An angle detection fault-tolerant system and method

Abstract

This application discloses an angle detection fault-tolerant system and method. The system includes a heterogeneous interface acquisition module, a CRC secondary verification module, a security word parsing module, a fault diagnosis decision module, a smooth switching control module, and a historical data management module. The heterogeneous interface acquisition module acquires dual-channel sensor data in parallel via ASCII and QSPI interfaces; the CRC secondary verification module independently calculates the expected CRC value based on the J1850 standard and compares it with the CRC value returned by the sensor; the security word parsing module performs hierarchical bit-domain parsing of the security word to extract multi-dimensional state information; the fault diagnosis decision module integrates the verification results and state information, and determines the fault type based on the diagnostic matrix; the smooth switching control module uses the most recent valid angle stored in the historical data management module as a reference to perform linear interpolation for smooth transition. This invention solves the problems of single-point fault risk and insufficient data integrity verification, meeting the ASIL-B / C level requirements for automotive functional safety.

Description

Technical Field

[0001] This application relates to the fields of automotive electronics and industrial servo control technology, and in particular to an angle detection fault-tolerant system and method. Background Technology

[0002] In automotive electric power steering (EPS) systems and industrial servo control systems, the accuracy and reliability of angle sensors directly determine the system's control precision and operational safety. Existing angle detection solutions suffer from several technical shortcomings: First, they lack sufficient data integrity verification capabilities, often relying on data range checks or parity checks, which fail to effectively identify CRC errors during transmission, resulting in low data transmission reliability. Second, they do not perform secondary verification of the sensor hardware CRC calculation results, simply reading the CRC value without establishing an end-to-end data integrity verification mechanism.

[0003] Therefore, there is an urgent need for an angle detection fault-tolerant system that can achieve data integrity assurance and multi-dimensional fault diagnosis. Summary of the Invention

[0004] The main objective of this application is to provide an angle detection fault-tolerant system and method to solve the problems of single-point failure and insufficient data verification in existing angle detection systems.

[0005] This application provides an angle detection fault-tolerant system, which employs the following technology: An angle detection fault-tolerant system, comprising: The heterogeneous interface acquisition module is used to acquire raw angle data, safety words and status parameters of the first angle sensor and the second angle sensor in parallel through the first heterogeneous communication interface and the second heterogeneous communication interface, and output the acquired data synchronously. The CRC secondary verification module is used to receive the collected data, independently calculate the expected CRC value based on the J1850 standard, and compare it with the CRC value carried in the security word returned by the sensor to generate a CRC verification result and send it to the fault diagnosis decision module. The security word parsing module is used to parse the security words in the collected data, generate sensor status parsing results, and output the sensor status parsing results to the fault diagnosis decision module; The fault diagnosis decision module is used to receive the CRC verification result and the sensor status parsing result, and classify the fault type according to the diagnosis decision matrix to generate a fault level judgment result and a switching command to be sent to the smooth switching control module. The smooth switching control module is used to, when receiving the switching instruction, call the most recent valid angle data stored in the historical data management module as the transition reference value, and execute a linear interpolation algorithm based on a fixed transition time to generate a smooth transition angle output value. The historical data management module is used to store the effective angle data output by the smooth switching control module, provide historical data support for the CRC verification module, the fault diagnosis decision module and the smooth switching control module, and update the system operating status synchronously.

[0006] Optionally, the CRC secondary verification module includes a CRC calculation unit, used for: Receive command words and data words from the heterogeneous interface acquisition module; Using generator polynomials The J1850 CRC algorithm with an initial value of 0xFF is used to perform cyclic redundancy calculation to generate the desired CRC value.

[0007] Optionally, the CRC secondary verification module includes a comparison and judgment unit: Receive the expected CRC value and the lower 8 bits of the security word CRC value from the heterogeneous interface acquisition module; The expected CRC value is compared bit by bit with the CRC value of the lower 8 bits of the security word of the heterogeneous interface acquisition module. When the comparison is consistent, a data validity flag is generated and sent to the fault diagnosis decision module. When the comparison is inconsistent, a CRC check failure flag is generated and the error sequence is recorded and sent to the historical data management module.

