Fault judgment method and device for upper steering system and lower steering system of vehicle

Abstract

The invention discloses a fault judgment method and device for an upper steering system and a lower steering system of a vehicle, and the method comprises the steps: responding to the successful handshake of the upper steering system and the lower steering system of a target vehicle, sending an upper steering control request to the upper steering system, and sending a lower steering control request to the lower steering system; sending a target steering angle to the upper steering system in response to a received upper steering control confirmation signal fed back by the upper steering system; sending a target steering angle to the lower steering system in response to a received lower steering control confirmation signal fed back by the lower steering system; continuously monitoring an upper steering position of the upper steering system and a lower steering position of the lower steering system; and in response to synchronization of the upper steering position and the lower steering position, confirming that the upper steering system and the lower steering system are fault-free and are in a synchronous control state, sending a control-in-place feedback signal of the lower steering system to the upper steering system, and sending a control-in-place feedback signal of the upper steering system to the lower steering system.

Description

Technical Field

[0001] This application belongs to the field of steering system technology, specifically relating to a fault diagnosis method for the upper and lower steering systems of a vehicle, a fault diagnosis device for the upper and lower steering systems of a vehicle, a domain controller, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the development of automotive intelligence, the requirements for chassis flexibility in autonomous vehicles are gradually increasing, leading to the evolution of chassis towards mechatronics integration, and motion angle modules have become a development trend. Four-wheel independent steering is a core component of the angle module, employing a full-stack drive-by-wire design. Vehicles equipped with this system have their vertical steering controlled by drive-by-wire, requiring initialization upon startup to ensure synchronized movement. Therefore, vertical steering initialization must be completed upon vehicle power-on to lay the foundation for subsequent driving control. Any abnormalities during initialization must be handled through specific logic. The initialization process must be monitored in real-time during vehicle startup to accurately identify and address faults, preventing impacts on steering synchronization and driving safety.

[0003] The relevant technologies suffer from shortcomings such as incomplete monitoring of the up-and-down steering initialization in four-wheel independent steering systems and overly generalized fault diagnosis logic. Most solutions fail to design independent fault diagnosis mechanisms tailored to the characteristics of up-and-down steering systems, relying instead on uniform detection standards, which can easily lead to misdiagnosis or missed faults. Furthermore, some technologies exhibit delayed fault response during the initialization phase, failing to quickly generate accurate fault signals and upload them to the main controller. This hinders individual fault handling, affecting steering synchronization accuracy and posing safety hazards to subsequent driving control.

[0004] In summary, the initialization process of the current four-wheel corner module steering system still suffers from problems such as insufficient accuracy in fault diagnosis and delayed response to anomalies. Therefore, improving the fault identification and handling capabilities during the initialization phase and ensuring the synchronous stability of the steering system has become an urgent technical challenge. Summary of the Invention

[0005] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a method and device for diagnosing faults in the upper steering system and the lower steering system of a vehicle.

[0006] In a first aspect, embodiments of this application provide a method for diagnosing faults in the upper steering system and the lower steering system of a vehicle, the method comprising: In response to the successful handshake between the target vehicle's upper steering system and lower steering system, an upward steering control request is sent to the upper steering system and a downward steering control request is sent to the lower steering system. In response to receiving an upward steering control confirmation signal from the upward steering system, the target steering angle is sent to the upward steering system; in response to receiving a downward steering control confirmation signal from the downward steering system, the target steering angle is sent to the downward steering system. Continuously monitor the upward steering position of the upper steering system and the downward steering position of the lower steering system; In response to the synchronization of the upper and lower steering positions, and confirming that the upper and lower steering systems are fault-free and in a synchronized control state, a control position feedback signal of the lower steering system is sent to the upper steering system, and a control position feedback signal of the upper steering system is sent to the lower steering system.

[0007] In some embodiments, the method further includes: During the target vehicle's power-on initialization phase, the upward steering system sends an upward steering status request, and the downward steering system sends a downward steering status request. Receives the upward steering status signal from the upward steering system and the downward steering status signal from the downward steering system; The operating status of the upper steering system is determined based on the upward steering status signal, and the operating status of the lower steering system is determined based on the downward steering status signal. In response to the normal operation of both the upper steering system and the lower steering system, an upward steering handshake request is sent to the upper steering system and a downward steering handshake request is sent to the lower steering system. In response to the synchronous receipt of the upward handshake feedback signal from the upward steering system and the downward handshake feedback signal from the downward steering system, it is determined that the handshake between the upward steering system and the downward steering system has been successful.

[0008] In some embodiments, the method further includes: Record the first time interval between the moment when the upward steering system sends the upward steering control request and the moment when the upward steering control confirmation signal is received from the upward steering system, and the second time interval between the moment when the downward steering system sends the downward steering control request and the moment when the downward steering control confirmation signal is received from the downward steering system; Determine whether the first time interval and the second time interval exceed the first preset time interval; In response to the first time interval exceeding the first preset time interval, a fault in the upper steering system is determined; In response to the second time interval exceeding the first preset time interval, a fault in the lower steering system is determined.

