Vehicle belt tooth skipping determination method and device, electronic equipment and storage medium

Abstract

This application discloses a method, apparatus, electronic device, and storage medium for determining belt skipping in vehicles, relating to the field of vehicle detection technology. The method includes: after the vehicle is powered on, determining whether there is a potential belt skipping fault based on the motor's output displacement and the rack's rack displacement; if so, determining whether the potential skipping fault is due to sensor interference based on a preset skipping threshold time and the corresponding actual rack deviation displacement; if so, determining that the rack is working normally and not locking the rack or handling the skipping fault; if not, determining that there is a real belt skipping fault, locking the rack at its current position, and controlling the vehicle to perform skipping fault handling. The embodiments provided in this application can identify both real skipping faults and belt skipping misjudgments caused by sensor interference, thereby improving the accuracy of identifying real belt skipping faults and enhancing the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle inspection technology, and in particular to a method, apparatus, electronic device and storage medium for determining vehicle belt skipping. Background Technology

[0002] Currently, when the rear wheel steering assembly of a vehicle is working, it ensures that the output position of the motor and the actual position detected by the rack position sensor must always be within a reasonable tolerance range. If the threshold is exceeded, the rear wheel steering system will determine that there is a tooth skipping fault in the belt. In this fault mode, the rack position in the vehicle is no longer controlled by the motor, and the rear wheels will turn unexpectedly, causing the vehicle to become unstable and resulting in safety problems.

[0003] However, traditional belt skipping locking methods usually control the rack to lock the current position through a rack position sensor. But this method of preventing belt skipping can be affected by interference when metal or live wires fall on the rack position sensor, causing it to output an abnormal position and thus falsely triggering a skipping fault, which affects the user experience. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for determining belt skipping. The embodiments provided in this application solve the technical problem in the prior art where the rack position sensor is interfered with, resulting in abnormal output position, which in turn may falsely trigger a skipping fault and affect the user experience. The embodiments provided in this application can identify both real skipping and belt skipping misjudgment caused by sensor interference, thereby improving the accuracy of identifying real belt skipping and enhancing the user experience.

[0005] In a first aspect, this application provides a method for determining belt skipping in a vehicle, applied to a rear-wheel steering system. The rear-wheel steering system includes a motor, a belt, a rack, and a rear wheel. The output end of the motor is connected to one end of the belt, the other end of the belt is connected to one end of the rack, and the other end of the rack is connected to the rear wheel. The method for determining belt skipping includes: After the vehicle is powered on, based on the output displacement of the motor and the rack displacement of the rack, it is determined whether there is a potential tooth skipping fault in the belt of the vehicle. The output displacement is collected by a motor position sensor installed on the motor, and the rack displacement is collected by a rack position sensor installed at the bottom of the rack. If so, then based on the preset tooth skipping critical time and the actual rack deviation displacement corresponding to the rack, it is determined whether the potential tooth skipping fault is due to sensor interference; If so, then the rack is confirmed to be working normally, and no locking or skipping tooth fault handling is performed on the rack; If not, it is determined that the vehicle has a real belt skipping problem, the rack is locked at its current position, and the vehicle is controlled to perform skipping fault handling.

[0006] In one feasible implementation, before determining whether the belt of the vehicle has a potential skipped tooth fault based on the output displacement of the motor and the rack displacement of the rack, the method further includes: The first position of the rack moving to the first mechanical limit point and the second position of the rack moving to the second mechanical limit point are obtained, wherein the first mechanical limit point and the second mechanical limit point are respectively used to characterize the two side boundary limit points of the rack; Based on the first position and the second position, determine the actual center position of the rack; Based on the center deviation between the factory center reference position and the actual center position of the rack, the position of the rack is calibrated to determine whether the belt has an initial tooth skipping fault; If it does not exist, then obtain the output displacement of the motor and the rack displacement of the rack.

[0007] In one feasible implementation, after calibrating the position of the rack based on the midpoint deviation between the factory reference position and the actual midpoint position, and determining whether the belt has an initial tooth skipping fault, the method further includes: If the belt has the initial skipped tooth fault, the rack is locked in the middle position, and the vehicle is controlled to perform skipped tooth fault handling.

[0008] In one feasible implementation, determining whether the belt of the vehicle has a potential skipped tooth fault based on the output displacement of the motor and the rack displacement of the rack includes: Determine the displacement difference between the output displacement of the motor and the rack displacement of the rack; When the absolute value of the displacement difference is greater than or equal to a preset tooth skipping trigger displacement threshold, it is determined that the belt of the vehicle has a potential tooth skipping fault. When the absolute value of the displacement difference is less than the preset tooth skipping trigger displacement threshold, it is determined that the belt of the vehicle does not have a potential tooth skipping fault; wherein, the preset tooth skipping trigger displacement threshold is determined by the theoretical tooth skipping movement distance, the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system.