[0008] Optionally, the security word parsing module includes a status bit parsing unit, used for: Receive a 16-bit security word from the heterogeneous interface acquisition module and perform bit field partitioning on it; Extract the 15th bit (chip reset indicator), the 14th bit (system error), the 13th bit (interface access error), the 12th bit (invalid angle value flag), the 11th-8th bits (sensor number), and the 7th-0th bits (CRC value) to generate the original status bit data.

[0009] Optionally, the security word parsing module includes a priority mapping unit, used for: Receive the original status bit data and establish a status bit priority weight mapping table; An immediate response strategy is implemented for high-priority chip reset indications and system error bits, while an accumulation counting strategy is implemented for low-priority interface access error bits. A sensor state feature vector with priority labels is generated and sent to the fault diagnosis decision module.

[0010] Optionally, the fault diagnosis decision module includes a fault identification unit, used for: The system receives data integrity verification results from the CRC secondary verification module, sensor state feature vectors from the security word parsing module, and historical error rate data from the historical data management module to construct a fault diagnosis decision matrix. The CRC verification result, the combination of security word status bits and the historical error rate are matched in a multi-dimensional condition. The fault type is identified according to the fault diagnosis decision matrix, and the fault type identification result is generated.

[0011] Optionally, the smooth switching control module includes an interpolation calculation unit, used for: Receive a switching instruction from the fault diagnosis decision module, and read the most recent valid angle data that has passed CRC verification and has a normal security word status from the historical data management module as a transition reference value; The transition angle value is calculated based on the transition reference value.

[0012] Optionally, the smooth switching control module includes a transition monitoring unit, used for: Receive the transition process angle value, and continuously receive target channel data validity information from the CRC secondary verification module and the security word parsing module during the transition process; When the target channel data is abnormal, an interrupt command is generated and sent to the interpolation calculation unit. When the transition is completed, a system status update command is generated and sent to the historical data management module.

[0013] Optionally, the historical data management module includes an effective data storage unit for: Receive the data validity flag from the CRC secondary verification module and the security word status information from the security word parsing module; Save the verified valid angle data and its timestamp, and provide a transition reference value in response to the read request of the smooth switching control module.

[0014] Furthermore, to achieve the above objectives, this application also provides an angle detection fault-tolerant method, which is implemented based on the device described in any one of the above claims, and includes the following steps: S1. Acquire angle data, safety words and status parameters of the first angle sensor and the second angle sensor in parallel through the first heterogeneous communication interface and the second heterogeneous communication interface; S2. Perform CRC verification on the collected angle data, safety word and status parameters independently according to the J1850 standard, and at the same time parse the status bit of the safety word to obtain the CRC verification result and the sensor status parsing result. S3. Based on the CRC verification result, the sensor status analysis result, and historical data, and combined with the diagnostic decision matrix, classify the fault types and generate fault level determination results and switching instructions. S4. Based on the fault level determination result and the switching instruction, the most recent valid angle data is used as the transition reference value. A linear interpolation algorithm is executed according to a fixed transition time to generate a smooth transition angle output value. S5. Store the effective angle data after the switch, and update the system operating status and historical data.

[0015] The advantages of this application are as follows: The angle detection fault-tolerant system and method proposed in the embodiments of this application adopts a dual-path heterogeneous communication interface redundancy design to eliminate the risk of single-point failure; it implements secondary verification of sensor CRC results based on the J1850 standard to build an end-to-end data integrity guarantee mechanism; it distinguishes fault types and improves fault diagnosis accuracy through comprehensive analysis of multiple state bits of the security word; and it avoids angle jumps and ensures system control stability by using linear interpolation smooth switching based on the most recent valid data. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall module architecture of an angle detection fault-tolerant system provided in an embodiment of this application; Figure 2 A flowchart illustrating an angle detection fault-tolerant method provided in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The main solution in this application's embodiments is: An angle detection fault-tolerant system, comprising: The heterogeneous interface acquisition module is used to acquire raw angle data, safety words and status parameters of the first angle sensor and the second angle sensor in parallel through the first heterogeneous communication interface and the second heterogeneous communication interface, and output the acquired data synchronously. The CRC secondary verification module is used to receive the collected data, independently calculate the expected CRC value based on the J1850 standard, and compare it with the CRC value carried in the security word returned by the sensor to generate a CRC verification result and send it to the fault diagnosis decision module. The security word parsing module is used to parse the security words in the collected data, generate sensor status parsing results, and output the sensor status parsing results to the fault diagnosis decision module; The fault diagnosis decision module is used to receive the CRC verification result and the sensor status parsing result, and classify the fault type according to the diagnosis decision matrix to generate a fault level judgment result and a switching command to be sent to the smooth switching control module. The smooth switching control module is used to, when receiving the switching instruction, call the most recent valid angle data stored in the historical data management module as the transition reference value, and execute a linear interpolation algorithm based on a fixed transition time to generate a smooth transition angle output value. The historical data management module is used to store the effective angle data output by the smooth switching control module, provide historical data support for the CRC verification module, the fault diagnosis decision module and the smooth switching control module, and update the system operating status synchronously.

