CN101549707B - Automobile steering-by-wire redundancy and fault tolerance system and control method - Google Patents
Automobile steering-by-wire redundancy and fault tolerance system and control method Download PDFInfo
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Abstract
The invention discloses an automobile steering-by-wire system SBW with a redundancy and fault tolerance structure and control method, wherein the system comprises a main control chip, a heavy-current circuit, a detection module, a treatment module and an execution motor, characterized in that the system also comprises a standby chip and a standby heavy-current circuit, when fault occurs, the treatment module screens the main control chip and the standby chip and the standby heavy-current circuit are started. The automobile steering-by-wire system also comprises a standby sensor circuit, and the sensor circuit is directly connected with a plurality of sensors of the automobile by the standby connection. The hardware redundancy is combined with the software redundancy to ensure the completeness of the SBW and the entire car loaded CAN communication gives the fault treatment communication and alarm way, thereby the system can be maintained when the fault occurs. The SBW system reliability, safety, real-time communication performance can be increased and optimized, therefore the structure is simple and the industrialization benefit is high.
Description
Technical field
The invention belongs to automotive field, particularly relate to automobile steering-by-wire Redundancy Design and fault-tolerant control and vehicle-mounted CAN communication.
Background technology
The motor turning performance is one of main performance of automobile; the performance of steering swivel system directly has influence on the road-holding property of automobile, and it plays an important role for the safety traffic of guaranteeing vehicle, the personal safety that reduces traffic accident and protection chaufeur, the service conditions of improving chaufeur.Motor turning adopts hydraulic power-assist steering system the earliest, and the application of Eltec and electrical technology makes steering swivel system that revolutionary variation take place, and electric hydraulic power-assisted steering system, electric boosting steering system and line traffic control electric power steering have occurred.In order to improve turning efficiency, automobile steering system progressively adopts electric power steering at present.
The automobile of wire-controlled steering system is installed, must be considered safety and fault-tolerant measure.Line control system might threat to life and property safety when et out of order.Is not connected owing to there is machinery between steering handwheel and wheel flutter, forfeiture steering capability, chaufeur forfeiture road feel just must the fault-tolerant control technologys of employing in the time of avoiding fault to take place, and fault-tolerant control technology becomes one of steering-by-wire major technique.
Developing rapidly of auto-industry driven the development of the especially automobile mounted bus communication of automotive electronic industry greatly, and the development kind of automobile bus is also various day by day and perfect.The CAN bus is used widely at present as the gordian technique of electronic system integration.Utilize In-vehicle networking to obtain the relevant information of various and this controller operation, and reduce controller cost of development, weight, the real-time and the alerting ability of lifting controller communication and control from bus.Each Vehicle Controller of automobile is incorporated In-vehicle networking become one of current automobile controller main flow trend.
At present, in known technology, deflector in a kind of automobile electronic steering system is arranged, and (application number: CN200510123642.1), this deflector comprises bonded assembly motor, speed reduction gearing, transmission device and bevel gear set successively.Also has a kind of vehicle electronics deflector (application number: CN200810016763.X) and vehicle electronics deflector (application number: CN200420041812.2).The main structure of the latter includes bearing circle and control system, it is characterized in that: based on electronic control system, constitute by electronic circuit, mainly include rotary encoder, stepper motor driving circuit, stepping motor, speed-changing gear box, fault diagnosis circuit and power supply etc.Can realize the rotating of motor and to real-time monitoring of motor signal etc. by above-mentioned technology, but their shortcoming is the design process complexity, inefficiency, the influence to circuit etc. of jolting when being subjected to running car does not make mistakes to chip, motor and consideration etc. is done in acquisition of signal mistake aspect.Consider machinery and hardware design in the existing patent, but reckon without the practical application of CAN communication in fault handling.
Summary of the invention
In order to address the above problem, the invention discloses a kind of automobile steer-by-wire system with redundant and fault-tolerant architecture, comprise main control chip, forceful electric power circuit, detection module, processing module and actuating motor, it is characterized in that, also comprise spare chip and standby forceful electric power circuit, when breaking down, processing module is according to the information of detection module, the shielding main control chip starts spare chip and standby forceful electric power circuit.
