Steering safety detection method and device, control system, vehicle and storage medium

Abstract

The invention discloses a steering safety detection method and device, a control system, a vehicle and a storage medium, and the method comprises the steps that steering parameters of a steering system of the vehicle during driving are obtained, and the steering parameters comprise a left steering parameter and a right steering parameter; based on the steering parameter, a symmetry of the steering system with respect to the steering parameter is determined. Therefore, the symmetry of the steering system about the steering parameters can be determined based on the left-turn steering parameters and the right-turn steering parameters when the vehicle runs, a driver does not need to judge the symmetry of the steering system about the steering parameters through subjective feeling, and the accuracy of symmetry detection of the steering system about the steering parameters is improved.

Description

Steering safety testing methods, devices, control systems, vehicles and storage media Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a steering safety detection method, device, control system, vehicle, and storage medium. Background Technology

[0002] In related technologies, due to differences in manufacturing precision and assembly, the steering parameters of a vehicle's steering system may be asymmetrical, meaning that left-turn control and right-turn control may differ. Failure to detect this asymmetry in the steering parameters in a timely manner can significantly impact driving safety. Current technology relies solely on the driver's feel to determine if the steering parameters are symmetrical, resulting in relatively low accuracy. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a steering safety detection method, device, control system, vehicle and storage medium, which can determine the symmetry of the steering system with respect to the steering parameters based on the steering parameters of the vehicle when it is in motion, without requiring the driver to judge whether the steering parameters of the steering system are symmetrical through subjective feeling, thereby improving the accuracy of the symmetry detection of the steering system with respect to the steering parameters.

[0004] To address the aforementioned technical problems, the first aspect of this invention discloses a steering safety detection method, the method comprising:

[0005] The vehicle's steering system is used to obtain steering parameters during driving, including left turn steering parameters and right turn steering parameters.

[0006] Based on the steering parameters, the symmetry of the steering system with respect to the steering parameters is determined.

[0007] As an optional implementation, in a first aspect of the invention, the steering parameters characterize the correspondence between the steering angle and the steering torque of the steering axis of the steering system.

[0008] As an optional implementation, in the first aspect of the present invention, the left-turn steering parameters include the left-turn torque corresponding to the steering shaft at a preset left-turn angle, and the right-turn steering parameters include the right-turn torque corresponding to the steering shaft at the preset right-turn angle; and / or,

[0009] The left turn steering parameters include the left turn angle corresponding to the steering shaft under the control of the preset left turn torque, and the right turn steering parameters include the right turn angle corresponding to the steering shaft under the control of the preset right turn torque. The preset left turn torque value and the preset right turn torque value are matched.

[0010] As an optional implementation, in a first aspect of the present invention, the left-turn steering parameter includes the left-turn torque, which includes the left-turn starting torque corresponding to when the steering shaft begins to turn left; the right-turn steering parameter includes the right-turn torque, which includes the right-turn starting torque corresponding to when the steering shaft begins to turn right; and the symmetry of the steering system with respect to the steering parameters includes the symmetry of the starting torque of the steering system.

[0011] As an optional implementation, in the first aspect of the present invention, the left-turn starting torque is collected when the steering shaft is controlled to turn left based on the left-turn incremental torque, and the right-turn starting torque is collected when the steering shaft is controlled to turn right based on the right-turn incremental torque.

[0012] As an optional implementation, in a first aspect of the invention, the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters, or the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the left-turn steering parameters and the right-turn steering parameters.

[0013] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0014] If the difference between the steering parameters and the preset standard parameters is greater than or equal to a first preset difference, an abnormal alarm message corresponding to the steering system is output to the user; or...

[0015] If the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a second preset difference, an abnormal alarm message corresponding to the steering system is output to the user.

[0016] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0017] When the vehicle is in intelligent driving mode, if the difference between the steering parameter and the preset standard parameter is greater than or equal to a third preset difference, the vehicle is controlled to exit the intelligent driving mode; or...

[0018] When the vehicle is in intelligent driving mode, if the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a fourth preset difference, the vehicle is controlled to exit the intelligent driving mode.

[0019] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0020] If the difference between the steering parameters and the preset standard parameters is greater than or equal to a fifth preset difference, the left turn control parameters and / or right turn control parameters of the steering system are corrected; or...

[0021] If the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a sixth preset difference, the left turn control parameter and / or right turn control parameter of the steering system shall be corrected.

[0022] A second aspect of the present invention discloses an electronic device, the device comprising:

[0023] The transceiver module is used to acquire the steering parameters of the vehicle's steering system when it is in motion, including left turn steering parameters and right turn steering parameters;

[0024] An execution module is used to determine the symmetry of the steering system about the steering parameters based on the steering parameters.