[0009] In some embodiments, the method further includes: Record the third time interval between the time when the upward steering system sends the upward handshake request and the time when the upward handshake feedback signal is received from the upward steering system, and the fourth time interval between the time when the downward steering system sends the downward handshake request and the time when the downward handshake feedback signal is received from the downward steering system. Determine whether the third and fourth time intervals exceed the second preset time interval; If the third time interval exceeds the second preset time interval, a fault in the upper steering system is determined. In response to the fourth time interval exceeding the second preset time interval, a fault in the lower steering system is determined.

[0010] In some embodiments, the method further includes: Record the fifth time interval between the time when the upward steering system sends the upward control request and the time when the upward steering system sends the control position feedback signal of the downward steering system, and the sixth time interval between the time when the downward steering system sends the downward control request and the time when the downward steering system sends the control position feedback signal of the upward steering system; Determine whether the fifth and sixth time intervals exceed the third preset time interval; If the fifth time interval exceeds the third preset time interval, a fault in the upper steering system is determined. If the sixth time interval exceeds the third preset time interval, a fault in the lower steering system is determined.

[0011] In some embodiments, the method further includes: In response to a fault in the upper or lower steering system, a fault signal is generated and uploaded to the main controller of the target vehicle.

[0012] The fault diagnosis method for the upper and lower steering systems of a vehicle provided in this application includes: in response to a successful handshake between the upper and lower steering systems of the target vehicle, sending an upward steering control request to the upper steering system and a downward steering control request to the lower steering system; in response to receiving an upward steering control confirmation signal from the upper steering system, sending a target steering angle to the upper steering system; in response to receiving a downward steering control confirmation signal from the lower steering system, sending a target steering angle to the lower steering system; continuously monitoring the upward steering position of the upper steering system and the downward steering position of the lower steering system; and in response to synchronization of the upper and lower steering positions, confirming that the upper and lower steering systems are fault-free and in a synchronized control state, sending a control-ready feedback signal from the lower steering system to the upper steering system and a control-ready feedback signal from the upper steering system to the lower steering system. During the vehicle power-on initialization phase, this application first completes the vehicle status detection and working mode confirmation, and then synchronously sends status requests and handshake requests to the upper steering system and the lower steering system. After the handshake is successful, it further sends control requests and target angles and monitors the synchronous execution process of the two. At the same time, independent fault judgment logic is set according to the characteristics of the upper and lower steering systems. If a fault occurs during the initialization process, a fault signal will be generated and uploaded to the main controller. This enables accurate fault judgment, independent handling and safety assurance during the initialization process, ensuring the synchronous movement of the upper and lower steering systems and laying the foundation for subsequent driving control.

[0013] Secondly, embodiments of this application provide a fault diagnosis device for the upper steering system and lower steering system of a vehicle, comprising: The request module is configured to send an upward steering control request to the upward steering system and a downward steering control request to the downward steering system in response to a successful handshake between the upward steering system and the downward steering system. The receiving module is configured to send a target steering angle to the upward steering system in response to receiving an upward steering control confirmation signal from the upward steering system; and to send a target steering angle to the downward steering system in response to receiving a downward steering control confirmation signal from the downward steering system. The monitoring module is configured to continuously monitor the upper steering position of the upper steering system and the lower steering position of the lower steering system; The judgment module is configured to respond to the synchronization of the upper and lower steering positions, confirm that the upper and lower steering systems are fault-free and in a synchronized control state, send a control position feedback signal of the lower steering system to the upper steering system, and send a control position feedback signal of the upper steering system to the lower steering system.

[0014] The fault diagnosis device for the upper and lower steering systems of a vehicle provided in this application includes: in response to a successful handshake between the upper and lower steering systems of the target vehicle, sending an upward steering control request to the upper steering system and a downward steering control request to the lower steering system; in response to receiving an upward steering control confirmation signal from the upper steering system, sending a target steering angle to the upper steering system; in response to receiving a downward steering control confirmation signal from the lower steering system, sending a target steering angle to the lower steering system; continuously monitoring the upward steering position of the upper steering system and the downward steering position of the lower steering system; and in response to synchronization of the upper and lower steering positions, confirming that the upper and lower steering systems are fault-free and in a synchronized control state, sending a control-ready feedback signal of the lower steering system to the upper steering system and a control-ready feedback signal of the upper steering system to the lower steering system. During the vehicle power-on initialization phase, this application first completes the vehicle status detection and working mode confirmation, and then synchronously sends status requests and handshake requests to the upper steering system and the lower steering system. After the handshake is successful, it further sends control requests and target angles and monitors the synchronous execution process of the two. At the same time, independent fault judgment logic is set according to the characteristics of the upper and lower steering systems. If a fault occurs during the initialization process, a fault signal will be generated and uploaded to the main controller. This enables accurate fault judgment, independent handling and safety assurance during the initialization process, ensuring the synchronous movement of the upper and lower steering systems and laying the foundation for subsequent driving control.

[0015] Thirdly, embodiments of this application provide a domain controller, including a processor and a memory, wherein the memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, they implement the steps of the fault judgment method for the upper steering system and lower steering system of a vehicle as described in the first aspect.

