CN-122009311-A - Fault recovery method and device for back-turning system, storage medium and electronic device

CN122009311ACN 122009311 ACN122009311 ACN 122009311ACN-122009311-A

Abstract

The application discloses a fault recovery method and device of a backward rotation system, a storage medium and an electronic device, wherein the method comprises the steps of analyzing a backward rotation request received by the backward rotation system under the condition that a control unit of a target vehicle and the backward rotation system of the target vehicle are in a normal state, so as to obtain backward rotation parameters corresponding to the backward rotation system, and analyzing the backward rotation angle of the target vehicle according to the running state of the target vehicle; and under the condition that the backward rotation system is determined to be in a fault state, sending a return-to-zero instruction to the backward rotation system so as to restore the backward rotation system to a safe state from the fault state. By adopting the technical scheme, the problem that the safety performance of the vehicle is low due to the fact that the behavior of the rear wheel steering system in a fault state cannot be effectively monitored and limited in the related art is solved.

Inventors

WANG PAN
ZHAO ZHI
WANG YIFEI
LEI WENWEN

Assignees

上海汽车集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20241108

Claims (10)

1. A method for recovering from a failure of a back-transfer system, comprising: Under the condition that the communication between a control unit of a target vehicle and a backward rotation system of the target vehicle is in a normal state, analyzing a backward rotation request received by the backward rotation system to obtain backward rotation parameters corresponding to the backward rotation system, and analyzing the backward rotation angle of the target vehicle through the running state of the target vehicle; monitoring the back rotation parameters and the back rotation angle, and determining whether the back rotation system is in a fault state according to a monitoring result; And sending a return-to-zero instruction to the back-transfer system to restore the back-transfer system from the fault state to a safe state in the case that the back-transfer system is determined to be in the fault state.
2. The method of claim 1, further comprising, prior to resolving the back-transfer request received by the back-transfer system: under the condition that a first communication connection between the control unit and the back-transfer system is established based on a target protocol, acquiring the current network management state of the back-transfer system; And under the condition that the current network management state is determined to be a normal awakening source, awakening a local subnet corresponding to the backward transfer system based on the first communication connection, and keeping the awakening state of the local subnet so as to enable the communication between the control unit and the backward transfer system to be in a normal state.
3. The method of claim 1, further comprising, prior to resolving the back-transfer request received by the back-transfer system: under the condition that a first communication connection between the control unit and the back-transfer system is established based on a target protocol, acquiring the current network management state of the back-transfer system; Under the condition that the current network management state is determined to be an abnormal awakening source, interrupting communication connection with the backward transfer system, and determining whether a local subnet corresponding to the backward transfer system enters a sleep mode or not; requesting to establish a second communication connection with the back-transfer system under the condition that the local subnet is determined to enter a sleep mode; And waking up the local subnet based on the second communication connection, and keeping the local subnet in a wake-up state so as to enable the communication between the control unit and the backward transfer system to be in a normal state.
4. A method of recovering from a failure of a back-office system according to claim 3, wherein after interrupting the communication connection with the back-office system, the method further comprises: Determining the number of interruption times of interrupting the communication connection with the back-turning system in a first period; and under the condition that the interrupt times are larger than a preset threshold value, prohibiting the local subnet from being awakened in a second period.
5. The method for recovering from a failure of a back-transfer system according to claim 1, wherein determining whether the back-transfer system is in a failure state based on a monitoring result comprises: and indicating that the back-turning parameters are larger than or equal to preset back-turning parameters in a first time period, and/or, And under the condition that the monitoring result indicates that the rear rotation angle is larger than or equal to a preset rear rotation angle in the first time period, determining that the rear rotation system is in a fault state.
6. The method of fault recovery of a back-transfer system of claim 1, wherein after sending a return-to-zero instruction to the back-transfer system, the method further comprises: Determining whether a response signal sent by the back transfer system based on the zeroing instruction is received in a second time period; determining whether a running condition of the target vehicle satisfies a safe running condition in a case where it is determined that the response signal is not received within the second period of time; under the condition that the running condition meets the safe running condition, interrupting the communication connection with the backward rotation system so as to enable the local subnet corresponding to the backward rotation system to enter a dormant mode; Under the condition that the communication corresponding to the third communication connection is in a normal state, determining whether the back transfer system autonomously executes the zeroing instruction; and determining that the back-turning system is restored to a safe state from the fault state under the condition that the back-turning system is determined to execute the zeroing instruction.
7. The failure recovery method of a reverse rotation system according to claim 6, characterized in that after determining whether or not a running condition of the target vehicle satisfies a safe running condition, the method further comprises: and when the running condition is determined not to meet the safe running condition, adjusting the speed of the target vehicle to be the target speed, and adjusting the gear of the target vehicle to be the target gear so that the running condition of the target vehicle meets the safe running condition.
8. A fault recovery apparatus for a back-turning system, comprising: The analysis module is used for analyzing the backward rotation request received by the backward rotation system under the condition that the communication between the control unit of the target vehicle and the backward rotation system of the target vehicle is in a normal state, so as to acquire backward rotation parameters corresponding to the backward rotation system, and analyzing the backward rotation angle of the target vehicle through the running state of the target vehicle; The monitoring module is used for monitoring the backward rotation parameters and the backward rotation angle and determining whether the backward rotation system is in a fault state according to a monitoring result; and the sending module is used for sending a return-to-zero instruction to the backward rotation system under the condition that the backward rotation system is determined to be in the fault state so as to restore the backward rotation system from the fault state to a safe state.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when run, performs the method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of the claims 1 to 7 by means of the computer program.