[0025] As an optional implementation, in a second aspect of the invention, the steering parameters characterize the relationship between the steering angle and the steering torque of the steering axis of the steering system.

[0026] As an optional implementation, in a second aspect of the invention, the left-turn steering parameters include the left-turn torque corresponding to the steering shaft at a preset left-turn angle, and the right-turn steering parameters include the right-turn torque corresponding to the steering shaft at the preset right-turn angle; and / or,

[0027] The left turn steering parameters include the left turn angle corresponding to the steering shaft under the control of the preset left turn torque, and the right turn steering parameters include the right turn angle corresponding to the steering shaft under the control of the preset right turn torque. The preset left turn torque value and the preset right turn torque value are matched.

[0028] As an optional implementation, in a second aspect of the present invention, the left-turn steering parameter includes the left-turn torque, which includes the left-turn starting torque corresponding to when the steering shaft begins to turn left; the right-turn steering parameter includes the right-turn torque, which includes the right-turn starting torque corresponding to when the steering shaft begins to turn right; and the symmetry of the steering system with respect to the steering parameters includes the symmetry of the starting torque of the steering system.

[0029] As an optional implementation, in a second aspect of the invention, the left-turn starting torque is collected when the steering shaft is controlled to turn left based on the left-turn incremental torque, and the right-turn starting torque is collected when the steering shaft is controlled to turn right based on the right-turn incremental torque.

[0030] As an optional implementation, in a second aspect of the invention, the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters, or the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the left-turn steering parameters and the right-turn steering parameters.

[0031] As an optional implementation, in a second aspect of the invention, the transceiver module is further configured to:

[0032] If the difference between the steering parameters and the preset standard parameters is greater than or equal to a first preset difference, an abnormal alarm message corresponding to the steering system is output to the user; or...

[0033] If the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a second preset difference, an abnormal alarm message corresponding to the steering system is output to the user.

[0034] As an optional implementation, in a second aspect of the invention, the execution module is further configured to:

[0035] When the vehicle is in intelligent driving mode, if the difference between the steering parameter and the preset standard parameter is greater than or equal to a third preset difference, the vehicle is controlled to exit the intelligent driving mode; or...

[0036] When the vehicle is in intelligent driving mode, if the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a fourth preset difference, the vehicle is controlled to exit the intelligent driving mode.

[0037] As an optional implementation, in a second aspect of the invention, the execution module is further configured to:

[0038] If the difference between the steering parameters and the preset standard parameters is greater than or equal to a fifth preset difference, the left turn control parameters and / or right turn control parameters of the steering system are corrected; or...

[0039] If the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a sixth preset difference, the left turn control parameter and / or right turn control parameter of the steering system shall be corrected.

[0040] A third aspect of the present invention discloses another electronic device, the device comprising: a processor coupled to a memory storing executable program code;

[0041] The processor is used to call the executable program code stored in the memory to execute the steering safety detection method disclosed in the first aspect of the present invention.

[0042] The fourth aspect of the present invention discloses a control system, the control system including a steering system and a controller, the steering system being communicatively connected to the controller, the controller being used to execute the steering safety detection method as disclosed in the first aspect of the present invention.

[0043] The fifth aspect of the present invention discloses a vehicle, the vehicle including the electronic device disclosed in the second or third aspect of the present invention, or the vehicle including the control system disclosed in the fourth aspect of the present invention.

[0044] The sixth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the steering safety detection method disclosed in the first aspect of the present invention.

[0045] The seventh aspect of the present invention discloses a computer program product, including computer program instructions, which, when executed by a processor, implement the steps in the steering security detection method disclosed in the first aspect of the present invention.

[0046] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0047] In this embodiment of the invention, the steering parameters of the vehicle's steering system during driving are obtained, including left-turn and right-turn steering parameters. Based on these steering parameters, the symmetry of the steering system with respect to the steering parameters is determined. Therefore, implementing this invention enables the determination of the steering system's symmetry with respect to the steering parameters based on the left-turn and right-turn steering parameters of the vehicle during driving, eliminating the need for the driver to subjectively judge the symmetry of the steering system with respect to the steering parameters, thus improving the accuracy of symmetry detection. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 is a schematic diagram of the structure of a control system disclosed in an embodiment of the present invention;

[0050] Figure 2 is a flowchart illustrating a control system interaction method disclosed in an embodiment of the present invention;

[0051] Figure 3 is a flowchart illustrating a steering safety detection method disclosed in an embodiment of the present invention;

[0052] Figure 4 is a flowchart illustrating a method for obtaining steering parameters disclosed in an embodiment of the present invention;

[0053] Figure 5 is an example diagram showing the correspondence between a left-turn angle and a left-turn torque disclosed in an embodiment of the present invention.