[0009] In one feasible implementation, determining whether the potential tooth skipping fault is due to sensor interference based on a preset tooth skipping critical time and the corresponding actual rack deviation displacement includes: If, within a preset tooth skipping critical time, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be sensor interference. The actual rack deviation displacement is determined by the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system. If, after a preset tooth skipping critical time, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be a real belt tooth skipping fault.

[0010] In one feasible implementation, the rear wheel steering system further includes a small pulley mounted on the output shaft of the motor and meshing with the belt. The preset tooth skipping critical time is determined by the following method: The rotational speed of the motor is determined based on the upper limit of the rack's moving speed and the transmission ratio from the motor to the rack. Based on the rotational speed, the preset number of skipped teeth, and the number of teeth on the small pulley, the preset skipped tooth critical time required to reach the actual rack deviation displacement after passing through the preset number of skipped teeth is determined.

[0011] In one feasible implementation, the method further includes: When the potential tooth skipping fault is determined to be due to sensor interference, the system enters interference mode and monitors the displacement difference in real time. When the absolute value of the displacement difference is less than or equal to the actual rack deviation displacement corresponding to the rack, the disturbance state is exited.

[0012] In a second aspect, this application provides a device for determining belt skipping, applied to a rear-wheel steering system of a vehicle. The rear-wheel steering system includes a motor, a belt, a rack, and a rear wheel. The output end of the motor is connected to one end of the belt, the other end of the belt is connected to one end of the rack, and the other end of the rack is connected to the rear wheel. The device for determining belt skipping includes: The first determining module is used to determine, after the vehicle is powered on, whether there is a potential tooth skipping fault in the belt of the vehicle based on the output displacement of the motor and the rack displacement of the rack, wherein the output displacement is acquired by a motor position sensor installed on the motor and the rack displacement is acquired by a rack position sensor installed at the bottom of the rack. The second determining module is used to determine whether the potential tooth skipping fault is due to sensor interference based on the preset tooth skipping critical time and the actual rack deviation displacement corresponding to the rack. The second determining module is used to determine that the rack is working normally if the condition is met, and not to perform locking or skipping tooth fault handling on the rack. The skipped tooth processing module is used to determine if there is a real skipped tooth on the belt of the vehicle, lock the rack at its current position, and control the vehicle to perform skipped tooth fault processing if no skipped tooth is found.

[0013] In a third aspect of this application, an electronic device is provided, including a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method for determining skipped teeth of a vehicle belt as described above.

[0014] In a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, performs the steps of the method for determining vehicle belt skipping as described above.

[0015] The vehicle belt skipping determination method, apparatus, electronic device, and storage medium provided in this application, compared with the prior art, determine whether there is a potential skipping fault in the vehicle belt based on the output displacement of the motor and the rack displacement after the vehicle is powered on. This provides a preliminary judgment on whether belt skipping has occurred and lays the foundation for subsequent judgment of actual belt skipping and sensor interference. Then, when a potential skipping fault is determined, this application determines whether the potential skipping fault is due to sensor interference based on a preset skipping critical time and the corresponding actual rack deviation displacement, thereby achieving the ability to... This invention detects sensor interference issues that may cause suspected belt skipping due to foreign metal objects falling onto the rack position sensor. When the potential skipping fault is determined to be due to sensor interference, the rack is confirmed to be operating normally without locking or handling the skipping fault. Furthermore, when it is determined that the potential skipping fault is not due to sensor interference (i.e., a genuine belt skipping fault exists), the rack's current position is locked, and the vehicle is controlled to perform skipping fault handling. This invention can distinguish between genuine skipping and misjudgments of belt skipping caused by sensor interference, thereby improving the accuracy of genuine belt skipping identification and enhancing the user experience. Attached Figure Description

[0016] Figure 1 A structural diagram of a rear-wheel steering system for a vehicle provided in an embodiment of this application is shown; Figure 2 A flowchart illustrating a method for determining belt skipping provided in an embodiment of this application is shown. Figure 3 The diagram shows a line graph of actual belt skipping in a method for determining belt skipping provided in an embodiment of this application. Figure 4 The diagram shows a line graph of sensor interference in a method for determining skipped teeth on a vehicle belt provided in an embodiment of this application. Figure 5 This paper shows a structural block diagram of a vehicle belt skipping tooth determination device provided in an embodiment of this application; Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0017] Figure 5 and Figure 6 The correspondence between the figure labels and figure titles in the accompanying drawings is as follows: 1 Rear wheel steering system; 10 Motor; 20 Belt; 30 Rack; 40 Rear wheel; 50 Motor position sensor; 60 Rack position sensor; 500 Vehicle belt skipping detection device; 510 First acquisition module; 520 Judgment module; 530 Calibration module; 540 Second acquisition module; 550 First determination module; 560 Second determination module; 570 Third determination module; 580 Skip-tooth processing module; 600 Electronic equipment; 610 Processor; 620 Memory; 630 Bus. Detailed Implementation

[0018] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, 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. Unless otherwise specified, 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 the element. The term "two or more" includes two or more cases.

