CN113954957A - Torque sensor redundancy control method and device, steer-by-wire system and vehicle - Google Patents
Torque sensor redundancy control method and device, steer-by-wire system and vehicle Download PDFInfo
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- CN113954957A CN113954957A CN202111385502.7A CN202111385502A CN113954957A CN 113954957 A CN113954957 A CN 113954957A CN 202111385502 A CN202111385502 A CN 202111385502A CN 113954957 A CN113954957 A CN 113954957A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The embodiment of the invention discloses a torque sensor redundancy control method and device, a steer-by-wire system and a vehicle. Wherein, the method comprises the following steps: acquiring a first torque value transmitted by a first torque channel, a second torque value transmitted by a second torque channel and a third torque value transmitted by a third torque channel; checking whether the first torque value and the second torque value are consistent; if not, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system. The technical scheme of the embodiment of the invention solves the problem that when a torque sensor in a steer-by-wire system of a vehicle has single-point failure, a plurality of sensor channels are added to ensure that the hardware part of the sensor has complete redundancy, effectively reduces the whole volume of the steer-by-wire system of the vehicle, and reduces the installation cost of the torque sensor.
Description
Technical Field
The embodiment of the invention relates to the field of automobile control, in particular to a torque sensor redundancy control method and device, a steer-by-wire system and a vehicle.
Background
The rapid development of the automobile field enables people to select more diversified traveling modes, and the self-driving traveling mode is favored by most people. During the driving process of the vehicle, the steer-by-wire system in the vehicle is a powerful barrier for guaranteeing the safety of drivers.
The steer-by-wire system is provided with sensors with different functions, the torque sensor is an important output signal of the steer-by-wire system, and once the torque sensor fails, the whole system can directly fail to work normally. The plurality of torque sensor channels are arranged in the wire-controlled steering system, so that the standby torque sensor channels can be timely switched when the vehicle system breaks down, but the whole volume of the vehicle wire-controlled steering system is increased by adding the plurality of torque sensor channels, the vehicle wire-controlled steering system is not favorable for installation of the vehicle, and the installation cost is high.
Disclosure of Invention
The embodiment of the invention provides a torque sensor redundancy control method and device, a steer-by-wire system and a vehicle, which are used for realizing the timely control of the torque sensor redundancy in the vehicle steer-by-wire system, reducing the overall volume of the vehicle steer-by-wire system and reducing the installation cost of a torque sensor.
In a first aspect, an embodiment of the present invention provides a torque sensor redundancy control method, which is applicable to a steer-by-wire system, where the steer-by-wire system includes a first torque channel, a second torque channel, and a third torque channel, where the third torque channel is a monitor channel; the torque sensor redundancy control method comprises the following steps:
acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel;
checking whether the first torque value and the second torque value are consistent;
if not, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
In a second aspect, an embodiment of the present invention further provides a torque sensor redundancy control apparatus, which is suitable for a steer-by-wire system, where the steer-by-wire system includes a first torque channel, a second torque channel, and a third torque channel, where the third torque channel is a monitoring channel; the torque sensor redundancy control device includes:
the acquisition module is used for acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel;
and the checking module is used for checking whether the first torque value is consistent with the second torque value, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value when the checking results of the first torque value and the second torque value are inconsistent, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
In a third aspect, an embodiment of the present invention further provides a steer-by-wire system, including the above-mentioned torque sensor redundancy control device, where the torque sensor redundancy control device is configured to implement the torque sensor redundancy control method provided in any embodiment of the present invention.
In a fourth aspect, the embodiment of the invention further provides a vehicle, which comprises the steer-by-wire system provided by the embodiment of the invention.
According to the redundancy control method for the torque sensor, provided by the embodiment of the invention, the torque values of the first torque channel, the second torque channel and the third torque channel are acquired and then verified, and the first torque value and the second torque value are further compared; and when the first torque value is different from the second torque value, the third torque value is used as a reference value of the first torque value and the second torque value, and the magnitude of the torque value input to the steer-by-wire system is finally determined by reference and verification. The technical scheme provided by the embodiment of the invention solves the problems of high cost and large volume caused by complete redundancy of a sensor hardware part due to the addition of multiple sensor channels when a single-point failure occurs in a torque sensor in a steer-by-wire system of a vehicle, effectively reduces the whole volume of the steer-by-wire system of the vehicle, and reduces the installation cost of the torque sensor.
