CN-121973845-A - Adaptive gain compensation method for steer-by-wire angle signal loss

CN121973845ACN 121973845 ACN121973845 ACN 121973845ACN-121973845-A

Abstract

The invention provides a steering angle signal loss self-adaptive gain compensation method by wire, which comprises the steps of synchronously collecting real-time angle signal sets of a hand feeling simulator and a steering actuator, carrying out signal loss detection and fault grading on the real-time angle signal sets, obtaining fault grades, generating a redundancy switching strategy based on the fault grades, acquiring historical angle signal sets of a plurality of sampling periods in the past according to the redundancy switching strategy, calculating an angle compensation quantity according to the historical angle signal sets, acquiring real-time vehicle parameters, generating a time-varying gain coefficient based on the real-time vehicle parameters, calculating a self-adaptive gain compensation angle by utilizing the time-varying gain coefficient and the angle compensation quantity, acquiring historical motor currents of the past sampling periods, calculating motor output currents according to the self-adaptive gain compensation angle, carrying out gradient limitation on the motor output currents by utilizing the historical motor currents, and carrying out steering control according to the motor output currents after the gradient limitation.

Inventors

YANG HAOWEI
ZHANG RUILONG

Assignees

杭州湘滨电子科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260309

Claims (10)

1. A steer-by-wire angle signal loss adaptive gain compensation method, the method comprising: Synchronously acquiring a real-time angle signal set of a hand feeling simulator and a steering actuator, and detecting signal loss of the real-time angle signal set to obtain a signal loss type, wherein the real-time angle signal set comprises a steering wheel angle signal set, a wheel angle signal set and a motor analysis angle signal set; Performing fault classification according to the signal loss type to obtain a fault grade, and generating a redundant switching strategy based on the fault grade; Acquiring a historical angle signal set of a plurality of sampling periods in the past according to the redundancy switching strategy, and calculating an angle compensation quantity according to the historical angle signal set; acquiring real-time vehicle parameters, generating a time-varying gain coefficient based on the real-time vehicle parameters, and calculating an adaptive gain compensation angle by using the time-varying gain coefficient and the angle compensation amount, wherein the real-time vehicle parameters comprise real-time vehicle speed, vehicle wheelbase and vehicle wheelbase; and acquiring historical motor current of a past sampling period, determining motor output current according to the self-adaptive gain compensation angle, carrying out gradient limitation on the motor output current by utilizing the historical motor current, and carrying out steering control according to the motor output current subjected to gradient limitation.
2. The method for adaptive gain compensation for loss of steer-by-wire angle signal according to claim 1, wherein synchronously collecting real-time angle signal sets of the hand simulator and the steering actuator comprises: Collecting a main road steering wheel angle signal in real time by using a main road TAS sensor of a hand feeling simulator, collecting an auxiliary road steering wheel angle signal in real time by using an auxiliary road TAS sensor of the hand feeling simulator, and collecting the main road steering wheel angle signal and the auxiliary road steering wheel angle signal into a steering wheel angle signal group; collecting main road wheel angle signals in real time by using a main road TAS sensor of a steering actuator, collecting auxiliary road wheel angle signals in real time by using an auxiliary road TAS sensor of the steering actuator, and collecting the main road wheel angle signals and the auxiliary road wheel angle signals into a wheel angle signal group; Analyzing angle signals in real time by using a motor of the hand feeling simulator to obtain simulator analysis angle signals, analyzing the angle signals in real time by using the motor of the steering actuator to obtain actuator analysis angle signals, and converging the actuator analysis angle signals and the simulator analysis angle signals into a motor analysis angle signal group; and collecting the steering wheel angle signal group, the wheel angle signal group and the motor analysis angle signal group into a real-time angle signal set.
3. The method for compensating for the loss of adaptive gain of steering angle signal by wire according to claim 2, wherein the step of analyzing the angle signal in real time by using the motor of the hand feeling simulator to obtain the simulator analysis angle signal comprises the steps of: Acquiring a rotor cosine signal and a rotor sine signal by using a rotor position sensor in a motor of the hand feeling simulator, and performing amplitude compensation on the rotor cosine signal and the rotor sine signal to obtain a compensated cosine signal and a compensated sine signal; performing angle back calculation on the compensated cosine signal and the compensated sine signal to obtain a rotor electric angle signal; dividing the rotor electric angle signal by the magnetic pole pair number of the motor to obtain a rotor mechanical angle signal; Performing angle expansion on the mechanical angle signal of the rotor to obtain a periodic angle signal; and filtering and denoising the periodic angle signal and checking consistency to obtain a simulator analysis angle signal.
4. The method for adaptive gain compensation for loss of steering-by-wire angle signal according to claim 1, wherein performing loss of signal detection on the real-time angle signal set to obtain a loss of signal type comprises: carrying out communication cycle continuity detection on the steering wheel angle signal group and the wheel angle signal group which are concentrated in the real-time angle signals to obtain a continuity state; Performing amplitude rationality detection on each signal in the steering wheel angle signal group and the wheel angle signal group to obtain a rationality state; Detecting the effective position of each signal in the steering wheel angle signal group and the wheel angle signal group to obtain an effective state; and generating a signal loss type according to the continuity state, the rationality state and the validity state.