Automobile steer-by-wire system also comprises the backup sensors circuit, and this sensor circuit is by a plurality of sensor direct connections of backup connection with automobile.
A plurality of controllers in this wire-controlled steering system and the automobile carry out communication by the CAN network.Described a plurality of controller comprises: instrument controller, car body controller, rotary corner controller and brake system controller.
Further, detection module comprises watchdog module.
Further, forceful electric power circuit and standby forceful electric power circuit detect motor temperature and electric current automatically, and active feedback signal is given main control chip or spare chip when motor overheating, overcurrent, overvoltage, carry out emergency protection by it and handle.Actuating motor comprises road feel motor and steer motor.
The invention also discloses the control method of above-mentioned automobile steer-by-wire system, it is characterized in that:
When the total system normal operation, be responsible for control by main control chip, spare chip is in dormant state;
When detection module detects fault, give processing module with message feedback;
Processing module is sent instruction, starts spare chip and standby forceful electric power circuit, closes the power supply of main control chip and forceful electric power circuit simultaneously, stops its work;
Steering-by-wire control indicator lamp carries out indicating fault;
Breakdown signal is stored in the wire-controlled steering system with the form of diagnostic code.
When the CAN network broke down, wire-controlled steering system started its backup sensors circuit automatically, directly obtains signal from sensor, and the CAN network failure is stored in the wire-controlled steering system with the form of diagnostic code.
When sensor breaks down, the shield sensor input, the steering-by-wire control system provides substitution value and replaces the sensor input, and the storage failure sign indicating number, provides alerting signal, and the steering-by-wire indicator lamp carries out indicating fault.Comprise ignition signal, angular signal, torque signal, vehicle speed signal and off course signal etc. from the signal of sensor input.
According to the fault degree difference, the bright or flicker of indicator lamp.
The present invention has guaranteed the integraty of SBW system design in conjunction with concrete hardware redundancy and software redundancy design, and provides fault handling communication and type of alarm in conjunction with the communication of car load vehicle-mounted CAN, and in a single day the assurance system breaks down and can carry out maintenance process.All be improved and optimize according to reliability, safety, the real-time communication performance of the method for designing SBW system of this programme, thus simple in structure, the industrialization high efficiency.
In hardware redundancy and fault-tolerant control, the present invention adopts two controllers, the SBW controller safety of checking system constantly when normal operation.In case automobile main control chip MCU breaks down, the SBW system will automatically switch to standby hardware circuit and standby control chip MCU thereof.
In the SBW hardware circuit, use the intelligent drives chip; automatically motor being carried out the overcurrent-overvoltage excess temperature detects; can be under it in case note abnormalities MCU send alarm signal, MCU judges according to software and provides the order of whether forbidding motor and chip for driving work.
In the software redundancy design, the present invention incorporates car load vehicle-mounted CAN network from vehicle mounted communication with the SBW wire-controlled steering system.The SBW system can receive various CAN signals from network in real time.As, ignition signal (from car body controller), angular signal, torque signal (from rotary angle transmitter), vehicle speed signal, off course signal (coming the automatic brake system controller).These signals all have definition in the CAN of car load network system, the SBW system can directly carry out data handing to native system usefulness according to these signals, greatly facilitate the real-time of system, high speed.
Under the normal operation, the SBW system obtains the CAN signal and handles from each Vehicle Controller, in case SBW itself breaks down, the SBW system sends alerting signal to instrument, and lights steering swivel system warning indicator lamp on the instrument by the CAN communication.If the CAN network breaks down, the SBW system will directly give instrument alarm lamp level signal by standby wire harness so, light alarm lamp.
In CAN network system normal operation, and each Vehicle Controller sends under the CAN information off-square situation (need judge by the fault handling of software).The SBW system will adopt standby hardware input circuit, carry out the data gathering of sensor by wire harness input.