[0016] Fourthly, embodiments of this application provide a vehicle including a domain controller as described in the third aspect, wherein the memory of the domain controller stores programs or instructions that can run on a processor, and when the programs or instructions are executed by the processor, they implement the steps of the fault judgment method for the upper steering system and lower steering system of the vehicle as described in the first aspect.

[0017] Fifthly, embodiments of this application provide a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the fault diagnosis method for the upper and lower steering systems of a vehicle as described in the first aspect.

[0018] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0019] Figure 1This is a flowchart of a method for diagnosing faults in the upper and lower steering systems of a vehicle, as provided in an embodiment of this application. Figure 2 This is a schematic diagram of a fault diagnosis method for the upper and lower steering systems of a vehicle provided in an embodiment of this application. Figure 3 This is a structural diagram of a fault diagnosis device for the upper and lower steering systems of a vehicle provided in an embodiment of this application. Figure 4 This is a schematic diagram of the structure of a domain controller in an embodiment of this application.

[0020] Explanation of reference numerals in the attached drawings: Upper steering system 201, domain controller 202, lower steering system 203, fault diagnosis device 300 for the upper and lower steering systems of the vehicle, request module 301, receiving module 302, monitoring module 303, judgment module 304, processor 410, memory 420, input / output interface 430, communication interface 440, and bus 450. Detailed Implementation

[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0022] It should be understood that the steps described in the method embodiments of this application may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this application is not limited in this respect.

[0023] As described in the background section, related technologies suffer from deficiencies such as incomplete monitoring of up and down steering initialization and overly generalized fault diagnosis logic. This application provides a fault diagnosis method and device for the up and down steering systems of a vehicle. After the vehicle is powered on, the system first completes a self-test and confirms the operating modes of the up and down steering systems. Then, it synchronously hands with both steering systems, sends control commands, and monitors the synchronous execution process of the up and down steering systems. The up and down steering systems are each configured with independent fault diagnosis logic. When a system malfunction occurs, a fault signal is immediately generated and sent to the main controller.

[0024] refer to Figure 1 This is a flowchart of a method for diagnosing faults in the upper and lower steering systems of a vehicle, as provided in an embodiment of this application.

[0025] like Figure 1 As shown, the fault diagnosis methods for the vehicle's upper steering system and lower steering system include: In step S101, in response to the successful handshake between the target vehicle's upper steering system and lower steering system, an upward steering control request is sent to the upper steering system and a downward steering control request is sent to the lower steering system.

[0026] In the specific implementation process, the domain controller first detects the vehicle status, confirms the current operating mode, and determines whether the handshake conditions are met. When the conditions are met and the domain controller determines that the target vehicle's upper steering system and lower steering system have successfully handshaked, the domain controller synchronously sends an upper steering control request to the upper steering system and a lower steering control request to the lower steering system via the CAN bus. This ensures that the upper and lower steering systems start the initialization process synchronously, avoiding motion asynchrony problems caused by asynchronous command issuance, and laying the foundation for coordinated upper and lower steering operations in subsequent driving control.

[0027] In step S102, in response to receiving the upward steering control confirmation signal from the upward steering system, the target steering angle is sent to the upward steering system; in response to receiving the downward steering control confirmation signal from the downward steering system, the target steering angle is sent to the downward steering system.

[0028] In practice, the domain controller sends control requests to both the upward steering system and the downward steering system, and waits for status feedback from both. Once the domain controller receives an upward steering control confirmation signal from the upward steering system, it sends the target steering angle to the upward steering system; similarly, upon receiving a downward steering control confirmation signal from the downward steering system, the domain controller also sends the target steering angle to the downward steering system. This method of synchronously sending the target steering angle effectively reduces the overall time spent on parameter transmission, thereby improving the efficiency of the initialization process.

[0029] Step S103: Continuously monitor the upward steering position of the upper steering system and the downward steering position of the lower steering system.

[0030] In practice, after the target steering angle is issued, the domain controller synchronously monitors the steering process, continuously monitoring the actual steering positions of the up and down steering systems and determining whether they have been executed correctly. By dynamically verifying the consistency of the up and down steering states, it ensures that the up and down steering systems initialize synchronously according to the instructions issued by the domain controller, avoiding asynchronous movement caused by abnormal states on one side, and meeting the core requirement of coordination for steerable angle module systems.

[0031] Step S104: In response to the synchronization of the upper steering position and the lower steering position, confirm that the upper steering system and the lower steering system are fault-free and in a synchronized control state, send the control position feedback signal of the lower steering system to the upper steering system, and send the control position feedback signal of the upper steering system to the lower steering system.

[0032] In practice, if the handshake is successful, the system enters the up and down steering synchronization process. When the up and down steering positions are synchronized, the domain controller first checks for faults in the up and down steering systems and determines whether they are in a synchronized control state. If no faults are found and they are in a synchronized control state, the domain controller sends a control-ready feedback signal from the down steering system to the up steering system and a control-ready feedback signal from the down steering system to the down steering system. After receiving the control-ready signals from both systems, the domain controller initiates real-time monitoring of the execution process, enhancing the rigor of the fault diagnosis logic and providing clear process nodes for subsequent anomaly handling.