Description

Fault recovery method and device for back-turning system, storage medium and electronic device Technical Field The present application relates to the field of vehicle control, and in particular, to a method and apparatus for recovering from a failure of a back-turning system, a storage medium, and an electronic apparatus. Background With the development of automobile technology, the requirements of drivers on automobile drivability and maneuverability are improved, and in the automobile steering technology, the rear wheel steering technology is developed for improving the turning flexibility and the driving stability. The steering flexibility and the driving stability are improved by controlling the reverse rotation and the same-direction rotation of the rear wheels and the front wheels, so that the driving performance of the vehicle under the working conditions of low speed or understeer and high speed or oversteer is improved. The above functions have high requirements for the safety, robustness, communication speed and efficiency of the backward conversion function. The Flexray bus protocol has the advantages of rapid data transmission, flexible communication and reliable information, and is suitable for the requirements of the current rear wheel steering technology on the reliability and the safety of the information transmission. Aiming at the problem that the safety performance of a vehicle is low due to the fact that the behavior of a rear wheel steering system (namely a rear steering system) in a fault state cannot be effectively monitored and limited in the related art, no effective solution is proposed at present. Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art. Disclosure of Invention The embodiment of the application provides a fault recovery method and device of a rear-wheel steering system, a storage medium and an electronic device, which at least solve the problem that the safety performance of a vehicle is low because the behavior of the rear-wheel steering system in a fault state cannot be effectively monitored and limited in the related art. According to one aspect of the embodiment of the application, a fault recovery method of a backward rotation system is provided, and the fault recovery method comprises the steps of analyzing a backward rotation request received by the backward rotation system to obtain a backward rotation parameter corresponding to the backward rotation system under the condition that a control unit of a target vehicle is in a normal state with a backward rotation system of the target vehicle, analyzing the backward rotation angle of the target vehicle according to the running state of the target vehicle, monitoring the backward rotation parameter and the backward rotation angle, determining whether the backward rotation system is in a fault state according to a monitoring result, and sending a return-to-zero instruction to the backward rotation system under the condition that the backward rotation system is in the fault state, so that the backward rotation system is recovered to a safe state from the fault state. In an exemplary embodiment, before resolving the post-transfer request received by the post-transfer system, the method further includes acquiring a current network management state of the post-transfer system in a case that a first communication connection between the control unit and the post-transfer system is established based on a target protocol, waking up a local subnet corresponding to the post-transfer system based on the first communication connection in a case that the current network management state is determined to be a normal wake-up source, and maintaining the wake-up state of the local subnet so that communication between the control unit and the post-transfer system is in a normal state. In an exemplary embodiment, before resolving the post-transfer request received by the post-transfer system, the method further includes acquiring a current network management state of the post-transfer system when a first communication connection between the control unit and the post-transfer system is established based on a target protocol, interrupting the communication connection with the post-transfer system when the current network management state is determined to be an abnormal wake-up source, determining whether a local subnet corresponding to the post-transfer system enters a sleep mode, requesting to establish a second communication connection with the post-transfer system when the local subnet has entered the sleep mode, waking up the local subnet based on the second communication connection, and maintaining the wake-up state of the local subnet so that communication between the control unit and the post-transfer system is in a normal state. In an exemplary embodiment, after interrupting the communication connection with the back-office system, the method further comprises determining