[0019] This application provides an angle detection fault-tolerant system and method. It avoids detection failure caused by a single link or sensor malfunction through a heterogeneous interface acquisition module; ensures complete and accurate angle data transmission through a CRC secondary verification module and a security word parsing module, effectively identifying transmission errors and sensor anomalies to improve detection accuracy; quickly distinguishes fault types through a fault diagnosis decision module; eliminates angle jumps during channel switching through a smooth switching control module, ensuring continuous and stable output; and achieves real-time monitoring of operating status and fault traceability through a historical data management module.

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can understand it.

[0021] refer to Figure 1 One embodiment of this application provides an angle detection fault-tolerant system, including a heterogeneous interface acquisition module, a CRC secondary verification module, a security word parsing module, a fault diagnosis decision module, a smooth switching control module, and a historical data management module.

[0022] The heterogeneous interface acquisition module is used to acquire raw angle data, safety words, and status parameters of the first and second angle sensors in parallel through the first and second heterogeneous communication interfaces, and synchronously output the acquired data. In one specific embodiment, the first heterogeneous communication interface uses the ASCII (Asynchronous Synchronous Communication Interface), and the second heterogeneous communication interface uses the QSPI (Queued Serial Peripheral Interface). Both the first and second angle sensors employ the TLE5012 magnetic encoder chip, which integrates CRC calculation and security word generation functions. The first heterogeneous communication interface configures the communication parameters of the first TLE5012 sensor to a clock frequency of 1MHz, a 16-bit data format, and a chip select pin P20.8. The second heterogeneous communication interface configures the communication parameters of the second TLE5012 sensor to a clock frequency of 2MHz, a channel 5 mode, and a chip select pin P15.2. The two interfaces use different physical layer protocols and clock frequencies, forming a heterogeneous redundant architecture.

[0023] In practice, the heterogeneous interface acquisition module sends read commands to the first TLE5012 sensor via the ASCII interface and simultaneously sends read commands to the second TLE5012 sensor via the QSPI interface. Upon receiving the commands, both sensors return angle values, security words, status parameters, and communication timestamps, respectively. The two sets of raw data are packaged separately and simultaneously sent to the CRC secondary verification module and the security word parsing module. Each data stream is also labeled with a channel identifier and acquisition timestamp to ensure data traceability.

[0024] The CRC secondary verification module is used to receive the collected data, independently calculate the expected CRC value based on the J1850 standard, and compare it with the CRC value carried in the security word returned by the sensor to generate a CRC verification result to be sent to the fault diagnosis decision module.

[0025] In one specific embodiment, the CRC secondary verification module includes a CRC calculation unit and a comparison and judgment unit. The CRC calculation unit is used to employ a generator polynomial... The J1850 CRC algorithm, with an initial value of 0xFF, performs cyclic redundancy check (CRC) calculations to generate the desired CRC value. The comparison unit compares the desired CRC value bit-by-bit with the CRC complement returned by the sensor. Cyclic Redundancy Check (CRC) is a hash function that generates a short, fixed-length checksum based on data such as network packets or computer files. It is primarily used to detect or verify errors that may occur after data transmission or storage. The J1850 standard is a commonly used in-vehicle network communication protocol standard in the automotive industry, defining a specific CRC generator polynomial and initial value. Generator Polynomial Let represent an 8th-order polynomial, where The coefficient of the term is 1, and the coefficients of the remaining terms are 0. This polynomial is used to determine the feedback logic in the CRC calculation process, ensuring that the check code has sufficient error detection capability to detect all odd-bit errors, all double-bit errors, and all burst errors of 8 bits or less.