[0033] In some embodiments, the fault diagnosis method for the vehicle's upper steering system and lower steering system further includes: During the target vehicle's power-on initialization phase, the upward steering system sends an upward steering status request, and the downward steering system sends a downward steering status request. Receives the upward steering status signal from the upward steering system and the downward steering status signal from the downward steering system; The operating status of the upper steering system is determined based on the upward steering status signal, and the operating status of the lower steering system is determined based on the downward steering status signal. In response to the normal operation of both the upper steering system and the lower steering system, an upward steering handshake request is sent to the upper steering system and a downward steering handshake request is sent to the lower steering system. In response to the synchronous receipt of the upward handshake feedback signal from the upward steering system and the downward handshake feedback signal from the downward steering system, it is determined that the handshake between the upward steering system and the downward steering system has been successful.

[0034] In the specific implementation process, after the target vehicle is powered on, the domain controller performs a power-on self-test and enters the initialization phase, loading firmware and application software, reading calibration parameters and fault history data stored in the EEPROM, waking up the upper steering system and lower steering system and performing status checks, and sending status request commands to the two systems via the CAN bus. Subsequently, the upper steering system and lower steering system receive the upper steering status request and lower steering status request sent by the domain controller respectively via the CAN bus, each collecting its own current operating status, and feeding back the corresponding upper steering status signal and lower steering status signal to the domain controller via the CAN bus, so that the domain controller can confirm the current operating mode.

[0035] The domain controller determines whether the upper steering system and the lower steering system meet the handshake conditions, and determines whether their operating states are normal based on the upper steering status signal fed back by the upper steering system and the lower steering status signal fed back by the lower steering system. The upper steering status signal may include steering wheel torque signal, steering wheel angle signal, steering wheel angular velocity signal, vehicle speed signal, engine operating status signal, sensor internal diagnostic status signal, control unit temperature signal, and power supply voltage signal, etc.; the lower steering status signal may include motor actual current feedback signal, motor rotor position signal, motor rotor angle signal, motor speed signal, motor driver fault status signal, and motor power relay status signal, etc.

[0036] After receiving the operating status signals from the upper steering system and the lower steering system, if the domain controller determines that both are operating normally and has received the upper steering control confirmation command sent by the upper steering system and the lower steering control confirmation command sent by the lower steering system, it will issue a handshake success status, confirming that the upper steering system and the lower steering system have successfully handshaked and completing the initialization handshake process.

[0037] In some embodiments, the fault diagnosis method for the vehicle's upper steering system and lower steering system further includes: Record the first time interval between the moment when the upward steering system sends the upward steering control request and the moment when the upward steering control confirmation signal is received from the upward steering system, and the second time interval between the moment when the downward steering system sends the downward steering control request and the moment when the downward steering control confirmation signal is received from the downward steering system; Determine whether the first time interval and the second time interval exceed the first preset time interval; In response to the first time interval exceeding the first preset time interval, a fault in the upper steering system is determined; In response to the second time interval exceeding the first preset time interval, a fault in the lower steering system is determined.

[0038] In practice, when the domain controller sends an up-turn control request to the up-turn system, it records the sending time. Upon receiving an up-turn control confirmation signal from the up-turn system, it records the receiving time. The interval between the sending and receiving times is defined as a first time interval. If the first time interval exceeds a first preset time interval (e.g., 1 second), it indicates that the up-turn system failed to return a confirmation signal within the specified time after receiving the control request. The domain controller then determines that the confirmation signal is invalid and accordingly determines that the up-turn system is faulty. Similarly, when the domain controller sends a down-turn control request to the down-turn system, it records the sending time. Upon receiving a down-turn control confirmation signal from the down-turn system, it records the receiving time. The interval between the sending and receiving times is defined as a second time interval. If the second time interval exceeds the first preset time interval (e.g., 1 second), it indicates that the down-turn system failed to return a confirmation signal within the specified time after receiving the control request. The domain controller then determines that the confirmation signal is invalid and accordingly determines that the down-turn system is faulty.

[0039] In some embodiments, the fault diagnosis method for the vehicle's upper steering system and lower steering system further includes: Record the third time interval between the time when the upward steering system sends the upward handshake request and the time when the upward handshake feedback signal is received from the upward steering system, and the fourth time interval between the time when the downward steering system sends the downward handshake request and the time when the downward handshake feedback signal is received from the downward steering system. Determine whether the third and fourth time intervals exceed the second preset time interval; If the third time interval exceeds the second preset time interval, a fault in the upper steering system is determined. In response to the fourth time interval exceeding the second preset time interval, a fault in the lower steering system is determined.

[0040] In practice, the domain controller sends handshake requests to both the upstairs and downstairs steering systems and records the sending time. When it receives an upstairs handshake feedback signal from the upstairs steering system, the domain controller records the receiving time and designates the interval between the two times as the third time interval. If the third time interval exceeds the second preset time interval (e.g., 2 seconds), the domain controller determines that the upstairs steering system is faulty. Similarly, when the domain controller receives a downstairs handshake feedback signal from the downstairs steering system, it records the receiving time and designates the interval between this time and the corresponding sending time as the fourth time interval. If the fourth time interval exceeds the second preset time interval (e.g., 2 seconds), the domain controller determines that the downstairs steering system is faulty.

