阅读说明：本技术 用于车辆的辅助控制系统及方法 (Auxiliary control system and method for vehicle ) 是由 牛小锋 孔凡茂 孙玉 王彬彬 张慧君 周文国 于 2018-11-26 设计创作，主要内容包括：本发明实施例提供一种用于车辆的辅助控制系统及方法,属于车辆领域。所述系统可以包括：DSA模块和EPS模块,所述DSA模块用于执行以下多个步骤：检测所述车辆是否处于特殊工况；在所述车辆处于特殊工况的情况下,计算针对所述车辆当前运行工况的转向辅助扭矩；生成包括所述转向辅助扭矩的扭矩叠加请求；将所述扭矩叠加请求传输至所述EPS模块；所述EPS模块,用于根据所述扭矩叠加请求中的所述转向辅助扭矩来对方向盘的扭矩进行调整。其能够使车辆始终处于稳定可控状态,进而增加车辆安全和驾驶舒适性。(The embodiment of the invention provides an auxiliary control system and method for a vehicle, and belongs to the field of vehicles. The system may include: a DSA module and an EPS module, the DSA module for performing the following steps: detecting whether the vehicle is in a special working condition; under the condition that the vehicle is in a special working condition, calculating a steering auxiliary torque aiming at the current running working condition of the vehicle; generating a torque overlay request comprising the steering assist torque; transmitting the torque overlay request to the EPS module; the EPS module is used for adjusting the torque of a steering wheel according to the steering auxiliary torque in the torque superposition request. The vehicle can be always in a stable and controllable state, and the safety and driving comfort of the vehicle are further improved.)

1. An assist control system for a vehicle, the system comprising: a dynamic direction stabilization auxiliary DSA module and an EPS module which is transmitted to the electric power steering,

the DSA module is used for executing the following steps: detecting whether the vehicle is in a special working condition; under the condition that the vehicle is in a special working condition, calculating a steering auxiliary torque aiming at the current running working condition of the vehicle; generating a torque overlay request comprising the steering assist torque; transmitting the torque overlay request to the EPS module;

The EPS module is used for adjusting the torque of a steering wheel according to the steering auxiliary torque in the torque superposition request.

2. The system of claim 1,

the DSA module is used for periodically executing the steps; and/or

The special operating conditions include one or more of: oversteer, understeer, split-road braking, split-road acceleration, curve conditions with lateral acceleration higher than a predetermined acceleration.

3. The system of claim 1, wherein the EPS module adjusts the torque of the steering wheel based on the steering assist torque and a slope of the steering assist torque.

4. The system of claim 3, wherein the EPS module is to:

In the case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is less than a predetermined number, performing the steps of: superimposing the steering assist torque on the torque of the steering wheel if the steering assist torque and the slope are both normal; if the steering auxiliary torque is normal and the slope is abnormal, calculating the torque needing to be superposed currently according to a preset slope value and the torque superposed last time; if the steering assist torque is abnormal and the slope is normal or abnormal, superposing a preset torque on the torque of the steering wheel, wherein the superposition direction of the preset torque is consistent with the superposition direction of the steering assist torque, the steering assist torque is determined to be normal under the condition that the steering assist torque is in a preset torque range, and the slope is determined to be normal under the condition that the slope does not exceed the preset slope value;

In a case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is equal to the predetermined number, the torques to the steering wheel are not superimposed.

5. The system of claim 4, wherein the EPS module calculates the cumulative number of anomalies according to:

Increasing the accumulated number of abnormality by a predetermined value if the steering assist torque is abnormal and/or the gradient of the steering assist torque is abnormal; and

reducing the number of abnormal accumulations by the predetermined value if the slopes of the steering assist torque and the steering assist torque are both normal;

wherein the accumulation of the abnormality accumulation number of times is started when abnormality occurs for the first time in the steering assist torque and/or the gradient of the steering assist torque.

6. the system of claim 4 or 5, wherein one or more of:

In the case where the number of abnormally accumulated times of the steering assist torque and/or the gradient of the steering assist torque is less than the predetermined number of times, the EPS module remains in an active state, or the EPS module transitions from a state available for control to the active state;

The EPS module transitions from the active state to a permanent failure state if the steering assist torque and/or the abnormally accumulated number of slopes of the steering assist torque is equal to the predetermined number; and

the preset torque is the maximum value or the minimum value of the preset torque range.