[0026] In the specific implementation process, the CRC calculation unit receives command words and data words from the heterogeneous interface acquisition module. The command word is the control instruction sent by the controller to the sensor, and the data word is the valid data such as the angle value returned by the sensor. The CRC register is initialized to 0xFF, and the following operation is performed on each byte of the command word and data word: the current byte is XORed with the CRC register; the result is cyclically shifted 8 times, and each time the least significant bit is checked to see if it is 1. If it is 1, it is XORed with the generator polynomial 0x1D; otherwise, only the shift is performed; after 8 cycles, a new CRC register value is obtained; after processing all bytes, the value in the CRC register is the expected CRC value.

[0027] The TLE5012 sensor calculates the CRC value according to the same J1850 standard and returns the two's complement of the calculation result in the lower 8 bits of the security word. The comparison and judgment unit receives the expected CRC value and the lower 8 bits of the CRC value from the heterogeneous interface acquisition module, and compares the expected CRC value with the CRC two's complement returned by the sensor bit by bit. When the comparison matches, it indicates that no error occurred during data transmission, and a data validity flag is generated and sent to the fault diagnosis decision module; when the comparison does not match, it indicates that an error occurred during data transmission, and a CRC check failure flag is generated and the error sequence is recorded and sent to the historical data management module for storage.

[0028] The security word parsing module is used to parse security words in the collected data, generate sensor status parsing results, and output the sensor status parsing results to the fault diagnosis decision module.

[0029] In one specific embodiment, the security word parsing module includes a status bit parsing unit and a priority mapping unit. The status bit parsing unit receives a 16-bit security word from the heterogeneous interface acquisition module, divides its bit fields, and extracts information from each status bit. The priority mapping unit receives the status bit data and establishes a status bit priority weight mapping table. Different priorities are assigned according to the degree of influence of each status bit on system security.

[0030] In the specific implementation process, the status bit parsing unit reads the 16-bit binary data of the security word and extracts six types of status bit data according to the bit mapping relationship defined in the TLE5012 datasheet: bit 15 chip reset indication, bit 14 system error, bit 13 interface access error, bit 12 invalid angle value, bits 11-8 sensor number, and bit 7-0 CRC value.

[0031] The priority mapping unit receives the raw status bit data and establishes a status bit priority weight mapping table. Logical judgment is performed on each status bit: if the chip reset indicator bit is 1, it indicates that a sensor reset event has occurred; if the system error bit is 1, it indicates that a hardware fault has been detected inside the sensor; if the interface access error bit is 1, it indicates that a communication protocol error or access conflict has been detected; if the invalid angle value bit is 1, it indicates that the current angle data is invalid or exceeds a reasonable range. Different priorities are assigned based on the impact of each status bit on system security: chip reset indicator and system error are set to high priority, indicating a serious fault in the sensor hardware or internal system, requiring immediate switching to a backup channel; interface access error is set to medium priority, as interface access errors may be caused by temporary communication interference, and a cumulative counting strategy is used, with a fault only determined when consecutive occurrences exceed a threshold; the invalid angle value flag is set to low priority, indicating that the current angle data is unreliable, requiring data filtering or switching based on CRC verification results. The priority mapping unit generates a sensor state feature vector with priority labels according to the above strategy. The format is [chip reset indication, system error, interface access error, invalid angle value flag, sensor number, priority label], and sends it to the fault diagnosis decision module.

[0032] The fault diagnosis and decision module receives CRC verification results and sensor status analysis results, classifies fault types according to a preset diagnostic decision matrix, generates fault level determination results and switching commands, and sends them to the smooth switching control module. In one specific embodiment, the fault diagnosis decision module includes a fault identification unit and a fault decision unit. The fault identification unit receives data integrity verification results from the CRC secondary verification module, sensor state feature vectors with priority tags from the security word parsing module, and historical error rate data from the historical data management module. It matches the received multi-dimensional data to accurately determine the fault type. The fault decision unit generates corresponding processing instructions based on the matching results.