[0054] Figure 6 is an example diagram showing the correspondence between a right turn angle and a right turn torque disclosed in an embodiment of the present invention.

[0055] Figure 7 is an enlarged example of the relationship between steering angle and starting torque disclosed in an embodiment of the present invention;

[0056] Figure 8 is a flowchart illustrating another steering safety detection method disclosed in an embodiment of the present invention;

[0057] Figure 9 is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention;

[0058] Figure 10 is a schematic diagram of the structure of another electronic device disclosed in an embodiment of the present invention. Detailed Implementation

[0059] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0061] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0062] This invention discloses a steering safety detection method, device, control system, vehicle, and storage medium. It can determine the symmetry of the steering system with respect to steering parameters based on the left-turn and right-turn steering parameters of the vehicle while driving, eliminating the need for the driver to subjectively judge the symmetry of the steering system with respect to steering parameters, thus improving the accuracy of steering system symmetry detection. Detailed descriptions follow.

[0063] With the development of autonomous driving technology, the condition of automotive components, especially chassis components, differs significantly from that of traditional vehicles. In traditional passenger cars, if the power steering and steering travel are normal, it will not affect the driver's normal driving. However, in intelligent driving mode, steering control needs to be adjusted according to road conditions. If the steering system's starting torque, dead zone, or torque fluctuations exceed the normal range, it will lead to poor control and even accidents such as running off the lane.

[0064] Therefore, the hardware status and mechanical performance of the steering system are crucial to the control effect of intelligent driving. However, due to differences in manufacturing precision or assembly, the steering parameters of the steering system may exhibit significant asymmetry. This asymmetry in steering parameters leads to a large difference in the left and right steering angles when the same torque is input under torque control conditions. If the control parameters cannot be adjusted quickly, the vehicle may fail to reach the target steering angle, resulting in oversteer or understeer when cornering. Continuous adjustments can cause the vehicle to "draw a line" on the road, meaning that constantly correcting the steering wheel angle with a certain amount of steering wheel turning causes the vehicle to continuously travel in an S-shaped path, posing a significant challenge to intelligent driving control.

[0065] This invention determines the symmetry of the steering system with respect to steering parameters based on the left-turn and right-turn steering parameters of the vehicle while it is in motion. This eliminates the need for the driver to subjectively judge the symmetry of the steering system with respect to steering parameters, thereby improving the accuracy of symmetry detection and facilitating timely reminders to the driver for maintenance. This ensures that the steering system is in good mechanical performance condition, thus avoiding abnormal starting torque caused by abnormal mechanical performance of the steering system, which could lead to poor intelligent driving control or even driving accidents.

[0066] To better understand the technical solution of this invention, the following examples illustrate its application scenarios:

[0067] This invention can be applied to the control system shown in Figure 1. As shown, the control system may include a steering system 101 and a controller 102, which are communicatively connected. Optionally, both the steering system 101 and the controller 102 are connected to the vehicle communication network architecture 103 and interact with signals through the vehicle network. In some embodiments, the controller 102 may also be directly integrated into the steering system 101; this is not limited in the embodiments of this invention.

[0068] In intelligent driving mode, the controller 102 can control the steering system 101 to perform corresponding torque control, and control the rack of the steering gear in the steering system 101 to move left and right to achieve wheel turning.

[0069] In some embodiments, the control system may further include a steering column 104, which is connected between the vehicle's steering wheel and the steering gear and is configured to move the rack of the steering gear as the steering wheel rotates.

[0070] Figure 2 shows a flowchart of the control system interaction method described above. As shown in Figure 2, this control system interaction method can include three stages: a handshake preparation stage, a handshake activation stage, and a handshake exit stage. Specifically, the control system interaction method can include:

[0071] Handshake preparation phase:

[0072] 201. The controller 102 sends a torque control request to the steering system 101;

[0073] 202. The steering system 101 responds to the torque control request and feeds back to the controller 102 that its torque can be controlled.

[0074] Handshake activation phase:

[0075] 203. The controller 102 activates the torque control function and outputs control torque to the steering system 101;

[0076] 204. The steering system 101 executes the control operation corresponding to the control torque output by the controller 102, and feeds back the collected steering parameters to the controller 102.