No matter any fault takes place, as long as the SBW control chip is arranged in work, all can write down the dependent failure sign indicating number.Contain CAN diagnosis communication function in the SBW Design of System Software, use this function to carry out communication by direct and outside docking facility, directly read the fault of SBW wire-controlled steering system, greatly facilitate system maintenance and fault handling, it is convenient that assurance is worked after sale.
Description of drawings
Fig. 1: the Redundant Control structural representation of wire-controlled steering system;
Fig. 2: the CAN communication modes of wire-controlled steering system and fault-tolerant architecture scheme drawing.
The specific embodiment
Fig. 1 shows the automobile steer-by-wire system with redundant and fault-tolerant architecture of the present invention.
In Fig. 1:
MCU: the main control chip of wire-controlled steering system;
Detection module: mainly comprise watchdog module;
Processing module: according to the information of detection module, shielding main control chip MCU, and starting spare chip RMCU and redundant circuit thereof, this processing module also comprises conventional sensor load module, rotary angle transmitter, torque sensor, current sensor, linear movement pick-up, car speed sensor etc.
RMCU: the spare chip of wire-controlled steering system;
Standby forceful electric power circuit: the standby motor-drive circuit of wire-controlled steering system, circuit possess the function of automatic detection motor temperature and electric current, and active feedback signal is given RMCU when the motor overheating overcurrent, and RMCU can carry out emergency protection to be handled;
The forceful electric power circuit: relative wire-controlled steering system remainder, mainly be meant motor-drive circuit, there are electromagnetic interference in forceful electric power circuit and light current circuit, need separately.Circuit possesses the function of automatic detection motor temperature and electric current, and active feedback signal is given MCU when motor overheating, overcurrent, and MCU can carry out emergency protection to be handled;
Actuating motor: to use two motors in the wire-controlled steering system, road feel motor and steer motor, these two motors belong to strong power system, in the present invention the safety and the fault of motor have been done hardware handles.Above-mentioned forceful electric power circuit and standby forceful electric power circuit carry out overcurrent, overvoltage, excess temperature to motor automatically and detect, and can send alarm signal by MCU under it in case note abnormalities, and MCU judges according to software and provides the order of whether forbidding motor and chip for driving work;
Control signal: by road feel motor and steer motor input state of a control variable.
Shown in Fig. 2 is the CAN communication modes and the fault-tolerant architecture of wire-controlled steering system, in the figure,
Heavy line: by the CAN communication, carry out the transmission of information between a plurality of controllers and the wire-controlled steering system SBW, wherein single arrow solid line represents that a plurality of controllers pass to wire-controlled steering system SBW with coherent signal by CAN; The double-head arrow solid line represents that the informational needs between two modules defines according to concrete vehicle, exists the situation of mutual communication;
Fine line: sensor is input to cooresponding controller with information, or the controller output drive signal, drives corresponding device.
Fine dotted line: for sensor backup input, be directly inputted to wire-controlled steering system SBW, wire-controlled steering system possesses relevant input circuit, and the related sensor input also is one of basiccircuit.
Below the control process with automobile steer-by-wire system of redundant and fault-tolerant architecture of the present invention is specifically described.
1, when the total system normal operation, promptly be responsible for control by main control chip MCU, spare chip RMCU is in dormant state.
2, detection module detects main control chip and forceful electric power circuit in real time by its house dog.
When 3, detection module detects fault, give processing module with message feedback in time.
4, processing module is sent instruction at once, starts spare chip and standby forceful electric power circuit, closes the power supply of main control chip and accessory circuit thereof simultaneously, stops its work.Steering-by-wire control indicator lamp becomes redness by going out, can show as the bright or alarm lamp flicker of alarm lamp according to the fault degree difference, and this signal gives a warning to chaufeur, reminds chaufeur in time to handle.Breakdown signal is stored among the wire-controlled steering system SBW with the form of diagnostic code.
5, CAN signal conditioning aspect.When CAN network normal operation, SBW wire-controlled steering system SBW receives the sensor information that related device provides from network, and concrete sensor is asked for an interview Fig. 2.In case the CAN network breaks down, wire-controlled steering system SBW will start its backup sensors circuit automatically, directly obtain signal from sensor.The CAN network failure is stored in the wire-controlled steering system SBW chip with the form of diagnostic code.
