution state includes an abnormal execution state or a normal execution state; When determining the displacement execution status based on the displacement execution events corresponding to each displacement calculation operation, the aforementioned diagnostic module 503 is used for: If all displacement execution events corresponding to each target displacement calculation operation are non-completion events, then the displacement execution state is determined to be an abnormal execution state; otherwise, the displacement execution state is determined to be a normal execution state. Here, the target displacement calculation operation is all displacement calculation operations performed within the first time period; the first time period is any time period within the target duration of the first detection time period.

[0109] This application embodiment provides a possible implementation method. When the diagnostic module 503 performs fault diagnosis based on the displacement execution state and obtains the steering request execution state, it is used for: If the displacement execution state is an abnormal execution state, then real-time rear wheel steering sensor data will be collected during the second detection time period; Based on real-time rear wheel steering sensor data, the actual steering displacement change in each unit time period within the second detection time period is calculated. Determine the displacement change state based on each actual steering displacement change; Fault diagnosis is performed based on displacement change status to obtain steering request execution status.

[0110] This application provides a possible implementation method, wherein the above displacement change state includes a low change state or a normal change state; The diagnostic module 503 described above, when determining the displacement change state based on each actual steering displacement change, is used for: If the actual change in steering displacement corresponding to the number of consecutive targets per unit time period is less than the preset low change threshold, then the displacement change state is determined to be a low change state; otherwise, the displacement change state is determined to be a normal change state.

[0111] This application embodiment provides a possible implementation method. When the diagnostic module 503 performs fault diagnosis based on displacement change state and obtains the steering request execution state, it is used for: If the displacement change status is low, the steering request execution status is determined to be abnormal; otherwise, the steering request execution status is determined to be normal.

[0112] This application embodiment provides a possible implementation method in which the determining module 504, after determining the rear wheel steering sticking fault, is used to: Send fault alert information to the vehicle information system.

[0113] This application embodiment provides a possible implementation method in which, after determining the rear wheel steering sticking fault, the determining module 504 is further configured to: The system acquires real-time rear wheel steering sensor data and calculates the rear wheel steering angle based on this data. If the rear wheel angle exceeds a preset threshold, a power limit command and a parking warning are sent to the vehicle information system.

[0114] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0115] This application provides a rear-wheel steering system, such as Figure 6As shown, the rear wheel steering system 60 includes a controller 601 and a sensor 602. The controller 601 acquires sensing data from the sensor 602 and performs fault diagnosis of rear wheel steering sticking fault based on the aforementioned fault diagnosis method of this application.

[0116] This application embodiment can acquire initial rear-wheel steering sensor data when both the vehicle braking control system and the rear-wheel steering system are normal and a steering request is confirmed. Fault diagnosis is performed using this initial rear-wheel steering sensor data to obtain the steering request execution status. Then, under the condition that the steering request execution status is abnormal and the vehicle is in motion, a rear-wheel steering jamming fault is determined. This application uses initial rear-wheel steering sensor data for fault diagnosis to obtain the steering request execution status, and combines this status with the vehicle's motion state to determine the rear-wheel steering jamming fault. This avoids data interference when the vehicle is stationary, effectively improving fault diagnosis accuracy. Furthermore, ensuring that both the vehicle braking control system and the rear-wheel steering system are normal before fault diagnosis ensures the real-time nature and validity of the initial rear-wheel steering sensor data collected by the rear-wheel steering system and the vehicle speed data acquired by the vehicle braking control system. This avoids data judgment errors between the initial rear-wheel steering sensor data and the vehicle's motion state, further reducing the misjudgment rate of rear-wheel steering jamming faults and improving fault diagnosis efficiency.