[0077] 205. The controller 102 receives the steering parameters fed back by the steering system 101 and continues to output control torque to the steering system 101.

[0078] Handshake exit phase:

[0079] 206. The controller 102 actively terminates control of the steering system 101; or,

[0080] 207. The steering system 101 actively exits the state controlled by the controller 102 because the steering torque exceeds the limit.

[0081] Therefore, during the handshake activation phase, the steering system 101 will provide real-time feedback of steering parameters to the controller 102. Thus, the controller 102 can determine the symmetry of the steering system 101 with respect to the steering parameters based on the steering parameters received during the handshake activation phase. This eliminates the need for the driver to subjectively judge the symmetry of the steering system with respect to the steering parameters, thereby improving the accuracy of steering system symmetry detection.

[0082] Example 1

[0083] Please refer to Figure 3, which is a flowchart illustrating a steering safety detection method disclosed in an embodiment of the present invention. The steering safety detection method described in Figure 3 can be applied to a vehicle controller, a user terminal, or a server; this embodiment of the present invention does not limit its application. As shown in Figure 3, the steering safety detection method may include the following operations:

[0084] 301. Obtain the steering parameters of the vehicle's steering system while driving.

[0085] In this embodiment of the invention, the steering parameters may include left-turn steering parameters and right-turn steering parameters.

[0086] Optionally, steering parameters can characterize the relationship between the steering angle and steering torque of the steering axis of the steering system.

[0087] Optionally, the left-turn steering parameters may include the left-turn torque corresponding to the steering shaft at a preset left-turn angle, and the right-turn steering parameters may include the right-turn torque corresponding to the steering shaft at a preset right-turn angle; and / or, the left-turn steering parameters may include the left-turn angle corresponding to the steering shaft under the control of the preset left-turn torque, and the right-turn steering parameters may include the right-turn angle corresponding to the steering shaft under the control of the preset right-turn torque, with the preset left-turn torque values ​​matching the preset right-turn torque values. This method of determining the symmetry of the steering system with respect to steering parameters based on the correspondence between steering angle and steering torque helps to quantitatively determine the degree of asymmetry in the steering parameters of the steering system, further improving the accuracy of symmetry detection of the steering parameters and facilitating guidance for subsequent maintenance.

[0088] Optionally, the left-turn steering parameters may include left-turn torque, specifically the left-turn starting torque corresponding to the start of a left turn on the steering axis; the right-turn steering parameters may include right-turn torque, specifically the right-turn starting torque corresponding to the start of a right turn on the steering axis. The symmetry of the steering system with respect to the steering parameters may include the symmetry of the starting torque of the steering system. Starting torque is a key point in the correspondence between steering torque and steering angle. Therefore, determining the symmetry of the steering system with respect to the steering parameters based on the left-turn and right-turn starting torques further simplifies the process of detecting the symmetry of the steering system parameters, improving the accuracy and efficiency of steering system detection.

[0089] Alternatively, the left-turn starting torque is collected when the steering shaft turns left based on the left-turn incremental torque control, and the right-turn starting torque is collected when the steering shaft turns right based on the right-turn incremental torque control. Collecting the starting torque based on the incremental torque control of the steering shaft reduces the number of starting torque detections, improving the accuracy and efficiency of starting torque detection.

[0090] As an optional implementation, as shown in Figure 4, which is a flowchart illustrating a method for obtaining steering parameters according to an embodiment of the present invention, the method for obtaining steering parameters may include:

[0091] 3011. Control the vehicle to travel at the set speed.

[0092] Preferably, the set speed can be from 10 km / h to 60 km / h, or multiple speeds can be used to obtain steering parameters separately and then averaged. It should be noted that during the collection of steering parameters, the vehicle should be driven on a flat road as much as possible. This reduces the influence of the road surface on the steering parameter collection and improves the accuracy of the collected parameters.

[0093] 3012. Control the vehicle's steering system to perform a left turn.

[0094] Optionally, the steering system can be controlled to perform a left turn operation with a certain incremental torque. Preferably, the incremental gradient of the incremental torque does not exceed 0.5 Nm / s.

[0095] 3013. Obtain the left-turn starting torque T of the steering system. l .

[0096] Figure 5 is an example diagram showing the correspondence between the left-turn angle and the left-turn torque of the steering shaft in the steering system, where it is assumed that the steering torque corresponds to the counterclockwise direction as positive. As shown in Figure 5, when the left-turn torque increases from 0, in the initial stage, the left-turn torque is insufficient to drive the steering shaft to turn left, and the left-turn angle of the steering shaft is still 0. As the left-turn torque gradually increases, the left-turn angle of the steering shaft begins to change. At this point, the left-turn torque input to the steering shaft is the left-turn starting torque T of the steering system. l .

