Redundant device, electric power steering system and vehicle

Abstract

The utility model provides a redundancy device, an electric power steering system and a vehicle, and the redundancy device comprises a control unit which is used for receiving the adjustment data of a steering wheel and outputting a drive control signal; and the first execution unit and the second execution unit are connected with the control unit and are used for receiving the driving control signal and controlling a motor to operate based on the non-faulted one of the first execution unit and the second execution unit when one of the driving control signal is faulted. The electric power steering system can meet the safety requirement of the highest risk level of the safety integrity level of an automobile, the driving safety of the automobile is improved, and the safety of a driver, passengers, the automobile, pedestrians and the like is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicles, in particular to a redundancy device, an electric power steering system and a vehicle. Background Art

[0002] In the related art, the ASIL (Automotive Safety Integration Level) of the electric power steering system directly controlled by a driver is the highest risk level D. Ensuring its safety is very important for the driving safety of a vehicle. At present, the electric power steering system can use devices such as a torque sensor, a pre-driver, a power bridge and a motor to complete power-assisted steering.

[0003] However, once the above-mentioned pre-driver or power bridge is damaged, the motor will not work, or there will be unexpected direction assistance or jamming phenomena, making it impossible for the driver to control the direction, resulting in driving risks and failing to meet the safety requirements of ASIL D. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, an object of the utility model is to provide a redundancy device, which can enable the electric power steering system to meet the safety requirements of ASIL D, improve the driving safety of the vehicle, and ensure the safety of passengers, the vehicle, pedestrians, etc.

[0006] To this end, a second object of the utility model is to provide an electric power steering system.

[0007] To this end, a third object of the utility model is to provide a vehicle.

[0008] To achieve the above object, an embodiment of the first aspect of the utility model provides a redundancy device, including: a control unit, configured to receive adjustment data of a steering wheel and output a drive control signal; a first execution unit and a second execution unit, connected to the control unit, configured to receive the drive control signal and, when one of them fails, control a motor to operate based on the non-failed one of the first execution unit and the second execution unit.

[0009] According to the redundancy device of the embodiment of the present utility model, the first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to operate, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle and ensuring the safety of the driver and passengers, the vehicle, pedestrians, etc.

[0010] In some embodiments, the first execution unit and the second execution unit are further configured to: receive the drive control signal and, when both the first execution unit and the second execution unit are normal, jointly control the motor to operate.

[0011] In some embodiments, the first execution unit and the second execution unit include: a pre-driver unit, connected to the control unit, for receiving and amplifying the control signal output by the control unit to obtain the drive control signal; a power bridge, connected to the pre-driver unit, for receiving the drive control signal and driving the motor to operate.

[0012] In some embodiments, the redundancy device further includes: a current monitoring unit, connected to the control unit, for receiving the current value of the power bridge and outputting a power bridge fault signal, where the power bridge fault signal corresponds to the current value exceeding a preset current range.

[0013] In some embodiments, the redundancy device further includes: a fault detection unit, respectively connected to the control unit and the pre-driver unit, for receiving the PWM (Pulse Width Modulation) pulse signal between the pre-driver unit and the control unit and the communication connection signal between the pre-driver unit and the control unit, and outputting a fault communication signal.

[0014] In some embodiments, the redundancy device further includes: a collection unit, for collecting the torque signal and the angle signal of the steering wheel.

[0015] In some embodiments, the redundancy device further includes: an operation unit, connected to the collection unit, for receiving the torque signal and the angle signal and outputting the adjustment data, where the adjustment data includes the steering direction and the steering torque.

[0016] In some embodiments, the motor includes: a six-phase motor, connected to the power bridge, for receiving the drive control signal.

[0017] In some embodiments, the redundancy device further includes: a battery management unit, connected to the collection unit, for supplying power to the collection unit.

[0018] According to the redundancy device of the embodiment of the present invention, the first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to run, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0019] To achieve the above object, an embodiment of the second aspect of the present invention provides an electric power steering system, and the redundancy device further includes: the redundancy device as described in the above embodiment.

[0020] According to the electric power steering system of the embodiment of the present invention, the redundancy device is arranged in the electric power steering system. The first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to run, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0021] To achieve the above object, an embodiment of the third aspect of the present invention provides a vehicle, including: the electric power steering system as described in the above embodiment.