5. The method for adaptive gain compensation for loss of signal at steering-by-wire angle of claim 4, wherein performing fault classification according to the type of loss of signal to obtain a fault class, comprising: in the signal loss type, only the main road steering wheel angle signals in the steering wheel angle signal group are judged to be signal loss, and the corresponding auxiliary road steering wheel angle signals are normal signals; Or only the main road wheel angle signals in the wheel angle signal group are judged to be lost, and when the corresponding auxiliary road wheel angle signals are normal, the current fault level is judged to be a primary fault; when the signal loss type is adopted, the main road steering wheel angle signal and the auxiliary road steering wheel angle signal in the steering wheel angle signal group are judged to be signal loss; Or when the main road wheel angle signal and the auxiliary road wheel angle signal in the wheel angle signal group are both judged to be in a signal loss state, judging that the current fault level is a secondary fault.
6. The method of adaptive gain compensation for steer-by-wire angular signal loss of claim 5, wherein generating a redundant switching strategy based on the fault level comprises: when the fault level is a primary fault, generating an auxiliary road signal switching strategy by utilizing auxiliary road steering wheel angle signals or auxiliary road wheel angle signals concentrated by the real-time angle signals; And when the fault level is a secondary fault, utilizing the simulator analysis angle signal or the executor analysis angle signal in the real-time angle signal set to generate an analysis signal switching strategy.
7. The method of adaptive gain compensation for steer-by-wire angular signal loss of claim 6, wherein calculating an angular compensation based on the set of historical angular signals comprises: When the redundancy switching strategy is an auxiliary road signal switching strategy, a main road angle signal sequence and an auxiliary road angle signal sequence corresponding to the auxiliary road signal strategy are extracted from the historical angle signal set, and the average difference value of corresponding angle signals in the main road angle signal sequence and the auxiliary road angle signal sequence is used as an angle compensation quantity; When the redundancy switching strategy is an analysis signal switching strategy, a main path angle signal sequence corresponding to the analysis signal switching strategy is extracted from the historical angle signal set, a corresponding analysis angle signal is extracted from the motor analysis angle signal group, and the average difference value between the main path angle signal sequence and the analysis angle signal is used as an angle compensation quantity.
8. The method of claim 1, wherein calculating an adaptive gain compensation angle using the time-varying gain coefficient and the angle compensation amount, comprises: Extracting a real-time vehicle speed from the real-time vehicle parameters, and performing unit coefficient conversion on the real-time vehicle speed to obtain a standard vehicle speed; acquiring the attenuation window duration and the fault duration corresponding to the redundancy switching strategy, and judging whether the product of the standard vehicle speed and the attenuation window duration is greater than the fault duration or not; If yes, calculating an adaptive gain compensation angle according to the redundancy switching strategy, the time-varying gain coefficient and the angle compensation value; And if not, determining the self-adaptive gain compensation angle according to the redundancy switching strategy.
9. The method of adaptive gain compensation for loss of steer-by-wire angle signal as recited in claim 1, wherein gradient limiting the motor output current with the historical motor current comprises: obtaining a fault calibration switching current corresponding to the redundancy switching strategy, and judging whether the difference current of the motor output current and the historical motor current is larger than the fault calibration switching current or not; if yes, performing sign conversion on the fault calibration switching current according to the sign of the difference current to obtain a standard switching current, taking the sum of the standard switching current and the historical motor current as a gradient output current, and limiting the motor output current by utilizing the gradient output current; If not, stopping the gradient limitation of the output current of the motor.
10. The utility model provides a drive-by-wire steering angle signal loses self-adaptation gain compensation system which characterized in that, the system includes signal acquisition module, trouble classification module, compensation calculation module, angle gain module and current control module, wherein: The signal acquisition module synchronously acquires a real-time angle signal set of the hand feeling simulator and the steering actuator, and carries out signal loss detection on the real-time angle signal set to obtain a signal loss type, wherein the real-time angle signal set comprises a steering wheel angle signal set, a wheel angle signal set and a motor analysis angle signal set; the fault grading module is used for carrying out fault grading according to the signal loss type to obtain a fault grade, and generating a redundant switching strategy based on the fault grade; The compensation calculation module is used for acquiring a historical angle signal set of a plurality of sampling periods in the past according to the redundancy switching strategy and calculating an angle compensation amount according to the historical angle signal set; The angle gain module is used for acquiring real-time vehicle parameters, generating a time-varying gain coefficient based on the real-time vehicle parameters, and calculating an adaptive gain compensation angle by utilizing the time-varying gain coefficient and the angle compensation quantity, wherein the real-time vehicle parameters comprise real-time vehicle speed, vehicle wheelbase and vehicle wheelbase; And the current control module is used for obtaining historical motor current in the past sampling period, determining motor output current according to the self-adaptive gain compensation angle, carrying out gradient limitation on the motor output current by utilizing the historical motor current, and carrying out steering control according to the motor output current subjected to gradient limitation.