Drawings
Fig. 1 is a schematic flow chart of a torque sensor redundancy control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for controlling redundancy of a torque sensor according to a second embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another method for controlling redundancy of a torque sensor according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a torque sensor redundancy control apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
Example one
Fig. 1 is a schematic flowchart of a torque sensor redundancy control method according to an embodiment of the present invention, which is applicable to control of a torque sensor redundancy in a steer-by-wire system of a vehicle, and which may be implemented by a torque sensor redundancy control apparatus, which may be implemented by a steer-by-wire system, and which is installed in a vehicle. The steer-by-wire system comprises a first torque channel, a second torque channel and a third torque channel, wherein the third torque channel is a monitoring channel; as shown in fig. 1, a torque sensor redundancy control method according to a first embodiment of the present invention includes the following steps:
s110, acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel.
The steer-by-wire system is a steer-by-wire system of a vehicle, and mainly comprises a steering wheel assembly, a steering execution assembly and a main controller. The steering wheel assembly comprises a steering wheel, a steering wheel angle sensor, a torque sensor and a steering wheel aligning torque motor. A torque channel is provided in a torque sensor of a vehicle, and the torque channel includes a first torque channel, a second torque channel, and a third torque channel, wherein the third torque channel may be set as a monitoring channel, and the name of the torque channel and the setting of the monitoring channel are not particularly limited. The first torque channel transmits a first torque value, the second torque channel transmits a second torque value, and correspondingly, the third torque channel transmits a third torque value. The torque channel in the steer-by-wire system of the vehicle is generally provided with a standby torque channel, that is, when other torque channels are in failure, the steer-by-wire system of the vehicle can adjust the torque channel, and the standby torque channel is started to ensure the normal running of the vehicle. The number of backup torque channels is usually two or more, but the addition of two identical backup channels makes the torque sensor hardware part completely redundant, resulting in an overall bulky torque sensor and disadvantageous for installation in a vehicle. The embodiment of the invention sets a backup torque channel, the backup torque channel is a monitoring channel which does not participate in the calculation process of the torque sensor in the normal running process of the vehicle, and once the vehicle has single-point failure, the backup torque channel participates in the calculation of the torque sensor, thereby realizing the function which can be realized by adding a plurality of backup torque channels simultaneously in the prior art.
And S120, checking whether the first torque value and the second torque value are consistent.
The first torque value and the second torque value are checked, whether the vehicle has a torque fault problem in the driving process can be determined, and once a single point fails, the backup torque channel, namely the redundant component, can still be used for normal operation. The judgment standard for the consistency of the verification results is to judge that the verification results of the two torque values are consistent when the error of the two torque values verified against each other is less than or equal to 5%. The error range is less than or equal to 5%, which belongs to the error allowable range, and the error exceeding 5% indicates that the first torque value and the second torque value are inconsistent.
And S130, if not, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
When the first torque value and the second torque value are checked to be inconsistent, the first torque value and the third torque value are checked in sequence, the second torque value and the third torque value are large and small, the third torque value can be used as a standard reference torque value, the numerical values of the first torque value and the second torque value and the third torque value are checked, and the torque value consistent with the third torque value is used as the input torque. For example, the first torque value and the third torque value and the second torque value and the third torque value are respectively checked, and as a result of the check, if the first torque value and the third torque value are consistent, the first torque is determined to be the torque input to the steer-by-wire system, in other words, if the second torque value and the third torque value are consistent, the second torque is determined to be the torque input to the steer-by-wire system.
According to the redundancy control method for the torque sensor, provided by the embodiment of the invention, the torque values of the first torque channel, the second torque channel and the third torque channel are acquired and then verified, and the first torque value and the second torque value are further compared; and when the first torque value is different from the second torque value, the third torque value is used as a reference value of the first torque value and the second torque value, and the magnitude of the torque value input to the steer-by-wire system is finally determined by reference and verification. The technical scheme provided by the embodiment of the invention solves the problem that when a torque sensor in a steer-by-wire system of a vehicle has single-point failure, a plurality of sensor channels are added to ensure that the hardware part of the sensor has complete redundancy, effectively reduces the whole volume of the steer-by-wire system of the vehicle, and reduces the installation cost of the torque sensor.