7. The system of claim 1, wherein the EPS module is further configured to output a current state of the EPS module to the DSA module, and wherein the DSA module transmits the torque overlay request to the EPS module if the EPS module is in an active state or an available to control state.

8. An assist control method for a vehicle, characterized by comprising:

The following steps are performed by the DSA module: detecting whether the vehicle is in a special working condition; under the condition that the vehicle is in a special working condition, calculating a steering auxiliary torque aiming at the current running working condition of the vehicle; generating a torque overlay request comprising the steering assist torque; transmitting the torque overlay request to the EPS module; and

The EPS module adjusts a torque of a steering wheel according to the steering assist torque in the torque overlay request.

9. the method of claim 8,

in the case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is less than a predetermined number, the EPS module performs the steps of: superimposing the steering assist torque on the torque of the steering wheel if the steering assist torque and the slope are both normal; if the steering auxiliary torque is normal and the slope is abnormal, calculating the torque needing to be superposed currently according to a preset slope value and the torque superposed last time; if the steering assist torque is abnormal and the slope is normal or abnormal, superposing a preset torque on the torque of the steering wheel, wherein the superposition direction of the preset torque is consistent with the superposition direction of the steering assist torque, determining that the steering assist torque is normal under the condition that the steering assist torque is in a preset torque range, and determining that the slope is normal under the condition that the slope does not exceed the preset slope value;

The EPS module does not superimpose the torque to the steering wheel in the case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is equal to the predetermined number.

10. The method of claim 9, wherein the EPS module calculates the cumulative number of anomalies according to the following steps:

if the steering assist torque and/or the gradient of the steering assist torque is abnormal, increasing the number of times of accumulation of the abnormality by a predetermined value; and

Reducing the number of abnormality accumulations by the predetermined value if the slopes of the steering assist torque and the steering assist torque are both normal;

Wherein the accumulation of the abnormality accumulation number of times is started when abnormality occurs for the first time in the steering assist torque and/or the gradient of the steering assist torque.

Technical Field

The invention relates to the field of vehicles, in particular to an auxiliary control system and method for a vehicle.

Background

an ESP (electronic stability Program) system can quickly maintain a vehicle Stable by quickly intervening an engine and a brake system when an emergency shut-off of the vehicle is about to occur, thereby ensuring driver and vehicle safety.

The ESP system mainly comprises the following three control modules: ABS (Anti-lock Break System), TCS (Traction Control System), and VDC (vehicle Dynamic Control) modules.

However, in an ECU (Electronic Control Unit) interactive system of a vehicle, an ESP system interacts with other systems little, and serves as a subsystem role, such as an ACC (Adaptive Cruise Control) system, an ESP role as an emergency braking role, an APA (automatic Parking system), and an ESP role as a wheel speed direction and wheel speed identification role.

Disclosure of Invention

It is an object of embodiments of the present invention to provide an auxiliary control system and method for a vehicle for perfecting at least the control strategy domain of an ESP system.

In order to achieve the above object, an embodiment of the present invention provides an assist control system for a vehicle, the system including: a dynamic direction stabilization assist DSA module and a transmit to Electric Power Steering (EPS) module, the DSA module configured to perform a plurality of steps comprising: detecting whether the vehicle is in a special working condition; under the condition that the vehicle is in a special working condition, calculating a steering auxiliary torque aiming at the current running working condition of the vehicle; generating a torque overlay request comprising the steering assist torque; transmitting the torque overlay request to the EPS module; the EPS module is used for adjusting the torque of a steering wheel according to the steering auxiliary torque in the torque superposition request.

Optionally, the DSA module is configured to periodically perform the plurality of steps; and/or the special operating conditions include one or more of: oversteer, understeer, split-road braking, split-road acceleration, curve conditions with lateral acceleration higher than a predetermined acceleration.

Optionally, the EPS module adjusts the torque of the steering wheel according to the steering assist torque and a gradient of the steering assist torque.