[0117] This application provides an electronic device including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps of a fault diagnosis method. Compared with related technologies, this application can achieve the following: when the vehicle's braking control system and rear-wheel steering system are both normal and a steering request is confirmed, initial rear-wheel steering sensing data is acquired; fault diagnosis is performed using the initial rear-wheel steering sensing data to obtain the steering request execution state; then, under the condition that the steering request execution state is abnormal and the vehicle is in motion, a rear-wheel steering jamming fault is determined. This application performs fault diagnosis using initial rear-wheel steering sensing data to obtain the steering request execution state, and combines the steering request execution state with the vehicle's motion state to determine the rear-wheel steering jamming fault. This avoids data interference when the vehicle is stationary and effectively improves the accuracy of fault diagnosis. Meanwhile, ensuring that the vehicle's braking control system and rear-wheel steering system are functioning properly before fault diagnosis can guarantee the real-time nature and effectiveness of the initial rear-wheel steering sensor data collected by the rear-wheel steering system and the vehicle speed data acquired by the vehicle braking control system. This avoids data judgment errors between the initial rear-wheel steering sensor data and the vehicle's motion state, further reducing the misdiagnosis rate of rear-wheel steering sticking faults and improving the efficiency of fault diagnosis.

[0118] In one alternative embodiment, an electronic device is provided, such as Figure 7 As shown, Figure 7The illustrated electronic device 70 includes a processor 701 and a memory 703. The processor 701 and the memory 703 are connected, for example, via a bus 702. Optionally, the electronic device 70 may further include a transceiver 704, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 704 is not limited to one type, and the structure of this electronic device 70 does not constitute a limitation on the embodiments of this application.

[0119] Processor 701 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 701 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0120] Bus 702 may include a pathway for transmitting information between the aforementioned components. Bus 702 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 702 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0121] The memory 703 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0122] The memory 703 stores computer programs that execute embodiments of this application, and the processor 701 controls their execution. The processor 701 executes the computer programs stored in the memory 703 to implement the steps shown in the foregoing method embodiments.

[0123] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, and tablets, as well as fixed terminals such as digital TVs and desktop computers.

[0124] This application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method shown in the first aspect of this application.

[0125] The above description does not provide detailed technical specifications regarding the structure of each layer. However, those skilled in the art should understand that layers and regions of desired shapes can be formed using various technical means. Furthermore, to form the same structure, those skilled in the art can also design methods that are not entirely identical to those described above. Additionally, although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be advantageously combined.

[0126] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0127] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A fault diagnosis method, characterized in that, The method includes: Under the condition that the vehicle's braking control system and rear wheel steering system are both normal, obtain the front wheel steering angle; If a steering request is determined based on the front wheel steering angle, then initial rear wheel steering sensing data is acquired; Based on the initial rear wheel steering sensor data, fault diagnosis is performed to obtain the steering request execution status; wherein, the steering request execution status is a normal state or an abnormal state; If the steering request execution status is abnormal and the vehicle is determined to be in motion, then a rear wheel steering jamming fault is identified.

2. The method according to claim 1, characterized in that, If a steering request is determined based on the front wheel steering angle, then initial rear wheel steering sensing data is acquired, including: The target steering displacement is calculated based on the aforementioned front wheel steering angle; If the target steering displacement is greater than the preset displacement, a steering request is determined, and initial rear wheel steering sensing data is acquired.

3. The method according to claim 1, characterized in that, The fault diagnosis based on the initial rear wheel steering sensor data, to obtain the steering request execution status, includes: At each first detection moment within a preset first detection time period, target rear wheel steering sensor data corresponding to the first detection moment is acquired, and a displacement calculation operation is performed based on the target rear wheel steering sensor data to obtain the displacement execution event corresponding to each displacement calculation operation; wherein, the displacement execution event includes completion events and non-completion events; Based on the displacement execution events corresponding to each displacement calculation operation, the displacement execution status is determined; Based on the displacement execution status, fault diagnosis is performed to obtain the steering request execution status.

4. The method according to claim 3, characterized in that, The step of acquiring the target rear wheel steering sensor data corresponding to the first detection time includes: If the displacement calculation operation is the first displacement calculation operation, then the initial rear wheel steering sensing data is used as the target rear wheel steering sensing data; If the displacement calculation operation is not the first displacement calculation operation, then the real-time collected rear wheel steering sensor data will be used as the target rear wheel steering sensor data.