[0020] First, the applicable application scenarios of this application will be introduced. The embodiments provided in this application are applicable to the field of vehicle inspection technology, and in particular relate to a method, device, electronic device and storage medium for determining vehicle belt skipping.

[0021] Currently, the traditional method of preventing belt skipping usually involves controlling the rack to lock its current position using a rack position sensor. However, this method can be affected by interference when metal or live wires fall on the rack position sensor, causing it to output an abnormal position and potentially triggering a skipping fault, thus impacting the user experience.

[0022] Based on this, the embodiments of this application provide a method, device, electronic device and storage medium for determining belt skipping. The embodiments provided by this application solve the technical problem in the prior art that the rack position sensor is subject to interference, resulting in abnormal output position, which in turn may falsely trigger the skipping fault and affect the user experience. The embodiments provided by this application can identify real skipping and belt skipping misjudgment caused by sensor interference, thereby improving the accuracy of real belt skipping identification and enhancing the user experience.

[0023] Figure 1 A structural diagram of a rear-wheel steering system for a vehicle according to an embodiment of this application is shown. Figure 1 As shown, the rear wheel steering system includes a motor, a belt, a rack, and the rear wheel of the vehicle. The output end of the motor is connected to one end of the belt, the other end of the belt is connected to one end of the rack, and the other end of the rack is connected to the rear wheel of the vehicle.

[0024] In the embodiments provided in this application, the motor is the power source of the rear wheel steering system, used to receive instructions from the vehicle controller and output rotational motion to the belt; the belt connects the motor output shaft and the small pulley, used to transmit the rotational motion of the motor to the rack drive mechanism; the rack is used to convert the rotational motion of the belt into linear motion and move left and right to drive the rear wheels of the vehicle to achieve steering; the rear wheels are driven by the rack and achieve angle changes.

[0025] The rear wheel steering system also includes a motor position sensor and a rack position sensor. The motor position sensor is mounted on the motor, and the rack position sensor is mounted on the bottom of the rack.

[0026] Figure 2 A flowchart illustrating a method for determining belt skipping according to an embodiment of this application is shown. Figure 2 As shown, the method for determining belt skipping includes the following steps: S201. After the vehicle is powered on, based on the output displacement of the motor and the rack displacement, determine whether there is a potential tooth skipping fault in the vehicle's belt. The output displacement is collected by a motor position sensor installed on the motor, and the rack displacement is collected by a rack position sensor installed at the bottom of the rack.

[0027] In this step, in the embodiment provided in this application, if it is necessary to monitor the belt skipping problem of the rear wheel steering system in the vehicle, after the vehicle is powered on, the whole vehicle needs to input a required displacement to the motor, that is, the output displacement of the motor, and transmit it to the rack through the belt, so that the rack moves left and right and obtains a rack displacement. Then, by comparing the output displacement and the rack displacement, it is determined whether there is a potential belt skipping fault in the vehicle.

[0028] Understandably, the rack displacement is detected by a rack position sensor installed at the bottom of the rack.

[0029] In the embodiments provided in this application, the output displacement is represented by A; the rack displacement of the rack is represented by B.

[0030] S202. If so, then based on the preset tooth skipping critical time and the corresponding actual rack deviation displacement, determine whether the potential tooth skipping fault is due to sensor interference.

[0031] In this step, in the embodiments provided in this application, after determining that there is a potential tooth skipping fault in the belt, it is necessary to continue to verify the specific type of the potential tooth skipping fault, that is, to determine whether the potential tooth skipping fault is sensor interference. The embodiments provided in this application specifically determine this by setting a tooth skipping critical time and the actual rack deviation displacement corresponding to the rack.

[0032] It should be noted that the embodiments provided in this application, based on a large amount of historical data, confirm that regardless of whether the skipping of teeth is a genuine occurrence or a false alarm caused by sensor interference, the displacement output by the motor is stable. The difference lies in the signal from the rack position sensor. For details, please refer to [link / reference needed]. Figure 3 and Figure 4 .

[0033] Figure 3 The diagram shows a line graph of actual belt skipping in a method for determining belt skipping provided in an embodiment of this application. Figure 4 The diagram shows a line graph illustrating sensor interference in a method for determining skipped teeth on a vehicle belt provided in an embodiment of this application.

[0034] like Figure 3 As shown, the horizontal axis of the line graph represents time t, the vertical axis represents displacement s, D represents the output displacement of the motor, W1 represents the rack displacement, 1 represents the node where the displacement begins to deviate, 2 represents the fault trigger node for actual belt tooth skipping, and Q represents the displacement specified by the preset tooth skipping trigger displacement threshold. When actual belt tooth skipping occurs, the motor continues to rotate and has a continuous displacement output. It can be seen that after actual tooth skipping occurs, the characteristics of the rack position sensor signal are basically still or the displacement increases or decreases slowly.

[0035] like Figure 4 As shown, the horizontal axis of the line graph represents time t, the vertical axis represents displacement s, D represents the output displacement of the motor; W2 represents the rack displacement; Q represents the displacement specified by the preset skip-tooth trigger displacement threshold; and 3 represents the fault node of false displacement skip-tooth. Figure 4 It can be seen that false alarms of skipped teeth occur when sensor interference causes the rack position sensor signal to fluctuate irregularly and become discontinuous.