[0041] In some embodiments, the fault diagnosis method for the vehicle's upper steering system and lower steering system further includes: Record the fifth time interval between the time when the upward steering system sends the upward control request and the time when the upward steering system sends the control position feedback signal of the downward steering system, and the sixth time interval between the time when the downward steering system sends the downward control request and the time when the downward steering system sends the control position feedback signal of the upward steering system; Determine whether the fifth and sixth time intervals exceed the third preset time interval; If the fifth time interval exceeds the third preset time interval, a fault in the upper steering system is determined. If the sixth time interval exceeds the third preset time interval, a fault in the lower steering system is determined.

[0042] In practice, after the upward steering system and downward steering system successfully handshake, the domain controller sends control requests to both systems and monitors their execution to determine if the control is executed correctly. The domain controller records the sending time when sending an upward steering control request to the upward steering system and the receiving time when receiving a feedback signal from the upward steering system indicating that the downward steering system control is in place. The interval between these two times is designated as the fifth time interval. If the fifth time interval exceeds the third preset time interval (e.g., 10 seconds), the domain controller determines that the upward steering system is faulty. Similarly, the domain controller records the sending time when sending a downward steering control request to the downward steering system and the receiving time when receiving a feedback signal from the downward steering system indicating that the upward steering system control is in place. The interval between these two times is designated as the sixth time interval. If the sixth time interval exceeds the third preset time interval (e.g., 10 seconds), the domain controller determines that the downward steering system is faulty.

[0043] In some embodiments, the fault diagnosis method for the vehicle's upper steering system and lower steering system further includes: In response to a fault in the upper or lower steering system, a fault signal is generated and uploaded to the main controller of the target vehicle.

[0044] In practice, if the domain controller detects a fault in the upper or lower steering system, or if the two systems are not in a synchronized control state, it will generate a corresponding fault signal and send it to the main controller. The system will then immediately suspend subsequent signal interaction and monitoring processes, and trigger a preset exception handling mechanism based on the fault type or the specific circumstances of the state loss of synchronization. The domain controller integrates the fault information from the handshake process and the synchronization state, executes a safety strategy that limits the output torque and maximum actuation angle of all four wheels, and performs degradation processing during the initialization phase. This may manifest as suspending the initialization process, reporting specific fault codes, restricting steering functions, or switching to a degraded safety mode to ensure driving safety.

[0045] refer to Figure 2This is a schematic diagram of a method for diagnosing faults in the upper and lower steering systems of a vehicle, as provided in an embodiment of this application.

[0046] like Figure 2 As shown, the fault diagnosis method for the vehicle's upper and lower steering systems is applied to a steer-by-wire system, which includes an upper steering system 201, a lower steering system 203, and a domain controller 202. The upper steering system 201 and lower steering system 203 coordinately respond to the unified scheduling of the domain controller 202, receiving status requests, handshake commands, and control target angle instructions sent by the domain controller 202, and promptly feeding back their own status, handshake results, and position information. Simultaneously, the upper steering system 201 and lower steering system 203 follow dedicated fault diagnosis logic, cooperating with the domain controller 202 to trigger a fault handling mechanism in abnormal scenarios such as handshake timeout or synchronization execution timeout. This ensures the orderly progress of the upper and lower steering initialization processes and accurate fault identification, providing crucial support for closed-loop fault handling during the initialization process.

[0047] Domain controller 202, as the core component of initialization control, is responsible for overall coordination, monitoring, judgment, and safety handling. During initialization, it first detects the vehicle status and confirms the initialization conditions, then synchronously sends various requests and control parameters to the upper steering system 201 and the lower steering system 203. While monitoring the handshake and synchronous execution process in real time, the domain controller can set fault judgment logic according to the different characteristics of the upper and lower steering systems, thereby synchronously identifying and diagnosing faults and handling faults in the upper and lower steering systems separately. Once a fault is identified, the corresponding fault handling mechanism is triggered to ensure the synchronicity of the initialization process and driving safety.

[0048] After the vehicle is powered on and started, the domain controller first performs vehicle status detection and operating mode confirmation, sending status request commands to both the upward steering system and the downward steering system. Each system collects its current operating status and feeds back the corresponding upward and downward steering status signals to the domain controller. The domain controller determines whether both systems are operating normally based on the two status signals. If both are normal, and the domain controller has received both the upward steering control confirmation command from the upward steering system and the downward steering control confirmation command from the downward steering system, then the handshake is considered successful.

