CN-118636961-B - Control system and control method for steering motor of vehicle, storage medium and vehicle

CN118636961BCN 118636961 BCN118636961 BCN 118636961BCN-118636961-B

Abstract

The application discloses a control system, a control method, a storage medium and a vehicle of a vehicle steering motor, and belongs to the technical field of vehicle control; when at least one of the first control device and the second control device fails, the first control device and the second control device are controlled by the side with lower failure state level to drive the vehicle steering motor to operate, so that the motor can be effectively controlled even if part of system devices fail, the situation that the whole control system cannot work due to the failure of part of system devices is avoided, the fault tolerance and the reliability of motor control are improved, the fine control management of the motor can be realized according to different failure conditions, and the flexibility is high.

Inventors

WU YUNRI
SHENG JUN
QIN CHENG
LIN JIAHAI
TAN XINYING

Assignees

比亚迪股份有限公司

Dates

Publication Date: 20260505
Application Date: 20240731

Claims (18)

1. The control system of the vehicle steering motor is characterized by comprising a first control device and a second control device connected with the first control device, wherein the first control device and the second control device are respectively connected with the vehicle steering motor; when at least one of the first control device and the second control device fails, the first control device and the second control device are controlled by the lower side of the failure state level to drive the vehicle steering motor to operate; the first control device and the second control device comprise a micro control module and a driving module connected with the micro control module, wherein the driving module is connected with the vehicle steering motor and used for driving the vehicle steering motor to operate; the micro control module comprises a main micro control sub-module and an auxiliary micro control sub-module connected with the main micro control sub-module, wherein the auxiliary micro control sub-module is used for acquiring information from the main micro control sub-module and transmitting the acquired information to another micro control module when the main micro control sub-module has single-point failure fault; The auxiliary micro control sub-module synchronously receives external information with the main micro control sub-module, acquires control and fault self-checking processing information from the main micro control sub-module, and transmits the processing information to a corresponding control device when the main micro control sub-module fails at a single point so as to realize information synchronization between two sub-systems; the main micro control sub-module and the auxiliary micro control sub-module are both MCU.
2. The control system of a vehicle steering motor according to claim 1, wherein the first control means and the second control means are each configured to: And acquiring key sampling information and fault information of the self-body through the micro control module of the self-body, and determining self-checking fault results of the self-body according to the key sampling information and the fault information, wherein the self-checking fault results comprise the fault state grade.
3. The control system of a vehicle steering motor according to claim 2, wherein the micro control module is configured to: Generating a pulse width modulation signal according to the key sampling information; verifying the pulse width modulation signal; And determining a self-checking fault result according to a preset fault level table, a checking result and the fault information, wherein the preset fault level table comprises a plurality of fault types and fault levels corresponding to each fault type.
4. The control system of a vehicle steering motor according to claim 2, wherein the first control means and the second control means are further configured to: the self-checking fault result is sent to the opposite side through the self-micro control module, and a target decision device and a target power driving mode are determined according to the self-checking fault result of the opposite side and a preset master-slave decision table; The target decision device is one of the first control device and the second control device with lower fault state levels, the preset master-slave decision table comprises a plurality of fault state levels and decision strategies corresponding to each fault state level, and the decision strategies are used for determining corresponding decision devices and power driving modes.
5. The control system of a vehicle steering motor according to claim 4, wherein the target decision device is configured to: And controlling the driving modules in the first control device and the second control device to drive the vehicle steering motor to operate according to the target power driving mode through the micro control module.
6. The control system of a vehicle steering motor according to claim 5, wherein the micro-control module in the target decision device is configured to: When the target power driving mode indicates full power driving, effective power-assisted control information is input to the driving modules in the first control device and the second control device so as to drive the vehicle steering motor to run in a double-way mode; When the target power driving mode indicates derating power driving, effective power-assisted control information is input to one driving module in the first control device and the second control device, and the vehicle steering motor is driven to run in a single way; When the target power drive mode indicates no power-assisted drive, effective power-assisted control information is not input to the drive module in both the first control device and the second control device to not drive the vehicle steering motor to operate.
7. The control system of a vehicle steering motor according to claim 1, wherein the driving module includes a pre-driving sub-module and a driving sub-module, the driving sub-module is connected with the micro-control module via the pre-driving sub-module, the driving sub-module is connected with the vehicle steering motor, the pre-driving sub-module is used for amplifying a signal output by the micro-control module, and the driving sub-module is used for converting the signal output by the pre-driving sub-module into an angular displacement signal to drive the vehicle steering motor to operate.
8. The control system of a vehicle steering motor of claim 7, wherein the first and second control devices each further comprise a power conversion module having an input coupled to a respective power source for receiving electrical power, an output coupled to a respective micro-control module and a respective pre-drive sub-module for powering the respective micro-control module and the respective pre-drive sub-module, and a power source coupled to the drive sub-module for powering the vehicle steering motor via the drive sub-module.
9. The control system of a vehicle steering motor according to claim 8, wherein the first control device and the second control device each further include a phase failure protector, and the drive sub-module is connected to the vehicle steering motor via the phase failure protector.
10. A control method applied to the control system of the vehicle steering motor according to any one of claims 1 to 9, characterized by comprising: when at least one of the first control device and the second control device fails, the first control device and the second control device are controlled to drive the vehicle steering motor to operate through the side with the lower failure state level.
11. The control method according to claim 10, characterized by further comprising: And acquiring key sampling information and fault information of the self-checking fault by the first control device and the second control device respectively, and determining self-checking fault results of the self-checking fault according to the key sampling information and the fault information, wherein the self-checking fault results comprise the fault state grade.
12. The control method according to claim 11, wherein the determining self-checking fault results of itself according to the critical sampling information and the fault information includes: Generating a pulse width modulation signal according to the key sampling information; verifying the pulse width modulation signal; And determining a self-checking fault result according to a preset fault level table, a checking result and the fault information, wherein the preset fault level table comprises a plurality of fault types and fault levels corresponding to each fault type.
13. The control method according to claim 11, characterized by further comprising: The self-checking fault results of the first control device and the second control device are respectively sent to the other side, and a target decision device and a target power driving mode are determined according to the self-checking fault results of the two sides and a preset master-slave decision table; The target decision device is one of the first control device and the second control device with lower fault state levels, the preset master-slave decision table comprises a plurality of fault state levels and decision strategies corresponding to each fault state level, and the decision strategies are used for determining corresponding decision devices and power driving modes.
14. The control method according to claim 13, characterized in that the controlling of the first control means and the second control means to drive the vehicle steering motor to operate by the side having the lower level of the failure state includes: And controlling a driving module in both the first control device and the second control device to drive the vehicle steering motor to operate according to the target power driving mode through the target decision device.
15. The control method according to claim 14, characterized in that the controlling, by the target decision device, the driving module in both the first control device and the second control device to drive the vehicle steering motor to operate according to the target power driving mode includes: When the target power driving mode indicates full power driving, effective power-assisted control information is input to driving modules in the first control device and the second control device through the target decision device, and the vehicle steering motor is driven to operate in a double-way mode; When the target power driving mode indicates derating power driving, effective power-assisted control information is input to one driving module of the first control device and the second control device through the target decision device, and the vehicle steering motor is driven to run in a single way; When the target power driving mode indicates no power-assisted driving, effective power-assisted control information is not input to the driving modules in both the first control device and the second control device through the target decision device so as not to drive the vehicle steering motor to operate.
16. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the control method according to any one of claims 10-15.
17. A vehicle comprising a control system for a vehicle steering motor according to any one of claims 1-9.
18. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the control method according to any one of claims 10-15.