[0022] According to the vehicle of the embodiment of the present invention, the electric power steering system is arranged in the vehicle. The first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to run, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0023] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0025] Figure 1 is a structural block diagram of a redundancy device according to a specific embodiment of the present invention;

[0026] Figure 2 It is a signal flow structure block diagram of a redundancy device according to a specific embodiment of the present utility model;

[0027] Figure 3 It is a signal flow structure block diagram of a redundancy device according to another specific embodiment of the present utility model;

[0028] Figure 4 It is a system architecture diagram of a redundancy device according to a specific embodiment of the present utility model;

[0029] Figure 5 It is a flowchart of an implementation method of a redundancy device according to a specific embodiment of the present utility model;

[0030] Figure 6 It is a structure block diagram of an electric power steering system according to a specific embodiment of the present utility model;

[0031] Figure 7 It is a vehicle according to a specific embodiment of the present utility model.

[0032] Reference numerals:

[0033] Redundancy device 1;

[0034] Control unit 2; First execution unit 3; Second execution unit 4;

[0035] On-vehicle battery 10; SBC (Power Management Chip) battery management 11; Left wheel 12; Right wheel 13; Motor 14; Predrive unit 15; Power bridge 16; TAS (Torque and Angle Sensor) sensor 19;

[0036] MPS (Mean Power Supply) 113;

[0037] Battery management unit 40; Acquisition unit 42; Operation unit 43; Current control unit 44; Fault detection unit 45;

[0038] Electric power steering system 100;

[0039] Vehicle 101. Detailed implementation manners

[0040] The embodiments of the present utility model will be described in detail below. The embodiments described with reference to the drawings are exemplary. The embodiments of the present utility model will be described in detail below.

[0041] Below, reference is made to Figures 1 - 5 Describe the redundancy device 1 of the embodiments of the present utility model.

[0042] AsFigure 1 As shown, it is a structural block diagram of a redundancy device according to a specific embodiment of the present invention. The redundancy device 1 of the embodiment of the present invention includes a control unit 2, a first execution unit 3 and a second execution unit 4. The first execution unit 3 and the second execution unit 4 are connected to the control unit 2. The control unit 2 receives the adjustment data of the steering wheel, outputs a drive control signal. The first execution unit 3 and the second execution unit 4 receive the drive control signal, and when one of them fails, the non-failed one of the first execution unit 3 and the second execution unit 4 controls the motor to run.

[0043] In the embodiment, as Figure 1 shown, the redundancy device 1 includes a control unit 2, a first execution unit 3 and a second execution unit 4. The first execution unit 3 and the second execution unit 4 are connected to the control unit 2. When the driver turns the steering wheel to generate the adjustment data of the steering wheel, the control unit 2 receives the adjustment data of the steering wheel, converts the adjustment data into a PWM pulse signal as the drive control signal through a motor control algorithm, and sends the drive control signal to the first execution unit 3 and the second execution unit 4. When one of the first execution unit 3 and the second execution unit 4 fails and the other execution unit is normal and can work properly, the non-failed execution unit will continue to control the motor to run, so that the electric power steering system meets the safety requirements of ASIL D, improves the driving safety of the vehicle, and ensures the safety of the passengers, the vehicle, the pedestrians, etc.

[0044] According to the redundancy device of the embodiment of the present invention, the first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to run, so that the electric power steering system meets the safety requirements of ASIL D, improves the driving safety of the vehicle, and ensures the safety of the passengers, the vehicle, the pedestrians, etc.

[0045] In some embodiments, as Figure 2 shown, it is a signal flow structural block diagram of a redundancy device according to a specific embodiment of the present invention. The first execution unit 3 and the second execution unit 4 are further configured to receive the drive control signal, and when both the first execution unit 3 and the second execution unit 4 are normal, jointly control the motor to run.

[0046] In the embodiment, as Figure 2As shown, the first execution unit 3 and the second execution unit 4 are also used to, after receiving the drive control signal, when both the first execution unit 3 and the second execution unit 4 are normal, jointly control the motor to run, so that under the same power-assisted steering, the single-channel current of one of the execution units is less than the current when only one execution unit is used to control the motor operation, reducing the probability that the components in the execution unit overheat due to excessive current in the execution unit, resulting in component failures. The components of the execution unit include the pre-driver unit 15 and the power bridge 16.