[0033] In practice, the fault identification unit matches the received multi-dimensional data to accurately determine the fault type. Fault diagnosis is divided into single-channel fault diagnosis and dual-channel consistency diagnosis. Single-channel fault diagnosis diagnoses each data channel separately: if CRC verification fails and the interface access error flag is set, and the number of consecutive errors is greater than 3, it is diagnosed as a communication link fault; if CRC verification fails and the system error flag or chip reset indicator is set, it is diagnosed as a sensor hardware fault; if CRC verification passes and the invalid angle value flag is set, and the angle value exceeds the preset reasonable range, it is diagnosed as a data anomaly fault; if CRC verification passes and all status bits are normal, but the historical error rate exceeds the preset threshold, it is diagnosed as temporary communication interference. Dual-channel consistency diagnosis compares the difference between the angle values ​​of the two channels when both CRC verifications pass: if the absolute value of the angle difference is less than the preset threshold, the dual-channel data is determined to be consistent; if the absolute value of the angle difference is greater than the preset threshold, it is diagnosed as a sensor inconsistency fault.

[0034] Based on the matching results, the fault identification decision unit generates corresponding processing instructions. For communication interference faults, a maximum of three retry instructions with backoff delay are generated and sent to the heterogeneous interface acquisition module. The backoff delay is a random waiting time before each retry, used to avoid communication conflicts. If the retry count reaches the maximum and still fails, it is escalated to a communication link fault. For communication link faults, channel switching instructions and physical connection check instructions are generated and sent to the smooth switching control module, triggering the channel switching process. For sensor hardware faults, a backup channel switching instruction and a sensor failure flag are generated, marking the faulty sensor as in a failed state and prohibiting subsequent switching back to that channel. For dual-channel data inconsistency faults, a confidence-weighted fusion decision instruction is generated, dynamically adjusting the fusion weights based on the historical reliability data of the two sensors. The fault type, fault level, and switching instruction are output to the smooth switching control module.

[0035] The smooth transition control module is used to call the most recent valid angle data stored in the historical data management module as the transition reference value when a switching command is received, and to execute a linear interpolation algorithm based on a fixed transition time to generate a smooth transition angle output value.

[0036] In one specific embodiment, the smooth switching control module includes an interpolation calculation unit and a transition monitoring unit. The interpolation calculation unit, upon receiving a switching command, calls the most recent valid angle data stored in the historical data management module as the transition reference value and calculates the transition angle value. The transition monitoring unit executes a linear interpolation algorithm to generate a smooth transition angle output value. The linear interpolation algorithm is a mathematical method that extrapolates the value of an unknown point based on the linear relationship between known data points. In this invention, it is used to generate a continuous and stable transition value between two angle values, avoiding angle jumps.

[0037] In the specific implementation process, after receiving the switching command sent by the fault diagnosis decision module, the smooth switching control module immediately enters the switching state. The interpolation calculation unit sends a request to the historical data management module to obtain the most recently saved valid angle data as the transition reference angle value. It obtains the angle value of the currently operating sensor from the fault diagnosis decision module as the target angle value. The total transition time is set according to the fault type: 10ms for communication link faults; 20ms for sensor hardware faults; 5ms for inter-sensor inconsistency faults; and 15ms for data anomaly faults. A longer transition time results in a smoother switching process but a greater impact on system real-time performance; a shorter transition time results in a faster response but may cause larger torque fluctuations. The above configuration ensures smoothness while also considering real-time requirements. During the transition time, interpolation calculations are performed cyclically according to the control cycle to calculate the proportion of the transition time to the total transition time; the current output angle value is calculated according to the formula. Transition angle value = most recent effective angle + (target angle - most recent effective angle) × (transition time / total transition time) The transition monitoring unit receives the angle value during the transition process and continuously receives the target channel data validity information from the CRC secondary verification module and the security word parsing module during the transition process. When the target channel data is abnormal, such as CRC verification failure or security word status setting, an interrupt command is immediately generated and sent to the interpolation calculation unit to pause the transition process and maintain the current output value, waiting for the fault diagnosis decision module to make a new decision. When the transition is completed normally, a system status update command is generated and sent to the historical data management module to update the current valid data source to the new channel.

[0038] The historical data management module stores the valid angle data output by the smooth switching control module, providing historical data support for the CRC verification module, fault diagnosis decision module and smooth switching control module, and synchronously updating the system operating status.