[0049] After a successful handshake, the domain controller sends an up-turn control request to the up-steering system and a down-turn control request to the down-steering system. Upon receiving these requests, the up-steering and down-steering systems respectively return up-turn and down-turn control confirmation signals to the domain controller. Upon receiving these confirmation signals, the domain controller synchronously sends the up-turn target angle to the up-steering system and the down-turn target angle to the down-steering system. Subsequently, the domain controller monitors and confirms the positions of the up-steering and down-steering systems. When the up-steering and down-steering positions are synchronized, and the domain controller confirms that both systems are fault-free and synchronized, it sends down-turn position feedback to the up-steering system and up-steering position feedback to the down-steering system. If a fault is detected in either steering system or if the two systems are not in a synchronized control state during this process, the domain controller will generate a corresponding fault signal and send it to the main controller.

[0050] In summary, the fault judgment method for the upper and lower steering systems of a vehicle provided in the embodiments of this application includes, in response to the successful handshake between the upper and lower steering systems of the target vehicle, sending an upward steering control request to the upper steering system and a downward steering control request to the lower steering system; in response to receiving an upward steering control confirmation signal from the upper steering system, sending a target steering angle to the upper steering system; in response to receiving a downward steering control confirmation signal from the lower steering system, sending a target steering angle to the lower steering system; continuously monitoring the upward steering position of the upper steering system and the downward steering position of the lower steering system; and in response to the synchronization of the upper and lower steering positions, confirming that the upper and lower steering systems are fault-free and in a synchronized control state, sending a control-in-place feedback signal of the lower steering system to the upper steering system and a control-in-place feedback signal of the upper steering system to the lower steering system. During the vehicle power-on initialization phase, this application first completes the vehicle status detection and working mode confirmation, and then synchronously sends status requests and handshake requests to the upper steering system and the lower steering system. After the handshake is successful, it further sends control requests and target angles and monitors the synchronous execution process of the two. At the same time, independent fault judgment logic is set according to the characteristics of the upper and lower steering systems. If a fault occurs during the initialization process, a fault signal will be generated and uploaded to the main controller. This enables accurate fault judgment, independent handling and safety assurance during the initialization process, ensuring the synchronous movement of the upper and lower steering systems and laying the foundation for subsequent driving control.

[0051] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described above.

[0052] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0053] Corresponding to the above embodiments, this application also proposes a fault diagnosis device for the upper steering system and the lower steering system of a vehicle.

[0054] refer to Figure 3 This is a structural diagram of a fault diagnosis device for the upper and lower steering systems of a vehicle provided in an embodiment of this application.

[0055] This application provides a fault diagnosis device 300 for the upper steering system and lower steering system of a vehicle, comprising: Request module 301 is configured to send an upward steering control request to the upward steering system and a downward steering control request to the downward steering system in response to a successful handshake between the upward steering system and the downward steering system. The receiving module 302 is configured to send a target steering angle to the upward steering system in response to receiving an upward steering control confirmation signal from the upward steering system; and to send a target steering angle to the downward steering system in response to receiving a downward steering control confirmation signal from the downward steering system. Monitoring module 303 is configured to continuously monitor the upper steering position of the upper steering system and the lower steering position of the lower steering system; The judgment module 304 is configured to respond to the synchronization of the upper steering position and the lower steering position, confirm that the upper steering system and the lower steering system are fault-free and in a synchronized control state, send the control position feedback signal of the lower steering system to the upper steering system, and send the control position feedback signal of the upper steering system to the lower steering system.

[0056] In some embodiments, the request module 301 is further configured to: During the target vehicle's power-on initialization phase, the upward steering system sends an upward steering status request, and the downward steering system sends a downward steering status request. Receives the upward steering status signal from the upward steering system and the downward steering status signal from the downward steering system; The operating status of the upper steering system is determined based on the upward steering status signal, and the operating status of the lower steering system is determined based on the downward steering status signal. In response to the normal operation of both the upper steering system and the lower steering system, an upward steering handshake request is sent to the upper steering system and a downward steering handshake request is sent to the lower steering system. In response to the synchronous receipt of the upward handshake feedback signal from the upward steering system and the downward handshake feedback signal from the downward steering system, it is determined that the handshake between the upward steering system and the downward steering system has been successful.

[0057] In some embodiments, the determination module 304 is further configured to: Record the first time interval between the moment when the upward steering system sends the upward steering control request and the moment when the upward steering control confirmation signal is received from the upward steering system, and the second time interval between the moment when the downward steering system sends the downward steering control request and the moment when the downward steering control confirmation signal is received from the downward steering system; Determine whether the first time interval and the second time interval exceed the first preset time interval; In response to the first time interval exceeding the first preset time interval, a fault in the upper steering system is determined; In response to the second time interval exceeding the first preset time interval, a fault in the lower steering system is determined.

[0058] In some embodiments, the determination module 304 is further configured to: Record the third time interval between the time when the upward steering system sends the upward handshake request and the time when the upward handshake feedback signal is received from the upward steering system, and the fourth time interval between the time when the downward steering system sends the downward handshake request and the time when the downward handshake feedback signal is received from the downward steering system. Determine whether the third and fourth time intervals exceed the second preset time interval; If the third time interval exceeds the second preset time interval, a fault in the upper steering system is determined. In response to the fourth time interval exceeding the second preset time interval, a fault in the lower steering system is determined.