Optionally, the EPS module is configured to: in the case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is less than a predetermined number, performing the steps of: superimposing the steering assist torque on the torque of the steering wheel if the steering assist torque and the slope are both normal; if the steering auxiliary torque is normal and the slope is abnormal, calculating the torque needing to be superposed currently according to a preset slope value and the torque superposed last time; if the steering assist torque is abnormal and the slope is normal or abnormal, superposing a preset torque on the torque of the steering wheel, wherein the superposition direction of the preset torque is consistent with the superposition direction of the steering assist torque, the steering assist torque is determined to be normal under the condition that the steering assist torque is in a preset torque range, and the slope is determined to be normal under the condition that the slope does not exceed the preset slope value; in a case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is equal to the predetermined number, the torques to the steering wheel are not superimposed.

optionally, the EPS module calculates the number of abnormal accumulations according to the following steps: increasing the accumulated number of abnormality by a predetermined value if the steering assist torque is abnormal and/or the gradient of the steering assist torque is abnormal; and reducing the cumulative number of abnormalities by the predetermined value if the slopes of the steering assist torque and the steering assist torque are both normal; wherein the accumulation of the abnormality accumulation number of times is started when abnormality occurs for the first time in the steering assist torque and/or the gradient of the steering assist torque.

optionally, one or more of: in the case where the number of abnormally accumulated times of the steering assist torque and/or the gradient of the steering assist torque is less than the predetermined number of times, the EPS module remains in an active state, or the EPS module transitions from a state available for control to the active state; the EPS module transitions from the active state to a permanent failure state if the steering assist torque and/or the abnormally accumulated number of slopes of the steering assist torque is equal to the predetermined number; and the preset torque is the maximum value or the minimum value of the preset torque range.

Optionally, the EPS module is further configured to output a current state of the EPS module to the DSA module, and the DSA module transmits the torque superposition request to the EPS module when the EPS module is in an active state or available for control.

Correspondingly, the embodiment of the invention also provides an auxiliary control method for the vehicle, which comprises the following steps: the following steps are performed by the DSA module: detecting whether the vehicle is in a special working condition; under the condition that the vehicle is in a special working condition, calculating a steering auxiliary torque aiming at the current running working condition of the vehicle; generating a torque overlay request comprising the steering assist torque; transmitting the torque overlay request to the EPS module; and the EPS module adjusts the torque of the steering wheel according to the steering assist torque in the torque overlay request.

Optionally, in a case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is less than a predetermined number, the EPS module performs the steps of: superimposing the steering assist torque on the torque of the steering wheel if the steering assist torque and the slope are both normal; if the steering auxiliary torque is normal and the slope is abnormal, calculating the torque needing to be superposed currently according to a preset slope value and the torque superposed last time; if the steering assist torque is abnormal and the slope is normal or abnormal, superposing a preset torque on the torque of the steering wheel, wherein the superposition direction of the preset torque is consistent with the superposition direction of the steering assist torque, determining that the steering assist torque is normal under the condition that the steering assist torque is in a preset torque range, and determining that the slope is normal under the condition that the slope does not exceed the preset slope value; the EPS module does not superimpose the torque to the steering wheel in the case where the number of abnormal accumulations of the steering assist torque and/or the slope of the steering assist torque is equal to the predetermined number.

Optionally, the EPS module calculates the number of abnormal accumulations according to the following steps: if the steering assist torque and/or the gradient of the steering assist torque is abnormal, increasing the number of times of accumulation of the abnormality by a predetermined value; and if the slopes of the steering assist torque and the steering assist torque are both normal, decreasing the cumulative number of abnormalities by the predetermined value; wherein the accumulation of the abnormality accumulation number of times is started when abnormality occurs for the first time in the steering assist torque and/or the gradient of the steering assist torque.