[0039] In one specific embodiment, the historical data management module includes a valid data storage unit and a status update unit. The valid data storage unit is used to store the most recent valid angle data in real time and synchronously record fault information and switching events. The status update unit is used to synchronize historical data to the fault diagnosis and decision module to provide data support for fault judgment.

[0040] In practice, the valid data storage unit receives the data validity flag from the CRC secondary verification module and the security word status information from the security word parsing module. When the data validity flag is true and the security word status is normal, the current angle data and its timestamp are saved to the historical data buffer. The historical data buffer adopts a circular buffer structure with a capacity of N, storing the most recent N valid angle data. When the buffer is full, new data overwrites the oldest data. The valid data storage unit responds to the read request from the smooth switching control module, returning the most recent valid angle data as a transitional reference value. Simultaneously, it provides historical error rate data according to requests from the CRC secondary verification module and the fault diagnosis decision module.

[0041] The status update unit receives system status update instructions from the smooth switching control module, updates the current valid data source identifier, switching event counter, and system status information of the cumulative running time of each channel, and provides data support for subsequent fault diagnosis and system maintenance.

[0042] The module receives the effective angle data returned by the smooth switching control module in real time and continuously saves the most recent effective angle data as a transition benchmark for subsequent fault switching.

[0043] Operational data recording: The module synchronously records information such as the number of verification errors, fault type, fault occurrence time, and channel switching events for each channel during system operation, forming a system operation history. This application provides an angle detection fault-tolerant method, which is implemented based on the above system, as follows: S1. The angle data, safety word and status parameters of the first angle sensor TLE5012 and the second angle sensor TLE5012 are acquired in parallel through the first heterogeneous communication interface ASCLIN and the second heterogeneous communication interface QSPI, and then output synchronously after adding a timestamp. S2. Calculate the expected CRC value for the collected angle data, safety word, and status parameters according to the J1850 standard, and compare it with the CRC value carried in the safety word returned by the sensor to generate a CRC verification result; at the same time, parse the status bit of the safety word to obtain the sensor status parsing result. S3. Based on the CRC verification results, sensor status analysis results, and historical data, classify the fault types according to the diagnostic decision matrix, and generate fault level determination results and switching instructions. S4. Upon receiving a switching command, the most recent valid angle data is used as the transition reference value. A linear interpolation algorithm is executed based on a fixed transition time to generate a smoothly transitioning angle output value. S5. Store the effective angle data after the switch, and update the system operating status and historical data.

[0044] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 3 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database is used for dynamic control data of iron trough water cooling intensity based on infrared temperature field reconstruction. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a detection, identification, and coordinated jamming system and method for low-speed, small targets.

[0045] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0046] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0047] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0048] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0049] It should be noted that the data involved in this application (including raw angle data from angle sensors, security word status information, CRC check results and historical error rate records, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0050] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory). Memory includes ROM, magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0051] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0052] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. An angle detection fault-tolerant system, characterized in that, include: The heterogeneous interface acquisition module is used to acquire raw angle data, safety words and status parameters of the first angle sensor and the second angle sensor in parallel through the first heterogeneous communication interface and the second heterogeneous communication interface, and output the acquired data synchronously. The CRC secondary verification module is used to receive the collected data, independently calculate the expected CRC value based on the J1850 standard, and compare it with the CRC value carried in the security word returned by the sensor to generate a CRC verification result and send it to the fault diagnosis decision module. The security word parsing module is used to parse the security words in the collected data, generate sensor status parsing results, and output the sensor status parsing results to the fault diagnosis decision module; The fault diagnosis decision module is used to receive the CRC verification result and the sensor status parsing result, and classify the fault type according to the diagnosis decision matrix to generate a fault level judgment result and a switching command to be sent to the smooth switching control module. The smooth switching control module is used to, when receiving the switching instruction, call the most recent valid angle data stored in the historical data management module as the transition reference value, and execute a linear interpolation algorithm based on a fixed transition time to generate a smooth transition angle output value. The historical data management module is used to store the effective angle data output by the smooth switching control module, provide historical data support for the CRC verification module, the fault diagnosis decision module and the smooth switching control module, and update the system operating status synchronously.