[0059] In some embodiments, the determination module 304 is further configured to: Record the fifth time interval between the time when the upward steering system sends the upward control request and the time when the upward steering system sends the control position feedback signal of the downward steering system, and the sixth time interval between the time when the downward steering system sends the downward control request and the time when the downward steering system sends the control position feedback signal of the upward steering system; Determine whether the fifth and sixth time intervals exceed the third preset time interval; If the fifth time interval exceeds the third preset time interval, a fault in the upper steering system is determined. If the sixth time interval exceeds the third preset time interval, a fault in the lower steering system is determined.

[0060] In some embodiments, the determination module 304 is further configured to: In response to a fault in the upper or lower steering system, a fault signal is generated and uploaded to the main controller of the target vehicle.

[0061] In summary, the fault determination device for the upper and lower steering systems of a vehicle provided according to the embodiments of this application includes, in response to a successful handshake between the upper and lower steering systems of the target vehicle, sending an upward steering control request to the upper steering system and a downward steering control request to the lower steering system; in response to receiving an upward steering control confirmation signal from the upper steering system, sending a target steering angle to the upper steering system; in response to receiving a downward steering control confirmation signal from the lower steering system, sending a target steering angle to the lower steering system; continuously monitoring the upward steering position of the upper steering system and the downward steering position of the lower steering system; and in response to synchronization of the upper and lower steering positions, confirming that the upper and lower steering systems are fault-free and in a synchronized control state, sending a control-in-place feedback signal of the lower steering system to the upper steering system and a control-in-place feedback signal of the upper steering system to the lower steering system. During the vehicle power-on initialization phase, this application first completes the vehicle status detection and working mode confirmation, and then synchronously sends status requests and handshake requests to the upper steering system and the lower steering system. After the handshake is successful, it further sends control requests and target angles and monitors the synchronous execution process of the two. At the same time, independent fault judgment logic is set according to the characteristics of the upper and lower steering systems. If a fault occurs during the initialization process, a fault signal will be generated and uploaded to the main controller. This enables accurate fault judgment, independent handling and safety assurance during the initialization process, ensuring the synchronous movement of the upper and lower steering systems and laying the foundation for subsequent driving control.

[0062] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

[0063] The apparatus of the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0064] Corresponding to the above embodiments, this application also proposes a domain controller. (See reference...) Figure 4The diagram below is a block diagram of a domain controller according to some embodiments of this application. It also illustrates a more specific hardware structure of a domain controller provided by an embodiment of this application. The device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, memory 420, input / output interface 430, and communication interface 440 are interconnected internally via the bus 450.

[0065] The processor 410 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0066] The memory 420 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 420 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 420 and is called and executed by the processor 410.

[0067] Input / output interface 430 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0068] The communication interface 440 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0069] Bus 450 includes a pathway for transmitting information between various components of the device, such as processor 410, memory 420, input / output interface 430, and communication interface 440.

[0070] It should be noted that although the above-described device only shows the processor 410, memory 420, input / output interface 430, communication interface 440, and bus 450, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0071] The domain controller in the above embodiments is used to implement the fault diagnosis method for the upper steering system and lower steering system of the corresponding vehicle in any of the foregoing embodiments, and has corresponding beneficial effects, which will not be elaborated here.

[0072] Corresponding to the above embodiments, this application also proposes a vehicle. The device may include: a processor, a memory, an input / output interface, a communication interface, and a bus. The processor, memory, input / output interface, and communication interface are interconnected internally via the bus.

[0073] The processor can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0074] The memory can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory and called and executed by the processor.

[0075] Input / output interfaces are used to connect input / output modules to enable information input and output. Input / output modules can be configured as components within a device or connected externally to the device to provide corresponding functions. Input devices can include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices can include displays, speakers, vibrators, indicator lights, etc.

[0076] The communication interface is used to connect the communication module to enable communication and interaction between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0077] A bus is a pathway that transmits information between various components of a device, such as processors, memory, input / output interfaces, and communication interfaces.

[0078] It should be noted that although the above-described device only shows the processor, memory, input / output interface, communication interface, and bus, in actual implementation, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0079] The vehicle described in the above embodiments is used to implement the fault diagnosis method for the upper steering system and lower steering system of the corresponding vehicle in any of the foregoing embodiments, and has corresponding beneficial effects, which will not be elaborated here.

[0080] Based on the same concept, corresponding to the fault judgment method of the vehicle's upper steering system and lower steering system provided in any of the above embodiments, this application also provides a computer-readable storage medium storing a program or instructions, which, when executed by a processor, implements the fault judgment method of the vehicle's upper steering system and lower steering system as described above.

[0081] The aforementioned computer-readable storage medium can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0082] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the fault judgment method of the upper steering system and lower steering system of the corresponding vehicle in any of the foregoing embodiments, and have corresponding beneficial effects, which will not be elaborated here.