[0036] S203. If so, the rack is confirmed to be working normally, and no locking or skipping tooth fault handling is performed on the rack.

[0037] In this step, in the embodiments provided in this application, if it is determined that the potential skipped tooth fault is due to sensor interference, and the sensor interference is temporary, then the rack will not be locked or the skipped tooth fault will not be handled. If it is determined that the sensor interference is a long-term interference, and the vehicle is still working normally during the current measurement of the ignition cycle after power-on, it is not easily perceived by the user, and the false fault that causes the sensor interference to appear when the vehicle is powered on is still present, then a fault reporting process similar to the skipped tooth fault handling can be performed.

[0038] In the embodiments provided in this application, the skipped tooth fault handling can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the skipped tooth fault handling can be specifically, but is not limited to, reporting and warning of diagnostic fault codes.

[0039] S204. If not, then it is determined that there is a real belt skipping problem in the vehicle. The rack is locked in its current position, and the vehicle is controlled to perform skipping fault handling.

[0040] In this step, in the embodiments provided in this application, if it is determined that the potential tooth skipping fault is a real belt tooth skipping fault existing in the vehicle, the embodiments provided in this application will lock the rack at its current position and control the vehicle to perform tooth skipping fault processing.

[0041] It is understood that the embodiments provided in this application can detect the presence of actual belt skipping in the vehicle and lock the rack at the current position to ensure travel safety. They can also detect temporary sensor interference caused by metal foreign objects falling onto the rack position sensor, as well as long-term sensor interference caused by wiring harnesses coming loose and touching the rack position sensor. This enables accurate identification of false alarms caused by interference to the rear wheel steering system and improves the user experience.

[0042] In the embodiments provided in this application, the skipped tooth fault handling can specifically be the reporting and early warning processing of diagnostic fault codes, and the early warning processing method in the embodiments provided in this application can specifically be, but is not limited to, issuing a red audible and visual alarm.

[0043] The method for determining belt skipping in this application, compared with the prior art, determines whether there is a potential belt skipping fault based on the output displacement of the motor and the rack displacement after the vehicle is powered on. This provides a preliminary judgment on whether belt skipping has occurred and lays the foundation for subsequent judgment of actual belt skipping and sensor interference. When a potential belt skipping fault is determined, the method determines whether the potential skipping fault is due to sensor interference based on a preset skipping critical time and the corresponding actual rack deviation displacement. This enables the detection of sensor interference problems caused by suspected belt skipping faults due to metal foreign objects falling on the rack position sensor. If the potential skipping fault is determined to be due to sensor interference, the rack is determined to be working normally, and no locking or skipping fault handling is performed on the rack. Furthermore, when it is determined that the potential skipping fault is not due to sensor interference, i.e., when a real belt skipping fault is determined, the rack is locked at its current position, and the vehicle is controlled to perform skipping fault handling. This application can identify belt skipping misjudgments caused by real skipping and sensor interference, thereby improving the accuracy of real belt skipping identification and enhancing the user experience.

[0044] For example, before determining whether a vehicle belt has a potential skipped tooth fault based on the motor's output displacement and the rack displacement, the method further includes: The system acquires a first position where the rack moves to the first mechanical limit point and a second position where the rack moves to the second mechanical limit point, wherein the first and second mechanical limit points are used to characterize the two side boundary limit points of the rack, respectively; based on the first and second positions, the actual center position of the rack is determined; based on the center deviation between the rack's factory center reference position and the actual center position, the rack position is calibrated to determine whether there is an initial tooth skipping fault in the belt; if not, the output displacement of the motor and the rack displacement are acquired.

[0045] It is understandable that, in the embodiments provided in this application, before determining whether the vehicle belt has a potential skipping tooth fault, the embodiments provided in this application also need to calibrate the initial position of the rack after the vehicle is powered on. The traditional position calibration is based on the 0 position calibrated by the displacement sensor at the factory. However, when the displacement sensor is subjected to continuous interference, the position signal of the above calibration is unreliable, that is, the accuracy of the traditional calibration method is low. The embodiments provided in this application control the motor to move the rack to the leftmost mechanical limit point (i.e., the first position) when the vehicle is powered on, and then move it to the rightmost mechanical limit point (i.e., the second position), and calculate the rack center position. Then, the rack is moved to the middle position to determine the actual center position of the rack. Then, the actual center position of the rack is compared with the factory-calibrated center reference position to determine the center position deviation between the two. Based on the above center position deviation, the rack position is calibrated to determine whether the belt has an initial skipping tooth fault.