Example two
Fig. 2 is a schematic flow chart of another torque sensor redundancy control method according to a second embodiment of the present invention, which further includes, on the basis of the second embodiment, verifying a relationship between the first torque value, the second torque value, and the third torque value when the first torque value and the second torque value are verified to be consistent, and determining a confidence level or an untrusted level of the third torque value. The method comprises the following specific steps:
s210, acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel.
And S220, checking whether the first torque value and the second torque value are consistent.
If not, S230 is executed, the first torque value and the third torque value, the second torque value and the third torque value are verified, and the torque value which is verified to be consistent with the third torque value is used as the input torque of the steer-by-wire system.
And searching a torque value which is verified to be consistent with the third torque value as the input torque of the steer-by-wire system by verifying the first torque value and the third torque value as well as the second torque value and the third torque value, so that the torque sensor of the vehicle can normally operate, and the vehicle can normally run. Further, if the verification results of the first torque value and the second torque value, the verification results of the first torque value and the third torque value, and the verification results of the second torque value and the third torque value are not consistent, the confidence degrees of the first torque value, the second torque value, and the third torque value are all set to be an unreliable level, and alarm information is output. When the first torque value, the second torque value and the third torque value are not consistent in check result, it is indicated that a torque sensor in the vehicle has a multi-point fault, the vehicle cannot normally run through a standby torque channel, fault information needs to be transmitted in time, the first torque value, the second torque value and the third torque value can be set to be in an untrusted level, alarm information is output, and a vehicle driver can conveniently find and process a fault part in time.
If yes, S240 is executed to check whether the output results of the first torque value and the second torque value are consistent with the third torque value.
When the first torque value is verified to be consistent with the second torque value, the first torque value and the second torque value are output and verified with the third torque value, and the relationship among the first torque value, the second torque value and the third torque value is further compared.
If yes, S250 is executed, the input torque of the steer-by-wire system is determined according to the first torque value and/or the second torque value, and the confidence coefficient of the third torque value is set as a credible level.
When the first torque value is verified to be consistent with the second torque value, the first torque value and the second torque value are output and are also consistent with the third torque value after verification, the input torque of the steer-by-wire system is determined according to the first torque value or the second torque value or the average value of the first torque value and the second torque value, and meanwhile, the confidence coefficient of the third torque value is set to be a credible level. The confidence level setting of the torque can be divided into two types, namely a credible level and an incredible level. The credibility grade shows that the torque value is correct and credible, and subsequent steps can be executed; the confidence level indicates that the torque value is wrong and is not credible, the subsequent steps cannot be executed, and corresponding warning information is output when the confidence level of the torque is the confidence level which is not credible.
If not, S260 is executed, the confidence coefficient of the third torque value is set to be an unreliable level, and alarm information is output.
According to the redundancy control method for the torque sensor, provided by the embodiment of the invention, the acquired first torque value, the acquired second torque value and the acquired third torque value are checked in sequence. Firstly, verifying a first torque value and a second torque value, verifying a third torque value after the verification result is consistent, outputting to transmit input torque to a steer-by-wire system after the verification is consistent, and setting the confidence coefficient of the third torque value as a credible grade; if the first torque value is consistent with the second torque value but is inconsistent with the third torque value, further setting the confidence level of the third torque value as an unreliable level and outputting alarm information. The technical scheme provided by the embodiment of the invention checks the first torque value, the second torque value and the third torque value in sequence, so as to obtain the confidence level condition of the third torque value, thereby solving the problems that a torque sensor in a steer-by-wire system has single-point failure in the driving process of a vehicle, whether redundant hardware can be normally started or not is judged, and the vehicle cannot normally run due to the single-point failure of the torque sensor in the normal starting state. In addition, the technical scheme of the invention effectively reduces the whole volume of the vehicle steer-by-wire system and reduces the installation cost of the torque sensor.
EXAMPLE III
Fig. 3 is a schematic flowchart of another torque sensor redundancy control method according to a third embodiment of the present invention, and on the basis of the third embodiment, the method further includes performing initialization setting on the wire-controlled steering system before acquiring the first torque value transmitted by the first torque channel, the second torque value transmitted by the second torque channel, and the third torque value transmitted by the third torque channel. The method comprises the following specific steps:
and S310, initializing the linear control steering system.