[0083] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0084] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0085] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A method for diagnosing faults in the upper steering system and lower steering system of a vehicle, characterized in that, include: In response to the successful handshake between the target vehicle's upper steering system and the lower steering system, an upward steering control request is sent to the upper steering system and a downward steering control request is sent to the lower steering system. In response to receiving the upward steering control confirmation signal from the upward steering system, a target steering angle is sent to the upward steering system; In response to receiving the downstairs control confirmation signal from the downstairs steering system, the target steering angle is sent to the downstairs steering system; Continuously monitor the upward steering position of the upper steering system and the downward steering position of the lower steering system; In response to the synchronization of the upper steering position and the lower steering position, and confirming that the upper steering system and the lower steering system are fault-free and in a synchronized control state, a control positioning feedback signal of the lower steering system is sent to the upper steering system, and a control positioning feedback signal of the upper steering system is sent to the lower steering system.

2. The fault diagnosis method for the upper steering system and lower steering system of a vehicle according to claim 1, characterized in that, The method further includes: During the power-on initialization phase of the target vehicle, an upward steering status request is sent to the upward steering system and a downward steering status request is sent to the downward steering system. Receive the upward steering status signal fed back by the upward steering system and the downward steering status signal fed back by the downward steering system; The operating status of the upper steering system is determined based on the upward steering status signal, and the operating status of the lower steering system is determined based on the downward steering status signal. In response to the normal operation of both the upper steering system and the lower steering system, an upward handshake request is sent to the upper steering system and a downward handshake request is sent to the lower steering system. In response to the simultaneous receipt of the upward handshake feedback signal from the upward steering system and the downward handshake feedback signal from the downward steering system, it is determined that the handshake between the upward steering system and the downward steering system has been successful.

3. The method for diagnosing faults in the upper steering system and lower steering system of a vehicle according to claim 1, characterized in that, The method further includes: Record a first time interval between the moment the up turn control request is sent to the up turn system and the moment the up turn control confirmation signal is received from the up turn system, and a second time interval between the moment the down turn control request is sent to the down turn system and the moment the down turn control confirmation signal is received from the down turn system; Determine whether the first time interval and the second time interval exceed the first preset time interval; In response to the first time interval exceeding the first preset time interval, a fault is determined in the upper steering system; In response to the second time interval exceeding the first preset time interval, a fault in the downstairs steering system is determined.

4. The fault diagnosis method for the upper steering system and lower steering system of a vehicle according to claim 2, characterized in that, The method further includes: Record a third time interval between the moment when the upward steering handshake request is sent to the upward steering system and the moment when the upward steering handshake feedback signal is received from the upward steering system, and a fourth time interval between the moment when the downward steering handshake request is sent to the downward steering system and the moment when the downward steering handshake feedback signal is received from the downward steering system; Determine whether the third time interval and the fourth time interval exceed the second preset time interval; In response to the third time interval exceeding the second preset time interval, a fault is determined in the upper steering system; In response to the fourth time interval exceeding the second preset time interval, a fault in the downstairs steering system is determined.

5. The method for diagnosing faults in the upper steering system and lower steering system of a vehicle according to claim 1, characterized in that, The method further includes: Record the fifth time interval between the time when the upward steering control request is sent to the upward steering system and the time when the control position feedback signal of the downward steering system is sent to the upward steering system, and the sixth time interval between the time when the downward steering control request is sent to the downward steering system and the time when the control position feedback signal of the upward steering system is sent to the downward steering system; Determine whether the fifth time interval and the sixth time interval exceed the third preset time interval; In response to the fifth time interval exceeding the third preset time interval, a fault is determined in the upper steering system; In response to the sixth time interval exceeding the third preset time interval, a fault in the downstairs steering system is determined.

6. The method for diagnosing faults in the upper steering system and lower steering system of a vehicle according to any one of claims 3 to 5, characterized in that, The method further includes: In response to a fault in the upper steering system or a fault in the lower steering system, a fault signal is generated and uploaded to the main controller of the target vehicle.

7. A fault diagnosis device for the upper steering system and lower steering system of a vehicle, characterized in that, include: The request module is configured to send an upward steering control request to the upward steering system and a downward steering control request to the downward steering system in response to a successful handshake between the upward steering system and the downward steering system. The receiving module is configured to send a target steering angle to the upper steering system in response to receiving an upper steering control confirmation signal fed back by the upper steering system; In response to receiving the downstairs control confirmation signal from the downstairs steering system, the target steering angle is sent to the downstairs steering system; The monitoring module is configured to continuously monitor the upward steering position of the upper steering system and the downward steering position of the lower steering system; The judgment module is configured to, in response to the synchronization of the upper steering position and the lower steering position, confirm that the upper steering system and the lower steering system are fault-free and in a synchronized control state, send a control position feedback signal of the lower steering system to the upper steering system, and send a control position feedback signal of the upper steering system to the lower steering system.

8. A domain controller, characterized in that, include: A processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions being executed by the processor to implement the steps of the fault diagnosis method for the upper steering system and lower steering system of a vehicle as described in any one of claims 1 to 6.

9. A vehicle, characterized in that, include: An upper steering system, a lower steering system, and a domain controller as described in claim 8; wherein the upper steering system is used to determine a target steering angle for a target vehicle, and the lower steering system is used to control each wheel end of the target vehicle to perform steering actions based on the target steering angle.

10. A computer-readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the fault diagnosis method for the upper and lower steering systems of a vehicle as described in any one of claims 1 to 7.

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