[0046] It should be noted that if the absolute value is greater than the preset calibration threshold, this application determines that the belt has an initial tooth skipping fault or that the position sensor has long-term sensor interference, i.e., the belt has an initial tooth skipping fault. In this case, the rack needs to be locked in the neutral position, and the vehicle needs to be controlled to perform tooth skipping fault handling, such as reporting a Diagnostic Trouble Code (DTC) and illuminating a red indicator light. If the absolute value is less than or equal to the preset calibration threshold, it is determined that the belt does not have an initial tooth skipping fault. In this case, the rack needs to be locked in the neutral position, and the output displacement of the motor and the rack displacement need to be acquired to determine potential tooth skipping faults.

[0047] In the above context, locking the rack in the middle position refers to stopping the rack in the middle position.

[0048] Among them, in the embodiments provided by the present application, the value of the preset calibration threshold can be customarily selected and used according to different application scenarios and usage conditions. The preset calibration threshold in the embodiments provided by the present application can be specifically but not limited to 0.2 mm, and the preset calibration threshold is determined according to the preset accuracy of the rack position sensor at the zero position.

[0049] In the present application, after the vehicle is powered on, the displacement deviation of the vehicle's rack is first calibrated. When a deviation caused by an initial tooth skipping fault is found during the calibration, the rack is locked at the middle position to improve the accuracy in determining and handling belt tooth skipping.

[0050] Exemplarily, based on the output displacement of the motor and the rack displacement of the rack, determining whether there is a potential tooth skipping fault in the vehicle's belt includes: Determining the displacement difference between the output displacement of the motor and the rack displacement of the rack; when the absolute value of the displacement difference is greater than or equal to the preset tooth skipping trigger displacement threshold, determining that there is a potential tooth skipping fault in the vehicle's belt; when the absolute value of the displacement difference is less than the preset tooth skipping trigger displacement threshold, determining that there is no potential tooth skipping fault in the vehicle's belt; wherein, the preset tooth skipping trigger displacement threshold is determined by the theoretical tooth skipping movement distance, the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system.

[0051] It can be understood that in the embodiments provided by the present application, the displacement difference between the output displacement of the motor and the rack displacement of the rack is compared with the preset tooth skipping trigger displacement threshold. The embodiments provided by the present application set the above preset tooth skipping trigger displacement threshold as C, and when it is determined that the absolute value of A - B ≥ C, it is defaulted that the belt may have insufficient tension, resulting in the motor rotating but the rack not moving, that is, it is determined that there is a potential tooth skipping fault in the vehicle's belt; when it is determined that the absolute value of A - B < C, it is determined that there is no potential tooth skipping fault in the vehicle's belt.

[0052] It should be noted that in the embodiments provided by the present application, the preset tooth skipping trigger displacement threshold is specifically determined by the theoretical tooth skipping movement distance, the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system. The specific formula is: C = (C1 + C0 + C2 + C3) * a; Wherein, C is used to characterize the preset tooth skipping trigger displacement threshold. The value of C can be customized and used according to different application scenarios and usage conditions. In the embodiments provided in this application, the value range of C is specifically 1.2-1.5; C1 is used to characterize the sensor error of the rack position sensor, and C1=±0.7mm; C0 is used to characterize the internal clearance of the rear wheel steering system, and C0=0.2mm; C2 is used to characterize the motor error, and C2=0.001mm; C3 is used to characterize the theoretical tooth skipping movement distance, and C3=(n / Z1)*η; a is used to characterize the safety factor, and a is 1.3-1.5.

[0053] In the above, η is used to characterize the transmission ratio from the motor to the rack, and the unit is (mm / rev); Z1 is used to characterize the number of teeth on the small pulley; n is used to characterize the number of skipped teeth. In the embodiments provided in this application, in order to avoid deviation of the rear wheel steering system, the number of skipped teeth n is only reported when it reaches a certain value, such as 1 / 3*Z1.

[0054] In the embodiments provided in this application, the preset tooth skipping trigger displacement threshold can be customized and used according to different application scenarios and usage conditions. The preset tooth skipping trigger displacement threshold in the embodiments provided in this application can be specifically set between 1.2 and 1.5.

[0055] In this application, potential skipped tooth faults include various causes such as actual skipped tooth faults and sensor interference. For example, short-term sensor interference caused by a metal foreign object falling onto the rack position sensor, and long-term sensor interference caused by a vehicle wiring harness falling onto the rack position sensor. This application determines the skipped tooth fault by using the displacement difference between the motor output displacement and the rack rack displacement to distinguish between actual skipped tooth faults and sensor interference. This ensures that actual skipped tooth faults and sensor interference are not misjudged, thereby improving the user experience.

[0056] For example, based on a preset tooth skipping critical time and the corresponding actual rack deviation displacement, determining whether a potential tooth skipping fault is due to sensor interference includes: If, within the preset critical time for tooth skipping, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be sensor interference. The actual rack deviation displacement is determined by the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system. If, after the preset critical time for tooth skipping, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be a real belt tooth skipping fault.