Description

Control system and control method for steering motor of vehicle, storage medium and vehicle Technical Field The application belongs to the technical field of vehicle control, and particularly relates to a control system and method for a vehicle steering motor, a storage medium and a vehicle. Background Along with the rapid development of the electric and intelligent of the vehicle, the automatic driving function is configured to become the main flow development trend of the vehicle, and the electric power steering system is used as the next generation core technology of steering control, so that the deep fusion of the automatic driving field can be realized, the man-machine co-driving is realized, and better control experience is brought to the whole vehicle. The electric power steering system consists of a mechanical steering system, a torque sensor and a rotation angle sensor of a steering wheel, a vehicle speed sensor, an Electronic Controller (ECU), a steering motor, a speed reducing mechanism and the like, but in the existing electric power steering system, once part of devices such as the ECU or a sensing sensor or CAN communication fails, the rotation of the steering motor cannot be controlled, the fault tolerance rate of the system is lower, and the reliability is weaker. Disclosure of Invention The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a control system and a control method of a vehicle steering motor, a storage medium and a vehicle, and the reliability and the fault tolerance of the motor control system can be improved. In a first aspect, the present application provides a control system for a steering motor of a vehicle, including a first control device, and a second control device connected to the first control device, where the first control device and the second control device are respectively connected to the steering motor of the vehicle; when at least one of the first control device and the second control device fails, the first control device and the second control device are controlled to drive the vehicle steering motor to operate through the side with the lower failure state level. In some embodiments, the first control device and the second control device each comprise a micro control module and a driving module connected with the micro control module, wherein the driving module is connected with the vehicle steering motor and used for driving the vehicle steering motor to operate, and the micro control module in the first control device is connected with the micro control module in the second control device. In some embodiments, the first control means and the second control means are each for: And acquiring key sampling information and fault information of the self-body through the micro control module, and determining self-checking fault results of the self-body according to the key sampling information and the fault information, wherein the self-checking fault results comprise the fault state grade. In some embodiments, the micro-control module is to: Generating a pulse width modulation signal according to the key sampling information; verifying the pulse width modulation signal; And determining a self-checking fault result according to a preset fault level table, a checking result and the fault information, wherein the preset fault level table comprises a plurality of fault types and fault levels corresponding to each fault type. In some embodiments, the first control device and the second control device are further configured to: the self-checking fault result is sent to the other party through the micro control module, and a target decision device and a target power driving mode are determined according to the self-checking fault result of the other party and a preset master-slave decision table; The target decision device is one of the first control device and the second control device with lower fault state levels, the preset master-slave decision table comprises a plurality of fault state levels and decision strategies corresponding to each fault state level, and the decision strategies are used for determining corresponding decision devices and power driving modes. In some embodiments, the target decision device is to: And controlling the driving modules in the first control device and the second control device to drive the vehicle steering motor to operate according to the target power driving mode through the micro control module. In some embodiments, the micro-control module in the target decision device is to: When the target power driving mode indicates full power driving, effective power-assisted control information is input to the driving modules in the first control device and the second control device so as to drive the vehicle steering motor to run in a double-way mode; When the target power driving mode indicates derating power driving, effective power-assisted control