[0047] In some embodiments, as Figure 2 shown, the first execution unit 3 and the second execution unit 4 include a pre-driver unit 15 and a power bridge 16. The pre-driver unit 15 is respectively connected to the control unit 2 and the power bridge 16. The pre-driver unit 15 is used to receive and amplify the control signal output by the control unit 2 to obtain the drive control signal; the power bridge 16 is used to receive the drive control signal and drive the motor to run.

[0048] In an embodiment, as Figure 2 shown, the first execution unit 3 and the second execution unit 4 include a pre-driver unit 15 and a power bridge 16. The pre-driver unit 15 is respectively connected to the control unit 2 and the power bridge 16. When the driver turns the steering wheel to generate the adjustment data of the steering wheel, the adjustment data is sent to the control unit 2. The control unit 2 outputs a control signal to the pre-driver unit 15 according to the adjustment data. The pre-driver unit 15 amplifies the control signal to obtain the drive control signal, and the pre-driver unit 15 outputs the drive control signal to the power bridge 16. The power bridge 16 performs drive control on the motor according to the drive control signal, thereby ensuring the normal operation of the electric power-assisted steering system.

[0049] In some embodiments, as Figure 2 shown, the redundant device 1 further includes a current monitoring unit 44, which is connected to the control unit 2 and is used to receive the current value of the power bridge 16 and output a power bridge fault signal. Among them, the power bridge fault signal corresponds to the current value exceeding the preset current range.

[0050] In an embodiment, as Figure 2 shown, the redundant device 1 further includes a current monitoring unit 44. The current monitoring unit 44 is connected to the control unit 2. The preset current range is used to judge whether the current value of the power bridge 16 is normal. It is assumed that the current is judged to be normal within the preset current range, and the current is judged to be abnormal when it exceeds the preset current range. The current monitoring unit 44 receives the current value of the power bridge 16 and judges whether the current value is normal according to the preset current range. If the current value exceeds the preset current range, the power bridge fault signal is output to facilitate the circuit fault control of the execution unit.

[0051] For example, the current monitoring unit 44 receives the current values of the power bridge 16 in the first execution unit 3 and the current values of the power bridge 16 in the second execution unit 4. It determines that the current value of the power bridge 16 in the first execution unit 3 exceeds the preset current range and outputs a power bridge fault signal. It also determines that the current value of the power bridge 16 in the second execution unit 4 does not exceed the preset current range and is in a normal operating state. At this time, the second execution unit 4 that does not exceed the preset current range will control the motor to run, and the first execution unit 3 will no longer control the motor to run. The electric power steering system will send out alarm signals and other signals to remind the driver and passengers to handle the situation, enabling the electric power steering system to meet the safety requirements of ASIL D, improving the driving safety of the vehicle, and ensuring the safety of the driver and passengers, the vehicle, and pedestrians, etc.

[0052] In some embodiments, as Figure 2 shown, the redundant device 1 further includes a fault detection unit 45, which is respectively connected to the control unit 2 and the pre-drive unit 46, and is used for receiving the PWM (Pulse Width Modulation) pulse signals between the pre-drive unit 46 and the control unit 2 and the communication connection signals between the pre-drive unit 46 and the control unit 2, and outputs fault communication signals.

[0053] In an embodiment, as Figure 2 shown, the redundant device 1 further includes a fault detection unit 45. The fault detection unit 45 is respectively connected to the control unit 2 and the pre-drive unit 46. When the pre-drive unit 46 in an execution unit fails, the PWM pulse signals and communication connection signals between the pre-drive unit 46 and the control unit 2 will be abnormal. After the fault detection unit 45 detects and receives the abnormal PWM pulse signals and communication connection signals, it will output fault communication signals to the control unit 2. After receiving the fault communication signals, the control unit 2 will control another non-faulty execution unit to control the motor to run and send out alarm signals and other signals to remind the driver and passengers to handle the situation, enabling the electric power steering system to meet the safety requirements of ASIL D, improving the driving safety of the vehicle, and ensuring the safety of the driver and passengers, the vehicle, and pedestrians, etc.

[0054] In some embodiments, the redundant device 1 further includes a collection unit 42, which is used for collecting the torque signal and angle signal of the steering wheel.

[0055] In an embodiment, as Figure 2 shown, combined with Figure 3 shown, Figure 3 is the signal flow structure block diagram of the redundant device for another specific embodiment. The redundant device 1 further includes Figure 2 the collection unit 42 in Figure 1The driver in it rotates the steering wheel to drive the TAS sensor 19 to rotate, generating a torque signal and an angle signal. The acquisition unit 42 acquires the torque signal and the angle signal to perform operations based on the acquired torque signal and angle signal.