5. The method according to claim 3, characterized in that, The displacement calculation operation includes: The actual steering displacement is calculated based on the target rear wheel steering sensor data. If the difference between the target steering displacement and the actual steering displacement is greater than a preset displacement threshold, the displacement execution event is determined to be a non-completion event; if the difference between the target steering displacement and the current steering displacement is not greater than the preset displacement threshold, the displacement execution event is determined to be a completion event.

6. The method according to claim 5, characterized in that, The target rear wheel steering sensing data includes at least one of motor displacement sensing data and rack travel sensing data; The calculation of the actual steering displacement based on the target rear wheel steering sensor data includes: If the target rear wheel steering sensing data includes motor displacement sensing data or rack travel sensing data, the actual steering displacement is calculated based on the motor displacement sensing data or rack travel sensing data. If the target rear wheel steering sensing data includes motor displacement sensing data and rack travel sensing data, then a first steering displacement is calculated based on the motor displacement sensing data, and a second steering displacement is calculated based on the rack travel sensing data; the actual steering displacement is determined based on the first steering displacement and the second steering displacement.

7. The method according to claim 3, characterized in that, The displacement execution state includes abnormal execution state or normal execution state; The displacement execution state is determined based on the displacement execution events corresponding to each displacement calculation operation, including: If all displacement execution events corresponding to each target displacement calculation operation are non-completion events, then the displacement execution state is determined to be an abnormal execution state; otherwise, the displacement execution state is determined to be a normal execution state; wherein, the target displacement calculation operation is all displacement calculation operations performed within the first time period; the first time period is any time period within the target duration of the first detection time period.

8. The method according to claim 3, characterized in that, The fault diagnosis based on the displacement execution state to obtain the steering request execution state includes: If the displacement execution state is an abnormal execution state, then real-time rear wheel steering sensor data during the second detection time period will be collected. Based on the real-time rear wheel steering sensor data, the actual steering displacement change in each unit time period within the second detection time period is calculated. The displacement change state is determined based on the actual steering displacement changes described above. Based on the displacement change state, fault diagnosis is performed to obtain the steering request execution state.

9. The method according to claim 8, characterized in that, The displacement change state includes a low change state or a normal change state; The determination of the displacement change state based on each of the actual steering displacement changes includes: If the actual change in steering displacement corresponding to the unit time period of the consecutive target number is less than the preset low change threshold, then the displacement change state is determined to be a low change state; otherwise, the displacement change state is determined to be a normal change state.

10. The method according to claim 9, characterized in that, The fault diagnosis based on the displacement change state to obtain the steering request execution state includes: If the displacement change state is a low change state, the steering request execution state is determined to be an abnormal state; otherwise, the steering request execution state is determined to be a normal state.

11. The method according to claim 10, characterized in that, After determining the rear wheel steering sticking fault, the following is included: Send fault alert information to the vehicle information system.

12. The method according to claim 11, characterized in that, After determining the rear wheel steering sticking fault, the process also includes: The system acquires real-time rear wheel steering sensor data and calculates the rear wheel angle based on the data. If the rear wheel angle is greater than a preset threshold, a power limiting command and a parking warning are sent to the vehicle information system.

13. A fault diagnosis device, characterized in that, The device includes: The acquisition module is used to acquire the front wheel steering angle when the vehicle's braking control system and rear wheel steering system are both functioning normally. The steering module is used to acquire initial rear wheel steering sensing data if a steering request is determined based on the front wheel steering angle. The diagnostic module is used to perform fault diagnosis based on the initial rear wheel steering sensor data to obtain the steering request execution status; wherein the steering request execution status is a normal state or an abnormal state; The determination module is used to determine a rear wheel steering jamming fault if the steering request execution status is abnormal and the vehicle is determined to be in motion.

14. A rear-wheel steering system, characterized in that, It includes a controller and a sensor, wherein the controller acquires sensing data from the sensor and performs fault diagnosis of rear wheel steering sticking fault based on the method of any one of claims 1-12.

15. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-12.

16. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-12.

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