Specifically, the process of initializing the wire-controlled steering system comprises the steps of electrifying the wire-controlled steering system, and acquiring a first initial torque value transmitted by a first torque channel, a second initial torque value transmitted by a second torque channel and a third initial torque value transmitted by a third torque channel; and then checking the first initial torque value, the second initial torque value and the third initial torque value with each other in pairs. The initial torque value is verified to ensure that the confidence degrees of the output first torque value, the output second torque value and the output third torque value are confidence levels, and the first torque value transmitted by the first torque channel and the second torque value transmitted by the second torque channel and the third torque value transmitted by the third torque channel have practical significance on the basis of the confidence levels. When the check results are consistent, judging that the torque is credible, and executing a subsequent torque sensor redundancy control method; and if any one of the verification results is inconsistent, judging that the torque is not credible and outputting alarm information.
S320, acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel.
And S330, checking whether the first torque value and the second torque value are consistent.
And S340, if not, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
According to the redundancy control method for the torque sensor, the initialization processing is carried out on the steer-by-wire system before the first torque value, the second torque value and the third torque value are obtained, the initialization processing carries out pairwise verification on the initial torque values, and the confidence level of the torque values is guaranteed to be the credible level. The technical scheme of the embodiment of the invention solves the problem that the initial first torque value, the initial second torque value and the initial third torque value have an unreliable grade, so that the finally obtained first torque value, the finally obtained second torque value and the finally obtained third torque value are more accurate.
Example four
Fig. 4 is a schematic structural diagram of a torque sensor redundancy control apparatus according to a fourth embodiment of the present invention. The device can be applied to the aspect of torque sensor redundancy control in a steer-by-wire system of a vehicle, wherein the steer-by-wire system comprises a first torque channel, a second torque channel and a third torque channel, the third torque channel is a monitoring channel, and the device can be installed on the vehicle.
As shown in fig. 4, the apparatus includes: an acquisition module 410 and a verification module 420.
The obtaining module 410 is configured to obtain a first torque value transmitted by a first torque channel, a second torque value transmitted by a second torque channel, and a third torque value transmitted by a third torque channel;
and the checking module 420 is configured to check whether the first torque value and the second torque value are consistent, and check the first torque value and the third torque value and the second torque value and the third torque value respectively when the checking results of the first torque value and the second torque value are inconsistent, and use the torque value checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
Further, the obtaining module 410 includes an initializing unit, which is configured to perform an initialization process on the steer-by-wire system, where the initializing unit includes powering on the steer-by-wire system, and obtaining a first initial torque value transmitted by the first torque channel, a second initial torque value transmitted by the second torque channel, and a third initial torque value transmitted by the third torque channel.
The checking module 420 comprises an initialization checking unit and a checking unit, wherein the initialization checking unit is used for checking the first initial torque value, the second initial torque value and the third initial torque value; when the first initial torque value, the second initial torque value and the third initial torque value are verified to be consistent, judging that the torque is credible, and executing a subsequent torque sensor redundancy control method; and when any one check result is inconsistent, judging that the torque is not credible and outputting alarm information.
The checking unit is used for checking whether the first torque value, the second torque value and the third torque value are consistent, wherein when the checked first torque value and the second torque value are consistent, whether the first torque value, the second torque value and the third torque value are consistent needs to be checked, the torque input to the steer-by-wire system is output according to the checking result, and the confidence coefficient of the third torque value is determined; the first torque value, the second torque value and the third torque value are verified to be consistent, the input torque of the steer-by-wire system is determined according to the first torque value and/or the second torque value, and the confidence coefficient of the third torque value is set to be a credible level; and when the first torque value is consistent with the second torque value but is inconsistent with the third torque value in verification, setting the confidence coefficient of the third torque value to be an unreliable level and outputting alarm information. And when the verification results of the first torque value and the second torque value, the verification results of the first torque value and the third torque value and the verification results of the second torque value and the third torque value are inconsistent, setting the confidence degrees of the first torque value, the second torque value and the third torque value as the non-confidence levels and outputting alarm information.