[0056] In some embodiments, the redundant device 1 further includes an operation unit 43, connected to the acquisition unit 42, for receiving the torque signal and the angle signal and outputting adjustment data, where the adjustment data includes the steering direction and the steering torque.

[0057] In an embodiment, as Figure 2 shown, the redundant device 1 further includes an operation unit 43. The operation unit 43 is connected to the acquisition unit 42, receives the torque signal and the angle signal acquired by the acquisition unit 42, performs operations to obtain the steering direction and the steering torque as adjustment data, and outputs the adjustment data to the control unit 2. The control unit 2 will convert the adjustment data into a PWM pulse signal through a motor control algorithm to implement motor control by the control unit 2 according to the adjustment data.

[0058] In some embodiments, as Figure 2 shown, the motor 14 includes a six-phase motor, connected to the power bridge 16, for receiving a drive control signal.

[0059] In an embodiment, as Figure 2 shown, the motor 14 includes a six-phase motor. The motor 14 is connected to the power bridge 16. Combining Figure 3 , the drive control signal sent by the pre-drive unit 15 is sent to the six-phase motor in the motor 14 through the power bridge 16. After receiving the drive control signal, the six-phase motor will control the left wheel 12 and the right wheel 13 according to the drive control signal to implement electric power steering, and the six-phase motor can avoid the problem of motor jamming caused by three-phase short circuit.

[0060] In some embodiments, as Figure 2 shown, the redundant device 1 further includes a battery management unit 40, connected to the acquisition unit 42, for supplying power to the acquisition unit 42.

[0061] In an embodiment, as Figure 2 shown, the redundant device 1 further includes a battery management unit 40, connected to the acquisition unit 42. Combining Figure 3 shown, the battery management unit 40 includes an in-vehicle battery 10 and an SBC power management 11. The in-vehicle battery 10 supplies power to the SBC power management 11, and the SBC power management 11 supplies power to the TAS sensor 19 and the acquisition unit 42 to implement the circuit power supply of the redundant device 1.

[0062] In addition, for the implementation method of the redundant device 1 which also includes the redundant device, the implementation method of the redundant device in the embodiments of the present invention will be described below in combination with Figures 4 - 5 this.

[0063] The implementation method of the redundancy device in the embodiment of the present utility model is an architecture that meets the safety requirements of ASIL D obtained after analyzing according to the safety requirements of ASIL D; first, according to the characteristics of the electric power steering system, several possible failure modes that pose very serious safety hazards to the driver are analyzed. The analysis results show that there are currently 3 very serious failures, namely unexpected steering assistance, unexpected reverse assistance, unexpected steering jamming, unexpected excessive steering, and unexpected loss of assistance; according to the exposure, danger, and controllability, it is known through ASIL level analysis that the expected steering assistance, unexpected reverse assistance, and unexpected steering jamming need to meet the ASIL D level; secondly, according to the requirements of ASIL D and combined with the electric power steering system, safety technology analysis is carried out using FMAE (Failure Mode and Effect Analysis) and FTA (Fault Tree Analysis) technologies. The requirements of ASIL D are PMHF (Probabilistic Metric for random Hardware Failures) [1 / h] < 10 -8 , SPFM (Single-Point Fault Metric) [%] ≥ 99%, LFM (Latent-Fault Metric) [%] ≥ 90%. The obtained system architecture diagram is as shown in Figure 4 shown, which is the system architecture diagram of the redundancy device in a specific embodiment of the present utility model.

[0064] Among them, chips of ASIL D level are adopted, for example: the control unit 2 adopts the MCU E03 chip, the SBC (Power Management Chip) battery management 11 adopts the SBC E01 chip, the MPS (Mean Power Supply) 113 chip, and the TAS (Torque and Angle Sensor) sensor 19 adopts the TAS sensor E02 chip.

[0065] The control logic is as shown in Figure 5 shown, which is the flow chart of the implementation method of the redundancy device in a specific embodiment of the present utility model. The implementation method process of the redundancy device at least includes step S80 - step S85.

[0066] Step S80, the driver turns the steering wheel, the TAS sensor generates a torque signal and an angle signal, and the arithmetic unit performs arithmetic on them to obtain adjustment data.