[0097] 3014. Control the steering system to perform a right turn operation.

[0098] Optionally, the steering system can be controlled to perform a right turn operation with a certain incremental torque. Preferably, the incremental gradient of the incremental torque does not exceed 0.5 Nm / s.

[0099] 3015. Obtain the right-turn starting torque T of the steering system. r .

[0100] Figure 6 is an example diagram showing the correspondence between the right-turn angle and the right-turn torque of the steering shaft in the steering system, where it is assumed that the steering torque corresponding to the clockwise direction is negative. As shown in Figure 6, when the right-turn torque increases from 0, in the initial stage, the right-turn torque is insufficient to drive the steering shaft to turn right, and the right-turn angle of the steering shaft is still 0. As the right-turn torque gradually increases, the right-turn angle of the steering shaft begins to change. At this point, the right-turn torque input to the steering shaft is the right-turn starting torque T of the steering system. r .

[0101] Figure 7 is an enlarged example of the relationship between steering angle and starting torque of the steering system. As shown in Figure 7, when the left turning torque increases to about 0.75 Nm, the left turning angle starts to increase from 0. When the right turning torque increases to about 0.75 Nm, the right turning angle starts to increase from 0. Therefore, the left turning starting torque and right turning starting torque in the example in the figure are both about 0.75 Nm.

[0102] In an optional embodiment, the steering parameter acquisition method may further include:

[0103] Obtaining the left-turn starting torque T of the steering system l Then, before controlling the steering system to perform a right turn operation, control the steering system to perform a return-to-center operation; and / or,

[0104] Obtain the right-turn starting torque T of the steering system r Then, the steering system is controlled to return to center.

[0105] In other embodiments, after executing step 3011, steps 3014-3015 may be executed first, followed by steps 3012-3013. This embodiment of the invention does not impose any limitations.

[0106] It is evident that implementing this optional method allows for the sequential acquisition of the left-turn starting torque and right-turn starting torque of the steering system while the vehicle is moving smoothly, thereby improving the accuracy and reliability of the starting torque acquisition.

[0107] 302. Based on the steering parameters, determine the symmetry of the steering system with respect to the steering parameters.

[0108] Optionally, the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters, or the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the left turn steering parameters and the right turn steering parameters.

[0109] Further optionally, when the difference between the steering parameters and the preset standard parameters is greater than or equal to the first preset difference, the symmetry of the steering system with respect to the steering parameters is not satisfied; or, when the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the second preset difference, the symmetry of the steering system with respect to the steering parameters is not satisfied.

[0110] Preferably, the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters:

[0111] ΔT1=|T l -T s |,ΔT2=|T r -T s |;

[0112] Among them, T s ΔT1 is used to represent preset standard parameters, and ΔT1 is used to represent the left-turn starting torque T. l and preset standard parameter T s The difference between them, ΔT2 is used to represent the right-turn starting torque T. r and preset standard parameter T s The degree of difference between them. If either ΔT1 or ΔT2 is greater than or equal to the first preset degree of difference, then the symmetry of the steering system with respect to the steering parameters does not meet the condition.

[0113] As can be seen, implementing the embodiments of the present invention can determine the symmetry of the steering system with respect to the steering parameters based on the steering parameters of the vehicle when it is in motion, without requiring the driver to judge the symmetry of the steering system with respect to the steering parameters through subjective feeling, thereby improving the accuracy of the symmetry detection of the steering parameters of the steering system.

[0114] Example 2

[0115] Please refer to Figure 8, which is a flowchart illustrating another steering safety detection method disclosed in an embodiment of the present invention. The steering safety detection method described in Figure 8 can be applied to a vehicle controller, a user terminal, or a server; this embodiment of the present invention does not limit its application. As shown in Figure 8, the steering safety detection method may include the following operations:

[0116] 401. Obtain the steering parameters of the vehicle's steering system while driving.

[0117] 402. If the difference between the steering parameters and the preset standard parameters is greater than or equal to the first preset difference, output the corresponding abnormal alarm information of the steering system to the user; or, if the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the second preset difference, output the corresponding abnormal alarm information of the steering system to the user.

[0118] Specifically, if the difference between the steering parameters and the preset standard parameters is greater than or equal to the first preset difference, the system outputs the corresponding abnormal alarm information of the steering system to the user. This includes: if the difference between either the left turn steering parameter and the right turn steering parameter and the preset standard parameter is greater than or equal to the first preset difference, the system outputs the corresponding abnormal alarm information of the steering system to the user.

