CN-116465536-B - Sensor signal confirmation method and device, electronic equipment and storage medium

CN116465536BCN 116465536 BCN116465536 BCN 116465536BCN-116465536-B

Abstract

The invention provides a sensor signal confirmation method, a device, electronic equipment and a medium, and relates to the technical field of sensors. The method comprises the steps of obtaining a first signal value and a second signal value detected by a first detection chip of a sensor, obtaining a third signal value and a fourth signal value detected by a second detection chip of the sensor, calculating a first torque value according to the first signal value and the second signal value, calculating a second torque value according to the third signal value and the fourth signal value, calculating the difference between the first torque value and the second torque value, obtaining a torque value difference value, and confirming that the signal of the sensor is abnormal when the absolute value of the torque value difference value is larger than a preset judgment value. The invention can avoid potential safety risk caused by signal reversal of the standby group detection chip and improve the safety of user driving.

Inventors

WANG YANSEN
GUO XIANCHAO
DONG XIAO
ZHANG HAIYUAN
LIU YIMING

Assignees

江苏智驭汽车科技有限公司

Dates

Publication Date: 20260508
Application Date: 20230324

Claims (9)

1. A method of sensor signal validation, comprising: Acquiring a first signal value and a second signal value detected by a first detection chip of a sensor, and acquiring a third signal value and a fourth signal value detected by a second detection chip of the sensor; calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value, wherein the first signal value is complementary to the second signal value, the third signal value is complementary to the fourth signal value, and the increasing and decreasing directions of the first signal value and the third signal value are the same; calculating the difference between the first torque value and the second torque value to obtain a torque value difference; confirming that the signal of the sensor is abnormal under the condition that the absolute value of the torque value difference value is larger than a preset judgment value; The step of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor comprises the following steps: Acquiring the first signal value, the second signal value, the third signal value and the fourth signal value under at least two different torque values to be measured; The torque value to be detected and the signal value are used for establishing a visual check list, and the visual check list is used for rapidly judging whether the sensor has a signal reversal of one of the detection chips.
2. The method of claim 1, wherein the steps of calculating a first torque value from the first signal value and the second signal value, and calculating a second torque value from the third signal value and the fourth signal value, comprise: calculating the first torque value according to the first signal value, the second signal value and a torque value calculation formula; And calculating the second torque value according to the third signal value, the fourth signal value and the torque value calculation formula.
3. The method of claim 1, wherein prior to the step of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor and the third signal value and the fourth signal value detected by the second detection chip of the sensor, the method further comprises: and controlling the servo motor to apply a torque value to be measured, wherein the torque value to be measured comprises a negative maximum hand force threshold value and a positive maximum hand force threshold value.
4. The method according to claim 1, wherein the predetermined determination value ranges from 0nm to 0.5nm.
5. The method according to claim 1, wherein, in the case where the absolute value of the torque value difference is greater than a preset determination value, the method further comprises, after the step of confirming that the signal of the sensor is abnormal: An alarm message is issued.
6. The method of claim 1, wherein the sensor comprises a torque sensor of a four-way SPC signal.
7. A sensor signal confirmation device, characterized by comprising: The signal value acquisition module is used for acquiring a first signal value and a second signal value detected by a first detection chip of the sensor and acquiring a third signal value and a fourth signal value detected by a second detection chip of the sensor; the torque value calculation module is used for calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value, wherein the first signal value is complementary with the second signal value, the third signal value is complementary with the fourth signal value, and the increasing and decreasing directions of the first signal value and the third signal value are the same; The torque value difference calculation module is used for calculating the difference between the first torque value and the second torque value and obtaining a torque value difference; the sensor abnormality confirmation module is used for confirming that the signal of the sensor is abnormal under the condition that the absolute value of the torque value difference value is larger than a preset judgment value; The signal value acquisition module is also used for acquiring a first signal value, a second signal value, a third signal value and a fourth signal value which are detected by the sensor under at least two different torque values to be detected; The method comprises the steps of detecting torque values to be detected and signal values to be detected, wherein each torque value to be detected and each signal value are used for establishing a visual check list, and the visual check list is used for rapidly judging whether the sensor has a signal reversal of one of the detection chips.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of claims 1-6 when the computer program is executed by the processor.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a program thereon, which when executed by a processor implements the steps of the method according to any of claims 1-6.

Description

Sensor signal confirmation method and device, electronic equipment and storage medium Technical Field The present invention relates to the field of sensor technologies, and in particular, to a method and apparatus for confirming a sensor signal, an electronic device, and a storage medium. Background The working principle of the electric power steering system (Electric Power Steering, EPS) is that a torque sensor of a core component of the EPS outputs a driver hand force signal, an electronic control unit (Electric Control Unit, ECU) inputs a proper current to a power-assisted motor according to analysis and processing of the driver hand force signal, and the current is processed by other mechanisms of a steering gear to obtain steering acting force in the same direction as the driver hand force, so that electric power steering is realized. The main torque sensor includes a two-way PWM signal sensor (Pulse Width Modulation, pulse width modulation technology), a three-way PWM signal sensor, and a four-way SPC signal sensor (Short PWM Code). The torque sensor may have the direction of the output signal opposite to the actual hand force direction due to the complex factors generated in the operation procedures of welding, calibration, assembly and the like, and for the problem of power reversal, the signal confirmation method for the two-path PWM signal sensor and the three-path PWM signal sensor in the prior art is mature, but the potential risk of the four-path SPC signal sensor cannot be eliminated. Disclosure of Invention The embodiment of the invention provides a sensor signal confirmation method, a device, electronic equipment and a storage medium, wherein the sensor signal confirmation method can detect potential risks of a four-way SPC signal sensor. In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme: In a first aspect, a method for confirming a sensor signal is provided, which is characterized by comprising: Acquiring a first signal value and a second signal value detected by a first detection chip of a sensor, and acquiring a third signal value and a fourth signal value detected by a second detection chip of the sensor; calculating a first torque value from the first signal value and the second signal value, and calculating a second torque value from the third signal value and the fourth signal value; calculating the difference between the first torque value and the second torque value to obtain a torque value difference; And under the condition that the absolute value of the torque value difference is larger than a preset judgment value, confirming that the signal of the sensor is abnormal. Optionally, the step of calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value includes: calculating the first torque value according to the first signal value, the second signal value and a torque value calculation formula; And calculating the second torque value according to the third signal value, the fourth signal value and the torque value calculation formula. Optionally, the step of calculating a first torque value according to the first signal value and the second signal value, and calculating a second torque value according to the third signal value and the fourth signal value includes: calculating the first torque value according to the first signal value, the second signal value and a torque value calculation formula; And calculating the second torque value according to the third signal value, the fourth signal value and the torque value calculation formula. Optionally, before the step of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor, the method further includes: and controlling the servo motor to apply a torque value to be measured, wherein the torque value to be measured comprises a negative maximum hand force threshold value and a positive maximum hand force threshold value. Optionally, the range of the preset judgment value is 0-0.5 Nm. Optionally, the step of acquiring the first signal value and the second signal value detected by the first detection chip of the sensor, and acquiring the third signal value and the fourth signal value detected by the second detection chip of the sensor includes: acquiring the first signal value, the second signal value, the third signal value and the fourth signal value under at least two different torque values to be measured; Wherein each of the torque values to be measured and each of the signal values are used to establish a visual checklist. Optionally, after the step of confirming that the signal of the sensor is abnormal, in the case that the absolute value of the torque va