2. The angle detection fault-tolerant system according to claim 1, characterized in that, The CRC secondary verification module includes a CRC calculation unit, used for: Receive command words and data words from the heterogeneous interface acquisition module; Using generator polynomials The J1850 CRC algorithm with an initial value of 0xFF is used to perform cyclic redundancy calculation to generate the desired CRC value.

3. The angle detection fault-tolerant system according to claim 1, characterized in that, The CRC secondary verification module includes a comparison and judgment unit: Receive the expected CRC value and the lower 8 bits of the security word CRC value from the heterogeneous interface acquisition module; The expected CRC value is compared bit by bit with the CRC value of the lower 8 bits of the security word of the heterogeneous interface acquisition module. When the comparison is consistent, a data validity flag is generated and sent to the fault diagnosis decision module. When the comparison is inconsistent, a CRC check failure flag is generated and the error sequence is recorded and sent to the historical data management module.

4. The angle detection fault-tolerant system according to claim 1, characterized in that, The security word parsing module includes a status bit parsing unit, used for: Receive a 16-bit security word from the heterogeneous interface acquisition module and perform bit field partitioning on it; Extract the 15th bit (chip reset indicator), the 14th bit (system error), the 13th bit (interface access error), the 12th bit (invalid angle value flag), the 11th-8th bits (sensor number), and the 7th-0th bits (CRC value) to generate the original status bit data.

5. The angle detection fault-tolerant system according to claim 1, characterized in that, The security word parsing module includes a priority mapping unit, used for: Receive the original status bit data and establish a status bit priority weight mapping table; An immediate response strategy is implemented for high-priority chip reset indications and system error bits, while an accumulation counting strategy is implemented for low-priority interface access error bits. A sensor state feature vector with priority labels is generated and sent to the fault diagnosis decision module.

6. The angle detection fault-tolerant system according to claim 1, characterized in that, The fault diagnosis decision module includes a fault identification unit, used for: The system receives data integrity verification results from the CRC secondary verification module, sensor state feature vectors from the security word parsing module, and historical error rate data from the historical data management module to construct a fault diagnosis decision matrix. The CRC verification result, the combination of security word status bits and the historical error rate are matched in a multi-dimensional condition. The fault type is identified according to the fault diagnosis decision matrix, and the fault type identification result is generated.

7. The angle detection fault-tolerant system according to claim 1, characterized in that, The smooth switching control module includes an interpolation calculation unit, used for: Receive a switching instruction from the fault diagnosis decision module, and read the most recent valid angle data that has passed CRC verification and has a normal security word status from the historical data management module as a transition reference value; The transition angle value is calculated based on the transition reference value.

8. The angle detection fault-tolerant system according to claim 1, characterized in that, The smooth switching control module includes a transition monitoring unit, used for: Receive the transition process angle value, and continuously receive target channel data validity information from the CRC secondary verification module and the security word parsing module during the transition process; When the target channel data is abnormal, an interrupt command is generated and sent to the interpolation calculation unit. When the transition is completed, a system status update command is generated and sent to the historical data management module.

9. The angle detection fault-tolerant system according to claim 1, characterized in that, The historical data management module includes an effective data storage unit, used for: Receive the data validity flag from the CRC secondary verification module and the security word status information from the security word parsing module; Save the verified valid angle data and its timestamp, and provide a transition reference value in response to the read request of the smooth switching control module.

10. The angle detection fault-tolerant method according to claim 1, characterized in that, Its characteristic is that it includes the following steps: S1. Acquire angle data, safety words and status parameters of the first angle sensor and the second angle sensor in parallel through the first heterogeneous communication interface and the second heterogeneous communication interface; S2. Perform CRC verification on the collected angle data, safety word and status parameters independently according to the J1850 standard, and at the same time parse the status bit of the safety word to obtain the CRC verification result and the sensor status parsing result. S3. Based on the CRC verification result, the sensor status analysis result, and historical data, and combined with the diagnostic decision matrix, classify the fault types and generate fault level determination results and switching instructions. S4. Based on the fault level determination result and the switching instruction, the most recent valid angle data is used as the transition reference value. A linear interpolation algorithm is executed according to a fixed transition time to generate a smooth transition angle output value. S5. Store the effective angle data after the switch, and update the system operating status and historical data.

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