[0119] Optionally, abnormal alarm information can be output to the user through devices such as in-vehicle terminals, user terminals, vehicle speakers, and vehicle lights. For example, in-vehicle terminals may include central control screens, rear seat screens, HUD displays, etc., and user terminals may include mobile phones, wearable devices, headphones, etc., without limitation in this embodiment of the invention. For example, the words "Steering system performance abnormal, please check" can be displayed on the central control screen to remind the user to have it checked.

[0120] As can be seen, implementing the embodiments of the present invention can determine the symmetry of the steering system with respect to the steering parameters based on the vehicle's steering parameters during driving, eliminating the need for the driver to subjectively judge the symmetry of the steering system with respect to the steering parameters, thus improving the accuracy of the symmetry detection of the steering system's steering parameters. It can also promptly remind the driver to perform maintenance, thereby ensuring that the steering system is in good mechanical performance condition, and thus avoiding abnormal starting torque caused by abnormal steering system mechanical performance, which could lead to poor intelligent driving control or even driving accidents.

[0121] In an optional embodiment, the method may further include:

[0122] When the vehicle is in intelligent driving mode, if the difference between the steering parameters and the preset standard parameters is greater than or equal to a third preset difference, the vehicle will exit intelligent driving mode; or...

[0123] When the vehicle is in intelligent driving mode, if the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the fourth preset difference, the vehicle will be controlled to exit intelligent driving mode.

[0124] Specifically, when the vehicle is in intelligent driving mode, if the difference between the steering parameters and the preset standard parameters is greater than or equal to the third preset difference, the vehicle is controlled to exit intelligent driving mode. This includes: when the vehicle is in intelligent driving mode, if the difference between either the left turn steering parameter or the right turn steering parameter and the preset standard parameter is greater than or equal to the third preset difference, the vehicle is controlled to exit intelligent driving mode.

[0125] Specifically, controlling the vehicle to exit intelligent driving mode can include: the controller actively terminating the steering system.

[0126] Optionally, the third preset difference degree is greater than or equal to the first preset difference degree, or the fourth preset difference degree is greater than or equal to the second preset difference degree.

[0127] Optionally, intelligent driving modes may include autonomous driving mode and / or assistance value mode.

[0128] As can be seen, this allows the driver to exit intelligent driving mode when the steering parameters of the steering system are asymmetrical, thus avoiding poor intelligent driving control due to steering system abnormalities and even driving accidents caused by it.

[0129] In another alternative embodiment, the method may further include:

[0130] If the difference between the steering parameters and the preset standard parameters is greater than or equal to the fifth preset difference, the left turn control parameters and / or right turn control parameters of the steering system are corrected; or...

[0131] If the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the sixth preset difference, the left turn control parameters and / or right turn control parameters of the steering system are corrected.

[0132] Specifically, if the difference between the steering parameters and the preset standard parameters is greater than or equal to the fifth preset difference, the left turn control parameters and / or right turn control parameters of the steering system are corrected, including:

[0133] If the difference between the left turn steering parameters and the preset standard parameters is greater than or equal to the fifth preset difference, the left turn control parameters of the steering system will be corrected.

[0134] If the difference between the right turn steering parameters and the preset standard parameters is greater than or equal to the fifth preset difference, the right turn control parameters of the steering system will be corrected.

[0135] It is evident that this allows for timely correction of the steering system's control parameters when there is asymmetry in the steering system's steering parameters, thus preventing poor intelligent driving control due to steering system malfunctions and even driving accidents caused by them.

[0136] Example 3

[0137] Please refer to Figure 9, which is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. The electronic device described in Figure 9 can be applied to a vehicle controller, a user terminal, or a server; the present invention does not limit its application. As shown in Figure 8, the electronic device may include:

[0138] The transceiver module 501 is used to acquire the steering parameters of the vehicle's steering system when it is in motion. The steering parameters include left turn steering parameters and right turn steering parameters.

[0139] Execution module 502 is used to determine the symmetry of the steering system about the steering parameters based on the steering parameters.

[0140] As can be seen, this method can determine the symmetry of the steering system with respect to the steering parameters based on the vehicle's steering parameters while driving, eliminating the need for the driver to subjectively judge the symmetry of the steering system with respect to the steering parameters, thus improving the accuracy of the symmetry detection of the steering system's steering parameters.

[0141] In an optional embodiment, the steering parameters characterize the relationship between the steering angle and the steering torque of the steering axis of the steering system.