Description

Adaptive gain compensation method for steer-by-wire angle signal loss Technical Field The invention relates to the technical field of automobile steer-by-wire control, in particular to a steer-by-wire angle signal loss self-adaptive gain compensation method. Background The steer-by-wire system is used as a core executing mechanism of the intelligent network-connected automobile, and the electronization and the flexibility of steering control are realized by canceling the mechanical connection between the steering wheel and the steering wheel, so that a foundation is provided for high-order automatic driving function integration and personalized control experience customization. Since the core safety requirement of the system is to ensure that the steering control command can be accurately and reliably executed under any working condition. For this reason, modern steer-by-wire systems commonly employ a multi-level redundancy architecture to address single element failure risks. However, in the prior art, the angle signal of the steering system is usually collected by a single sensor or transmitted by a single path, and when abnormal conditions such as sensor faults, line breaks, electromagnetic interference and the like occur, the angle signal is very easy to lose or distort. Full redundancy systems require effective measures to take corresponding redundancy strategies in the event of loss or distortion of the angle signal. At this time, if the system cannot take effective treatment measures in time, the problems of incapability of normally executing steering instructions, abnormal steering feedback and the like are caused, and the vehicle is out of control when serious, so that the life safety of drivers and passengers is threatened. Disclosure of Invention (One) solving the technical problems Aiming at the defects of the prior art, the invention provides a self-adaptive gain compensation method for the loss of the steering angle signal by wire control, which has the advantages of multistage redundancy, smooth switching, high safety and the like, and solves the problems of poor control smoothness and insufficient robustness caused by the loss of the angle signal in a steering scene by wire control. (II) technical scheme In order to achieve the above purpose, the present invention provides the following technical solutions: the invention provides a drive-by-wire steering angle signal loss self-adaptive gain compensation method, which comprises the following steps: Synchronously acquiring a real-time angle signal set of a hand feeling simulator and a steering actuator, and detecting signal loss of the real-time angle signal set to obtain a signal loss type, wherein the real-time angle signal set comprises a steering wheel angle signal set, a wheel angle signal set and a motor analysis angle signal set; Performing fault classification according to the signal loss type to obtain a fault grade, and generating a redundant switching strategy based on the fault grade; Acquiring a historical angle signal set of a plurality of sampling periods in the past according to the redundancy switching strategy, and calculating an angle compensation quantity according to the historical angle signal set; acquiring real-time vehicle parameters, generating a time-varying gain coefficient based on the real-time vehicle parameters, and calculating an adaptive gain compensation angle by using the time-varying gain coefficient and the angle compensation amount, wherein the real-time vehicle parameters comprise real-time vehicle speed, vehicle wheelbase and vehicle wheelbase; and acquiring historical motor current of a past sampling period, determining motor output current according to the self-adaptive gain compensation angle, carrying out gradient limitation on the motor output current by utilizing the historical motor current, and carrying out steering control according to the motor output current subjected to gradient limitation. According to one preferred embodiment of the present invention, the method for synchronously acquiring real-time angle signal sets of the hand feeling simulator and the steering actuator comprises the following steps: Collecting a main road steering wheel angle signal in real time by using a main road TAS sensor of a hand feeling simulator, collecting an auxiliary road steering wheel angle signal in real time by using an auxiliary road TAS sensor of the hand feeling simulator, and collecting the main road steering wheel angle signal and the auxiliary road steering wheel angle signal into a steering wheel angle signal group; collecting main road wheel angle signals in real time by using a main road TAS sensor of a steering actuator, collecting auxiliary road wheel angle signals in real time by using an auxiliary road TAS sensor of the steering actuator, and collecting the main road wheel angle signals and the auxiliary road wheel angle signals into a wheel angle signal group; Analyzing angle signals in rea