6, according to detection module and fault handling hardware circuit, when sensor broke down, wire-controlled steering system software was imported shield sensor.In wire-controlled steering system, software will provide substitution value and replace the sensor input, and the storage failure sign indicating number provides alerting signal, steering-by-wire indicator lamp bright (redness).
7, detection module is according to electric current, and the speed feedback amount is carried out state estimation by software, in case find motor abnormality, driving circuit can cut off the contact with motor, stops to power to motor.The system master chip software can be stored the dependent failure sign indicating number, and the shielding driving circuit also provides alarm.
8, the steering-by-wire indicator lamp shows by dual mode.Normal as the CAN system, wire-controlled steering system SBW can give instrument by CAN signal transmission information, provides its service condition indication.In case CAN is unusual, wire-controlled steering system SBW can directly provide the drive level incoming signal and give instrument, lights alarm lamp by instrument.
9, the mode that all diagnostic code can be by the CAN communication is in time read by diagnositc test equipment according to international diagnosis communication agreement ISO 15765, for break down maintenance.
Claims (11)
1. automobile steer-by-wire system with redundant and fault-tolerant architecture, comprise main control chip, forceful electric power circuit, detection module, processing module and actuating motor, it is characterized in that, also comprise spare chip and standby forceful electric power circuit, when breaking down, processing module is according to the information of detection module, and the shielding main control chip starts spare chip and standby forceful electric power circuit.
2. automobile steer-by-wire system according to claim 1 is characterized in that: comprise that also the backup sensors circuit is connected with backup, this sensor circuit is by a plurality of sensor direct connections of backup connection with automobile.
3. automobile steer-by-wire system according to claim 1 and 2 is characterized in that: a plurality of controllers in this automobile steer-by-wire system and the automobile carry out communication by the CAN network.
4. automobile steer-by-wire system according to claim 3 is characterized in that: described a plurality of controllers comprise: instrument controller, car body controller, rotary corner controller and brake system controller.
5. according to claim 1,2,4 each described automobile steer-by-wire systems, it is characterized in that: detection module comprises watchdog module.
6. according to claim 1,2,4 each described automobile steer-by-wire systems, it is characterized in that: the forceful electric power circuit detects motor temperature and electric current automatically, active feedback signal is given main control chip when motor overheating, overcurrent, overvoltage, carries out emergency protection by it and handles; Standby forceful electric power circuit detects motor temperature and electric current automatically, and active feedback signal is given spare chip when motor overheating, overcurrent, overvoltage, carries out emergency protection by it and handles.。
7. according to claim 1,2,4 each described automobile steer-by-wire systems, it is characterized in that: actuating motor comprises road feel motor and steer motor.
8. the control method of each described automobile steer-by-wire system of claim 1-7 is characterized in that:
When the total system normal operation, be responsible for control by main control chip, spare chip is in dormant state;
When detection module detects fault, give processing module with message feedback;
Processing module is sent instruction, starts spare chip and standby forceful electric power circuit, closes the power supply of main control chip and forceful electric power circuit simultaneously, stops its work;
Steering-by-wire control indicator lamp carries out indicating fault;
Breakdown signal is stored in the automobile steer-by-wire system with the form of diagnostic code.
9. control method according to claim 8, it is characterized in that: a plurality of controllers in this automobile steer-by-wire system and the automobile carry out communication by the CAN network, when the CAN network breaks down, automobile steer-by-wire system starts its backup sensors circuit automatically, directly obtain signal from sensor, the CAN network failure is stored in the wire-controlled steering system with the form of diagnostic code.
10. control method according to claim 9, it is characterized in that: when sensor breaks down, the shield sensor input, the automobile steering-by-wire control system provides substitution value and replaces the sensor input, and storage failure sign indicating number, provide alerting signal, steering-by-wire control indicator lamp carries out indicating fault.
11., it is characterized in that: comprise ignition signal, angular signal, torque signal, vehicle speed signal and off course signal from the signal of sensor input according to claim 9 or 10 described control methods.
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