According to the torque sensor redundancy control device provided by the embodiment of the invention, the acquisition module is used for acquiring the first torque value transmitted by the first torque channel, the second torque value transmitted by the second torque channel and the third torque value transmitted by the third torque channel, and the check module is used for checking whether the first torque value, the second torque value and the third torque value are consistent and taking the torque which is checked to be consistent with the third torque value as the input torque. The torque sensor redundancy control device can execute the torque sensor redundancy control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
According to the steer-by-wire system provided by the embodiment of the invention, the steer-by-wire system comprises a first torque channel, a second torque channel and a third torque channel, and the third torque channel is a monitoring channel. The steer-by-wire system comprises all the contents of the torque sensor redundancy control device, and the torque sensor redundancy control device can execute the torque sensor redundancy control method provided by any embodiment of the invention and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE six
The steer-by-wire system provided by the embodiment of the invention is arranged on a vehicle, the torque sensor redundancy control device is arranged on the steer-by-wire system, and the torque sensor redundancy control device in the vehicle can execute the torque sensor redundancy control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. A detailed description thereof is omitted.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The torque sensor redundancy control method is applicable to a steer-by-wire system, and the steer-by-wire system comprises a first torque channel, a second torque channel and a third torque channel, wherein the third torque channel is a monitoring channel; the torque sensor redundancy control method comprises the following steps:
acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel;
checking whether the first torque value and the second torque value are consistent;
if not, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
2. The torque sensor redundancy control method according to claim 1, further comprising:
if the first torque value and the second torque value are consistent in verification result, verifying whether the output results of the first torque value and the second torque value are consistent with the third torque value;
if yes, determining the input torque of the steer-by-wire system according to the first torque value and/or the second torque value, and setting the confidence coefficient of the third torque value as a credible level;
and if not, setting the confidence coefficient of the third torque value as an unreliable level and outputting alarm information.
3. The torque sensor redundancy control method according to claim 1, further comprising:
and if the verification results of the first torque value and the second torque value, the verification results of the first torque value and the third torque value and the verification results of the second torque value and the third torque value are not consistent, setting the confidence degrees of the first torque value, the second torque value and the third torque value to be in an unreliable level and outputting alarm information.
4. The torque sensor redundancy control method of claim 1, further comprising, prior to obtaining the first torque value transmitted by the first torque channel, the second torque value transmitted by the second torque channel, and the third torque value transmitted by the third torque channel:
initializing the steer-by-wire system.
5. The torque sensor redundancy control method according to claim 4, wherein the initializing includes:
the steer-by-wire system is powered on;
acquiring a first initial torque value transmitted by the first torque channel, a second initial torque value transmitted by the second torque channel and a third initial torque value transmitted by the third torque channel;
and checking the first initial torque value, the second initial torque value and the third initial torque value with each other pairwise.
6. The torque sensor redundancy control method according to claim 5, wherein if all the check results are consistent, the torque is judged to be reliable, and the subsequent torque sensor redundancy control method is executed;
and if any one of the verification results is inconsistent, judging that the torque is not credible and outputting alarm information.
7. The torque sensor redundancy control method according to any one of claims 1 to 6, wherein when an error of two mutually verified torque values is less than or equal to 5%, it is determined that the verification results of the two torque values are identical.
8. The torque sensor redundancy control device is suitable for a steer-by-wire system, and the steer-by-wire system comprises a first torque channel, a second torque channel and a third torque channel, wherein the third torque channel is a monitoring channel; the torque sensor redundancy control device includes:
the acquisition module is used for acquiring a first torque value transmitted by the first torque channel, a second torque value transmitted by the second torque channel and a third torque value transmitted by the third torque channel;
and the checking module is used for checking whether the first torque value is consistent with the second torque value, respectively checking the first torque value and the third torque value as well as the second torque value and the third torque value when the checking results of the first torque value and the second torque value are inconsistent, and taking the torque value which is checked to be consistent with the third torque value as the input torque of the steer-by-wire system.
9. A steer-by-wire system comprising the torque sensor redundancy control apparatus according to claim 8, for implementing the torque sensor redundancy control method according to any one of claims 1 to 7.
10. A vehicle characterized by comprising the steer-by-wire system of claim 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114906208A (en) * | 2021-02-08 | 2022-08-16 | 上海海拉电子有限公司 | Torque corner control system and electronic power steering controller |
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| CN114906208B (en) * | 2021-02-08 | 2024-05-14 | 上海海拉电子有限公司 | Torque corner control system and electronic power steering controller |
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