[0057] It is understood that in the embodiments provided in this application, actual belt skipping generally occurs intermittently. This application requires the cumulative deviation of belt skipping to reach a certain distance before triggering the judgment mechanism. After the triggering condition is met, a preset skipping critical time needs to be determined using parameters such as the motor speed and the actual number of skipped teeth. This is the shortest time required for the rack to move fastest and for consecutive skipped teeth to reach a position greater than the preset skipping trigger displacement threshold between the trigger motor position and the rack position. Then, it is determined whether the absolute value of the displacement difference within the preset skipping critical time t is greater than the actual rack deviation displacement C1 corresponding to the rack, i.e., whether AB is greater than C1. If the absolute value of AB is less than or equal to C1, it is determined that the vehicle has not experienced actual belt skipping. If the absolute value of AB is greater than the actual rack deviation displacement C1 corresponding to the rack, it indicates that the vehicle has sensor interference. Even with sensor interference, if a belt skipping fault exists, the skipping fault will not be executed unless the sensor interference is resolved.

[0058] Where C1 = (sensor accuracy 0.7 + motor error C2 + system clearance 0.2) * safety factor 1.3 - 1.5 = 1.08 - 1.35 mm; It should be noted that the preset tooth skipping critical time in the embodiments provided in this application is represented by t.

[0059] In the embodiments provided in this application, the specific value of the cumulative distance can be customized and used according to different application scenarios and usage conditions. The specific distance in the embodiments provided in this application can be set to 1.2-1.5mm.

[0060] In this application, the magnitude of the rack position change is determined by determining the preset critical time for tooth skipping and the absolute value of the displacement difference, thereby determining whether the potential tooth skipping fault is a real belt skipping fault, so as to avoid the rear wheel steering system issuing a false alarm for belt skipping.

[0061] For example, the rear-wheel steering system also includes a small pulley mounted on the output shaft of the motor. The small pulley is engaged with a belt, and the preset tooth skipping critical time is determined by the following method: Based on the upper limit of the rack's moving speed and the transmission ratio from the motor to the rack, the motor's rotational speed is determined; based on the rotational speed, the preset number of skipped teeth, and the number of teeth on the small pulley, the preset skipped tooth critical time required to reach the actual rack deviation displacement after passing through the preset number of skipped teeth is determined.

[0062] It is understood that, in the embodiments provided in this application, the formula for the motor speed can be specifically as follows: w = V / η(r / s); Where w represents the motor speed; V represents the upper limit of the rack movement speed, and the unit of V is mm / s; η represents the motor-to-rack transmission ratio, and the unit is (mm / rev).

[0063] The formula for determining the preset tooth skipping critical time used to reach the actual rack deviation displacement after passing through the preset number of skipped teeth is as follows: t=(n / Z1) / w=(n / Z1)*η / V; Where t is used to characterize the preset tooth skipping critical time; Z1 is used to characterize the number of teeth on the small pulley.

[0064] In this application, the magnitude of the rack position change is determined by setting a preset tooth skipping critical time, thereby determining whether the potential tooth skipping fault is a real belt skipping fault, so as to avoid the rear wheel steering system issuing a false alarm of belt skipping.

[0065] For example, the method also includes: When a potential tooth skipping fault is determined to be due to sensor interference, the system enters interference mode and monitors the displacement difference in real time. When the absolute value of the displacement difference is less than or equal to the actual rack deviation displacement corresponding to the rack, the system exits interference mode.

[0066] It is understood that in the embodiments provided in this application, when a potential skipping tooth fault is determined to be due to sensor interference in multiple consecutive ignition cycles, if the median deviation exceeds a preset calibration deviation threshold during the position calibration in subsequent ignition cycles, rack locking is executed and the fault is reported; if the deviation does not exceed the preset calibration deviation threshold, the continuous interference count is cleared.

[0067] In this application, the rear wheel steering system can identify occasional and non-genuine belt skipping interference and continue to operate normally without directly locking up or reporting DTC warning lights, thus not affecting the user experience.

[0068] Figure 5 A structural block diagram of a vehicle belt skipping detection device provided in an embodiment of this application is shown. Figure 5 As shown, the vehicle belt skipping detection device 500 includes: The first acquisition module 510 is used to acquire, after the vehicle is powered on, the first position of the rack moving to the first mechanical limit point and the second position of the rack moving to the second mechanical limit point, wherein the first mechanical limit point and the second mechanical limit point are used to characterize the two side boundary limit points of the rack, respectively.

[0069] The judgment module 520 is used to determine the actual center position of the rack based on the first position and the second position.

[0070] The calibration module 530 is used to calibrate the position of the rack based on the center deviation between the factory center reference position and the actual center position, and to determine whether the belt has an initial tooth skipping fault.

[0071] The second acquisition module 540 is used to acquire the output displacement of the motor and the rack displacement of the rack if they do not exist.