[0142] In another optional embodiment, the left-turn steering parameters include the left-turn torque corresponding to the steering shaft at a preset left-turn angle, and the right-turn steering parameters include the right-turn torque corresponding to the steering shaft at a preset right-turn angle; and / or,

[0143] The left turn parameters include the left turn angle corresponding to the steering shaft under the control of the preset left turn torque, and the right turn parameters include the right turn angle corresponding to the steering shaft under the control of the preset right turn torque. The preset left turn torque value and the preset right turn torque value are matched.

[0144] It is evident that determining the symmetry of the steering system with respect to steering parameters based on the correspondence between steering angle and steering torque is beneficial for quantitatively determining the degree of asymmetry in the steering parameters of the steering system, further improving the accuracy of symmetry detection of the steering parameters of the steering system, and facilitating guidance for subsequent maintenance.

[0145] In another optional embodiment, the left-turn steering parameters include a left-turn torque, which includes the left-turn initiation torque corresponding to when the steering shaft begins to turn left; the right-turn steering parameters include a right-turn torque, which includes the right-turn initiation torque corresponding to when the steering shaft begins to turn right; and the symmetry of the steering system with respect to the steering parameters may include the symmetry of the steering system's initiation torque.

[0146] Starting torque is the key point in the correspondence between steering torque and steering angle. By determining the symmetry of the steering system with respect to steering parameters based on the left-turn starting torque and right-turn starting torque, the process of detecting the symmetry of steering parameters of the steering system is further simplified, and the accuracy and efficiency of steering system detection are improved.

[0147] In another alternative embodiment, the left-turn starting torque is collected when the steering shaft turns left based on the left-turn incremental torque control, and the right-turn starting torque is collected when the steering shaft turns right based on the right-turn incremental torque control.

[0148] It is evident that this method of collecting starting torque by controlling the steering shaft rotation based on incremental torque can reduce the number of starting torque detections and improve the accuracy and efficiency of starting torque detection.

[0149] In another alternative embodiment, the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters, or the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the left turn steering parameters and the right turn steering parameters.

[0150] In yet another optional embodiment, the transceiver module 501 is further configured to:

[0151] If the difference between the steering parameters and the preset standard parameters is greater than or equal to the first preset difference, or if the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the second preset difference, the system will output the corresponding abnormal alarm information to the user.

[0152] It is evident that this can promptly remind the driver to perform maintenance, thereby ensuring that the steering system is in good mechanical condition, and thus avoiding abnormal starting torque caused by abnormal steering system mechanical performance, resulting in poor intelligent driving control or even driving accidents.

[0153] In yet another optional embodiment, the execution module 502 is further configured to:

[0154] When the vehicle is in intelligent driving mode, if the difference between the steering parameters and the preset standard parameters is greater than or equal to the third preset difference, or if the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the fourth preset difference, the vehicle will be controlled to exit intelligent driving mode.

[0155] As can be seen, this allows the driver to exit intelligent driving mode when the steering parameters of the steering system are asymmetrical, thus avoiding poor intelligent driving control due to steering system abnormalities and even driving accidents caused by it.

[0156] In yet another optional embodiment, the execution module 502 is further configured to:

[0157] If the difference between the steering parameters and the preset standard parameters is greater than or equal to the fifth preset difference, or if the difference between the left turn steering parameters and the right turn steering parameters is greater than or equal to the sixth preset difference, the left turn control parameters and / or right turn control parameters of the steering system shall be corrected.

[0158] It is evident that this allows for timely correction of the steering system's control parameters when there is asymmetry in the steering system's steering parameters, thus preventing poor intelligent driving control due to steering system malfunctions and even driving accidents caused by them.

[0159] Example 4

[0160] Please refer to Figure 10, which is a schematic diagram of the structure of another electronic device disclosed in an embodiment of the present invention. As shown in Figure 10, the electronic device may include: a processor 601, which is coupled to a memory 602 storing executable program code;

[0161] The processor 601 is used to call the executable program code stored in the memory 602 to execute the steps in the steering safety detection method described in Embodiment 1 or Embodiment 2 of the present invention.

[0162] Example 5

[0163] Please refer to Figure 1. An embodiment of the present invention discloses a control system. As shown in Figure 1, the control system includes a steering system 101 and a controller 102. The steering system 101 is communicatively connected to the controller 102. The controller is used to execute the steering safety detection method as described in Embodiment 1 or Embodiment 2 of the present invention.

[0164] For example, controller 102 can be ADAS (Advanced Driving Assistance System), and steering system 101 can be EPS (Electric Power Steering).