Through the technical scheme, the DSA module calculates the steering auxiliary torque aiming at the special working condition when detecting that the vehicle is in the special working condition, and the ESP module uses the steering auxiliary torque to assist a driver to operate the vehicle, so that the dynamic change of the vehicle is corrected, the vehicle is always in a stable and controllable state, the vehicle safety is further improved, and the vehicle comfort is improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

the accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

Fig. 1 shows a block diagram of an assist control system for a vehicle according to an embodiment of the invention;

FIG. 2 illustrates a state transition diagram of an EPS module in one embodiment; and

fig. 3 shows a flow chart of an assist control method for a vehicle according to an embodiment of the invention.

description of the reference numerals

110 DSA module 120 EPS module

Detailed Description

the following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

When a vehicle runs on a split road (i.e. the left wheel of the vehicle is on a low-attachment road and the right wheel of the vehicle is on a high-attachment road, or the right wheel of the vehicle is on a low-attachment road and the left wheel of the vehicle is on a high-attachment road), the following two situations can occur when the vehicle brakes or accelerates on the special road due to the inconsistent adhesion coefficients of the roads on which the left wheel and the right wheel of the vehicle are located:

(1) When the open road surface is braked, the brake pressure provided by the high-attachment road surface is greater than the brake pressure provided by the low-attachment road surface, so that the vehicle is subjected to a yaw moment rotating towards the high-attachment road surface side, the yaw moment becomes greater along with the increase of the difference of the attachment coefficients, and the yaw velocity increases along with the increase of the brake velocity;

(2) when the open road surface is accelerated, the driving force provided by the high-attachment road surface is larger than the driving force provided by the low-attachment road surface, so that the vehicle is subjected to a yaw moment rotating towards the high-attachment road surface side, the vehicle is steered to the low-attachment side, and a driver needs to modify a steering wheel to ensure that the vehicle runs in a straight line.

In the above special case, although the ESP system can reduce the vehicle yaw moment by controlling the pressure increase and decrease on the high-side of the front axle and following the pressure on the low-side of the front axle, it is also possible to subject the rear axle to a certain pressure limit to reduce the risk of vehicle drift and assist the vehicle in stabilizing. However, under the condition of high-speed braking of the vehicle, the driver still needs to make an accurate judgment in advance, and the ESP stability control system is combined to correct the steering wheel to stabilize the vehicle, so that the risk of vehicle runaway can be reduced only by the mutual coordination of the ESP system and the driver.

based on this, the embodiment of the invention provides an auxiliary control system and method for a vehicle, which are used for assisting a driver to operate the vehicle and correcting the dynamic change of the vehicle when the vehicle is in a special working condition, so that the vehicle is always in a stable and controllable state, and further the vehicle safety is improved.

Fig. 1 shows a block diagram of an assist control system for a vehicle according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides an assist control system for a vehicle, which may include a DSA (dynamic stable assist) module 110 and an EPS (Electric Power Steering) module 120.

The DSA module 110 may be an internal module of the ESP system of the vehicle, and the DSA module 110 may be a further development on the hardware basis of the ESP system. The logic function of the DSA module 110 may be an additional function designed based on the VDC module, ABS module, TCS module in the ESP system, which can further improve the control strategy scope of the ESP system.

During the running process of the vehicle, the DSA module 110 may detect whether the vehicle is in a special operating condition in real time or periodically. The special operating conditions may include one or more of: oversteer, understeer, split-road braking, split-road acceleration, curve conditions with lateral acceleration higher than a predetermined acceleration.

According to the vehicle speed, the master cylinder brake pressure, the target yaw angle and the vehicle body slip angle which are calculated in the ESP system, and in combination with the VDS control threshold and the TCS trigger threshold, the DSA module can identify whether the vehicle is in a special working condition. In the event that the DSA module 110 detects that the vehicle is in a particular operating condition, a steering assist torque may be calculated for the current operating condition of the vehicle. Specifically, the DSA module 110 may receive parameters such as lateral acceleration, steering wheel angle, and vehicle yaw angle transmitted by the vehicle body sensor, the EPS module 120 may transmit the detected driver input torque to the DSA module 110, and the DSA module 110 may calculate the steering assist torque based on the lateral acceleration, the steering wheel angle, the vehicle yaw angle, and the driver input torque. For example, a database is established according to three parameters of lateral acceleration, steering wheel angle and vehicle body yaw angle transmitted by a vehicle body sensor, and a dynamic index is evaluated according to the database. The dynamic index can be used for evaluating the stability of the current vehicle, and the larger the dynamic index is, the more unstable the vehicle is, and the larger torque value is needed to assist a driver in operating the vehicle. The DSA module 110 may store therein the required steering wheel torque in one-to-one correspondence with dynamic indexes, wherein the larger the dynamic index is, the larger the value of the required steering wheel torque is. After the required steering wheel torque is determined according to the dynamic index, the steering auxiliary torque aiming at the current running condition of the vehicle can be calculated by further combining the input torque of the driver. The calculated steering assist torque may include "+", "-", where "+" may be set to indicate a counterclockwise direction and "-" may be set to indicate a clockwise direction, e.g., -1NM indicating a desired steering wheel rotation of 1NM in a clockwise direction.