[0072] The first determining module 550 is used to determine whether there is a potential tooth skipping fault in the vehicle belt based on the output displacement of the motor and the rack displacement of the rack. The output displacement is acquired by a motor position sensor installed on the motor, and the rack displacement is acquired by a rack position sensor installed at the bottom of the rack. The second determining module 560 is used to determine whether the potential tooth skipping fault is due to sensor interference based on the preset tooth skipping critical time and the corresponding actual rack deviation displacement. The third determining module 570 is used to determine that the rack is working normally if the condition is met, and does not perform locking or skipping tooth fault handling on the rack. The skipped tooth processing module 580 is used to determine if there is a real skipped tooth on the belt of the vehicle, lock the rack at the current position, and control the vehicle to perform skipped tooth fault processing.

[0073] For example, the calibration module 530 is specifically used to: lock the rack in the middle position if there is an initial skipped tooth fault in the belt, and control the vehicle to perform skipped tooth fault handling.

[0074] For example, the first determining module 550 is specifically used for: Determine the displacement difference between the motor's output displacement and the rack displacement.

[0075] When the absolute value of the displacement difference is greater than or equal to the preset tooth skipping trigger displacement threshold, it is determined that there is a potential tooth skipping fault in the vehicle belt.

[0076] When the absolute value of the displacement difference is less than the preset tooth skipping trigger displacement threshold, it is determined that there is no potential tooth skipping fault in the vehicle belt; wherein, the preset tooth skipping trigger displacement threshold is determined by the theoretical tooth skipping movement distance, the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system.

[0077] For example, the second determining module 560 is specifically used for: If, within the preset critical time for tooth skipping, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be sensor interference. The actual rack deviation displacement is determined by the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system.

[0078] If, after the preset tooth skipping critical time, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be a real belt tooth skipping fault.

[0079] For example, the rear-wheel steering system also includes a small pulley mounted on the output shaft of the motor. The small pulley is engaged with a belt, and the preset tooth skipping critical time is determined by the following method: The motor speed is determined based on the upper limit of the rack's moving speed and the transmission ratio from the motor to the rack.

[0080] Based on the rotational speed, the preset number of skipped teeth, and the number of teeth on the small pulley, the preset critical time for skipping teeth to reach the actual rack deviation displacement after passing through the preset number of skipped teeth is determined.

[0081] For example, when a potential tooth skipping fault is determined to be due to sensor interference, an interference state is entered, and the displacement difference is monitored in real time.

[0082] When the absolute value of the displacement difference is less than or equal to the actual rack deviation displacement corresponding to the rack, the interference state is exited.

[0083] The vehicle belt skipping determination device 500 provided in this application embodiment, compared with the prior art, determines whether there is a potential skipping fault in the vehicle belt based on the output displacement of the motor and the rack displacement after the vehicle is powered on. This provides a preliminary judgment on whether the vehicle belt has skipped, laying the foundation for subsequent judgment of actual belt skipping and sensor interference. Then, when it is determined that there is a potential skipping fault, this application determines whether the potential skipping fault is due to sensor interference based on a preset skipping critical time and the corresponding actual rack deviation displacement. This enables the detection of belt skipping caused by sensor interference. This application addresses the sensor interference issue caused by a metal foreign object landing above the rack position sensor, which may lead to a suspected belt skipping fault. Even when the potential skipping fault is determined to be due to sensor interference, the rack remains operational without locking or handling the skipping fault. Furthermore, when it is determined that the potential skipping fault is not due to sensor interference (i.e., a genuine belt skipping fault exists), the application can lock the rack at its current position and control the vehicle to perform skipping fault handling. This application can distinguish between genuine skipping and misjudgments of belt skipping caused by sensor interference, thereby improving the accuracy of genuine belt skipping identification and enhancing the user experience.

[0084] Please see Figure 6 , Figure 6 This application provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 6 As shown, the electronic device 600 includes a processor 610, a memory 620, and a bus 630.

[0085] Memory 620 stores machine-readable instructions executable by processor 610. When electronic device 600 is running, processor 610 and memory 620 communicate via bus 630. When the machine-readable instructions are executed by processor 610, they can perform the operations described above. Figures 1 to 2 The method for determining the fault identification model in the illustrated embodiment or Figure 3 The steps of the vehicle fault determination method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0086] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figures 1 to 2 The method for determining the fault identification model in the illustrated embodiment or Figure 3 The steps of the vehicle fault determination method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0087] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0088] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process for determining a fault identification model.

[0094] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0095] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0096] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0097] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0098] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0099] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0100] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 this application.

[0101] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0102] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for determining belt skipping in a vehicle, applied to the rear-wheel steering system of a vehicle, characterized in that, The rear-wheel steering system includes a motor, a belt, a rack, and a rear wheel. The output end of the motor is connected to one end of the belt, the other end of the belt is connected to one end of the rack, and the other end of the rack is connected to the rear wheel. The method for determining belt skipping includes: After the vehicle is powered on, based on the output displacement of the motor and the rack displacement of the rack, it is determined whether there is a potential tooth skipping fault in the belt of the vehicle. The output displacement is collected by a motor position sensor installed on the motor, and the rack displacement is collected by a rack position sensor installed at the bottom of the rack. If so, then based on the preset tooth skipping critical time and the actual rack deviation displacement corresponding to the rack, it is determined whether the potential tooth skipping fault is due to sensor interference; If so, then the rack is confirmed to be working normally, and no locking or skipping tooth fault handling is performed on the rack; If not, it is determined that the vehicle has a real belt skipping problem, the rack is locked at its current position, and the vehicle is controlled to perform skipping fault handling.