[0067] Step S81: The control unit receives adjustment data to obtain the driving intention.

[0068] Step S82: The control unit converts the adjustment data into corresponding PWM pulse signals to control the operation of the motor.

[0069] Step S83: The current monitoring unit and the fault detection unit determine whether the device status of the execution unit is normal. If so, step S85 is executed; otherwise, step S84 is executed.

[0070] Step S84: Use the non-faulty execution unit to control the operation of the motor and send out the alarm information corresponding to the faulty execution unit.

[0071] Step S85: The two execution units jointly control the operation of the motor, reducing the probability of the components in the execution unit overheating due to excessive current in a single execution unit, resulting in a fault.

[0072] According to the redundancy device of the embodiment of the present invention, the first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-faulty execution unit will control the operation of the motor, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0073] Next, refer to Figure 6 Describe the electric power steering system 100 of the embodiment of the present invention.

[0074] As Figure 6 shown, it is the electric power steering system of a specific embodiment of the present invention. The electric power steering system 100 of the embodiment of the present invention includes the redundancy device 1 as described in the above embodiment.

[0075] According to the electric power steering system 100 of the embodiment of the present invention, the redundancy device 1 is arranged inside the electric power steering system 100. The first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-faulty execution unit will control the operation of the motor, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0076] Next, refer to Figure 7 Describe the vehicle 101 of the embodiment of the present invention.

[0077] As Figure 7As shown, a vehicle according to a specific embodiment of the present invention. The vehicle 101 of the embodiment of the present invention includes an electric power steering system 100 as described in the above embodiment.

[0078] For the vehicle 101 according to the embodiment of the present invention, the electric power steering system 100 is disposed within the vehicle 101. The first execution unit and the second execution unit are connected to the control unit. The control unit receives the adjustment data of the steering wheel and outputs a drive control signal. The first execution unit and the second execution unit receive the drive control signal. When one of the execution units fails, the non-failed execution unit will control the motor to operate, so that the electric power steering system meets the safety requirements of ASIL D, improving the driving safety of the vehicle.

[0079] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0080] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A redundant device, characterized in that: include: A control unit, used for receiving adjustment data of the steering wheel and outputting a driving control signal; The first execution unit and the second execution unit are connected to the control unit, and are used to receive the drive control signal, and when one of them fails, control the motor to run based on a non-faulty one of the first execution unit and the second execution unit.

2. The redundant device according to claim 1, characterized in that: The first execution unit and the second execution unit are further configured to: The driving control signal is received, and when both the first execution unit and the second execution unit are normal, the motor is jointly controlled to run.

3. The redundant device according to claim 1, characterized in that: The first execution unit and the second execution unit include: A pre-driving unit, connected to the control unit, for receiving and amplifying a control signal output by the control unit to obtain the driving control signal; A power bridge is connected to the pre-drive unit and is used to receive the drive control signal to drive the motor to operate.

4. The redundant device according to claim 3, characterized in that: The redundant device further comprises: A current monitoring unit is connected to the control unit and is used to receive the current value of the power bridge and output a power bridge fault signal, wherein the power bridge fault signal corresponds to the current value exceeding a preset current range.

5. The redundant device according to claim 4, characterized in that: The redundant device further comprises: The fault detection unit is connected to the control unit and the pre-drive unit respectively, and is used to receive the PWM pulse signal between the pre-drive unit and the control unit and the communication connection signal between the pre-drive unit and the control unit, and output a fault communication signal.

6. The redundant device according to claim 1, characterized in that: The redundant device further comprises: The acquisition unit is used to acquire the torque signal and the angle signal of the steering wheel.

7. The redundant device according to claim 6, characterized in that: The redundant device further comprises: The computing unit is connected to the acquisition unit, and is used to receive the torque signal and the angle signal, and output the adjustment data, wherein the adjustment data includes a steering direction and a steering torque.

8. The redundant device according to claim 3, characterized in that: The motor comprises: A six-phase motor is connected to the power bridge and is used to receive the drive control signal.

9. The redundant device according to claim 6, characterized in that: The redundant device further comprises: A battery management unit is connected to the collection unit and is used to supply power to the collection unit.

10. An electric power steering system, characterized in that: Comprising a redundant device as described in any one of claims 1-9.

11. A vehicle, characterized in that: include: The electric power steering system as claimed in claim 10.

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