[0165] Example 6

[0166] This invention discloses a vehicle that includes the electronic device described in Embodiment 3 or Embodiment 4 of this invention, or the vehicle that includes the control system described in Embodiment 5 of this invention.

[0167] Example 7

[0168] This invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the steps in the steering safety detection method described in Embodiment 1 or Embodiment 2 of this invention.

[0169] Example 8

[0170] This invention discloses a computer program product, which includes computer program instructions, and when executed by a processor, the computer program instructions implement the steps in the steering safety detection method described in Embodiment 1 or Embodiment 2 of this invention.

[0171] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0172] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0173] Finally, it should be noted that the steering safety detection method, device, control system, vehicle, and storage medium disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering safety detection method, characterized in that, The method includes: acquiring steering parameters of the vehicle's steering system while driving, the steering parameters including left-turn steering parameters and right-turn steering parameters; and determining the symmetry of the steering system about the steering parameters based on the steering parameters.

2. The method according to claim 1, characterized in that, The steering parameters characterize the relationship between the steering angle and the steering torque of the steering axis of the steering system.

3. The method according to claim 2, characterized in that, The left-turn steering parameters include the left-turn torque corresponding to the steering shaft at a preset left-turn angle, and the right-turn steering parameters include the right-turn torque corresponding to the steering shaft at the preset right-turn angle; and / or, the left-turn steering parameters include the left-turn angle corresponding to the steering shaft under the control of the preset left-turn torque, and the right-turn steering parameters include the right-turn angle corresponding to the steering shaft under the control of the preset right-turn torque, wherein the preset left-turn torque value and the preset right-turn torque value are matched.

4. The method according to claim 3, characterized in that, The left-turn steering parameters include the left-turn torque, which includes the left-turn starting torque corresponding to when the steering shaft begins to turn left. The right-turn steering parameters include the right-turn torque, which includes the right-turn starting torque corresponding to when the steering shaft begins to turn right. The symmetry of the steering system with respect to the steering parameters includes the symmetry of the starting torque of the steering system.

5. The method according to claim 4, characterized in that, The left-turn starting torque is collected when the steering shaft is controlled to turn left based on the left-turn incremental torque, and the right-turn starting torque is collected when the steering shaft is controlled to turn right based on the right-turn incremental torque.

6. The method according to any one of claims 1-5, characterized in that, The symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the steering parameters and preset standard parameters, or the symmetry of the steering system with respect to the steering parameters is determined based on the degree of difference between the left turn steering parameters and the right turn steering parameters.

7. The method according to claim 6, characterized in that, The method further includes: if the difference between the steering parameter and the preset standard parameter is greater than or equal to a first preset difference, outputting an abnormal alarm message corresponding to the steering system to the user; or, if the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a second preset difference, outputting an abnormal alarm message corresponding to the steering system to the user.

8. The method according to claim 6 or 7, characterized in that, The method further includes: when the vehicle is in intelligent driving mode, if the difference between the steering parameter and the preset standard parameter is greater than or equal to a third preset difference, controlling the vehicle to exit the intelligent driving mode; or, when the vehicle is in intelligent driving mode, if the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a fourth preset difference, controlling the vehicle to exit the intelligent driving mode.

9. The method according to claim 6 or 7, characterized in that, The method further includes: if the difference between the steering parameter and the preset standard parameter is greater than or equal to a fifth preset difference, correcting the left turn control parameter and / or right turn control parameter of the steering system; or, if the difference between the left turn steering parameter and the right turn steering parameter is greater than or equal to a sixth preset difference, correcting the left turn control parameter and / or right turn control parameter of the steering system.

10. An electronic device, characterized in that, The device includes: a transceiver module for acquiring steering parameters of the vehicle's steering system during driving, the steering parameters including left-turn steering parameters and right-turn steering parameters; and an execution module for determining the symmetry of the steering system about the steering parameters based on the steering parameters.

11. An electronic device, characterized in that, The apparatus includes: a processor coupled to a memory storing executable program code; the processor being configured to invoke the executable program code stored in the memory to perform the steering safety detection method as described in any one of claims 1-9.

12. A control system, characterized in that, The control system includes a steering system and a controller, the steering system being communicatively connected to the controller, and the controller being used to execute the steering safety detection method as described in any one of claims 1-9.

13. A vehicle, characterized in that, The vehicle includes the electronic device of claim 10 or 11, or the vehicle includes the control system of claim 12.

14. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the steering safety detection method as described in any one of claims 1-9.

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