2. The method for determining belt skipping according to claim 1, characterized in that, Before determining whether the belt of the vehicle has a potential skipped tooth fault based on the output displacement of the motor and the rack displacement of the rack, the method further includes: The first position of the rack moving to the first mechanical limit point and the second position of the rack moving to the second mechanical limit point are obtained, wherein the first mechanical limit point and the second mechanical limit point are respectively used to characterize the two side boundary limit points of the rack; Based on the first position and the second position, determine the actual center position of the rack; Based on the center deviation between the factory center reference position and the actual center position of the rack, the position of the rack is calibrated to determine whether the belt has an initial tooth skipping fault; If it does not exist, then obtain the output displacement of the motor and the rack displacement of the rack.

3. The method for determining vehicle belt skipping teeth according to claim 2, characterized in that, After calibrating the position of the rack based on the midpoint deviation between the factory reference position and the actual midpoint position, and determining whether the belt has an initial tooth skipping fault, the method further includes: If the belt has the initial skipped tooth fault, the rack is locked in the middle position, and the vehicle is controlled to perform skipped tooth fault handling.

4. The method for determining vehicle belt skipping teeth according to claim 1, characterized in that, The determination of whether the belt of the vehicle has a potential skipped tooth fault based on the output displacement of the motor and the rack displacement includes: Determine the displacement difference between the output displacement of the motor and the rack displacement of the rack; When the absolute value of the displacement difference is greater than or equal to a preset tooth skipping trigger displacement threshold, it is determined that the belt of the vehicle has a potential tooth skipping fault. When the absolute value of the displacement difference is less than the preset tooth skipping trigger displacement threshold, it is determined that the belt of the vehicle does not have a potential tooth skipping fault; wherein, the preset tooth skipping trigger displacement threshold is determined by the theoretical tooth skipping movement distance, the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system.

5. The method for determining vehicle belt skipping teeth according to claim 4, characterized in that, The step of determining whether the potential tooth skipping fault is due to sensor interference based on a preset tooth skipping critical time and the corresponding actual rack deviation displacement includes: If, within a preset tooth skipping critical time, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be sensor interference. The actual rack deviation displacement is determined by the sensor error of the rack position sensor, the motor error of the motor, and the internal clearance of the rear wheel steering system. If, after a preset tooth skipping critical time, the absolute value of the displacement difference is greater than the actual rack deviation displacement corresponding to the rack, then the potential tooth skipping fault is determined to be a real belt tooth skipping fault.

6. The method for determining vehicle belt skipping teeth according to claim 5, characterized in that, The rear wheel steering system also includes a small pulley mounted on the output shaft of the motor and meshing with the belt. The second determining module 560 is specifically used to determine the preset tooth skipping critical time by means of the following method: The rotational speed of the motor is determined based on the upper limit of the rack's moving speed and the transmission ratio from the motor to the rack. Based on the rotational speed, the preset number of skipped teeth, and the number of teeth on the small pulley, the preset skipped tooth critical time required to reach the actual rack deviation displacement after passing through the preset number of skipped teeth is determined.

7. The method for determining vehicle belt skipping teeth according to claim 4, characterized in that, The method further includes: When the potential tooth skipping fault is determined to be due to sensor interference, the system enters interference mode and monitors the displacement difference in real time. When the absolute value of the displacement difference is less than or equal to the actual rack deviation displacement corresponding to the rack, the disturbance state is exited.

8. A device for determining belt skipping in a vehicle, applied to the rear-wheel steering system of a vehicle, characterized in that, The rear-wheel steering system includes a motor, a belt, a rack, and a rear wheel. The output end of the motor is connected to one end of the belt, the other end of the belt is connected to one end of the rack, and the other end of the rack is connected to the rear wheel. The device for determining belt skipping includes: The first determining module is used to determine, after the vehicle is powered on, whether there is a potential tooth skipping fault in the belt of the vehicle based on the output displacement of the motor and the rack displacement of the rack, wherein the output displacement is acquired by a motor position sensor installed on the motor and the rack displacement is acquired by a rack position sensor installed at the bottom of the rack. The second determining module is used to determine, if so, whether the potential tooth skipping fault is due to sensor interference based on the preset tooth skipping critical time and the actual rack deviation displacement corresponding to the rack. The third determining module is used to determine that the rack is working normally if the condition is met, and not to handle the rack locking or skipping tooth faults. The skipped tooth processing module is used to determine if there is a real skipped tooth on the belt of the vehicle, lock the rack at its current position, and control the vehicle to perform skipped tooth fault processing if not.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. The machine-readable instructions are executed by the processor to perform the steps of the method for determining skipped teeth of a vehicle belt as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method for determining skipped teeth on a vehicle belt as described in any one of claims 1-7.

Images