After the steering assist torque is calculated, a torque superposition request including the steering assist torque is generated. Alternatively, a corresponding steering assist torque range may be stored in the DSA module 110 for each particular operating condition, and the torque overlay request is generated only if the calculated steering assist torque is within the corresponding steering torque range. In the event that the calculated steering assist torque is not within the corresponding steering torque range, no torque overlay request is generated and the DSA module 110 continues to detect the operating condition of the vehicle.

The DSA module 110 may transmit the generated torque overlay request to the ESP module 120, for example, the torque overlay request may be transmitted to the ESP module 120 over a CAN bus. The ESP module 120 may adjust the torque of the steering wheel based on the steering assist torque included in the torque overlay request. Optionally, the torque overlay request further comprises a torque overlay command request flag. The EPS module 120 adjusts the torque of the steering wheel based on the steering assist torque if both the torque overlay command request flag and the steering assist torque are included in the torque overlay request. The torque of the steering wheel is adjusted based on the steering auxiliary torque so as to assist a driver to operate the vehicle, and the dynamic change of the vehicle is corrected, so that the vehicle is always in a stable and controllable state, and the safety of the vehicle is improved.

Alternatively, the functions of the DSA module may be switched on and off by a switch, for example by the driver. The switch of the DSA module may be a button provided at the vehicle operation panel, by which the driver can turn the DSA module on and off. Alternatively, an option to turn on and off the DSA module may be set on a touch screen of the vehicle host system to facilitate the driver turning on and off the DSA module.

Fig. 2 shows a state transition diagram of an EPS module in an embodiment. As shown in fig. 2, after power-on, the EPS module first performs initialization, and if the initialization fails, the EPS module is in a permanent failure state, where the EPS module may perform abnormal error reporting in the case where the EPS module is in the permanent failure state. In the initialization process, the EPS module is in a temporary prohibition state, if the initialization is successful, the EPS module is in a usable control state, and the EPS module can be in an active state after being effectively triggered after being in the usable control state. The EPS module can be switched to a corresponding state through an internal state machine switching condition. The EPS module may transmit the current state of the EPS module to the DSA module, for example, the current state may be represented by EPS _ DSA _ controls, and data transmission may be performed between the EPS module and the DSA module through a CAN bus.

The DSA module transmits a torque overlay request to the ESP module if the current state of the EPS module is available for a control state or an active state. The overlay Request may include DSA _ Torque _ Request to indicate the steering assist Torque calculated by the DSA module and DSA _ Active to indicate a Torque overlay command Request flag. The EPS module adjusts a torque of a steering wheel according to a received steering assist torque and a gradient of the steering assist torque.

specifically, the EPS module may adjust the torque of the steering wheel according to whether the received steering assist torque is normal, whether the gradient of the steering assist torque is normal, and the number of abnormal accumulations of the steering assist torque and/or the gradient of the steering assist torque. The steering assist torque is determined to be normal in the case where the steering assist torque is in a preset torque range, and is determined to be abnormal in the case where the steering assist torque is not in the preset torque range, where the preset torque range may be set to any suitable value according to actual circumstances, for example, the preset torque range may be set to-3 Nm to +3Nm, where two endpoints-3 Nm and +3Nm are included. And determining that the slope is normal when the slope does not exceed the preset slope value, and determining that the slope is abnormal when the slope exceeds the preset slope value, wherein the preset slope value can be set to any suitable value according to actual conditions, and the preset slope values of different models of vehicles can be different, for example, the preset slope value can be set to 10 Nm/s. The slope of the steering assist torque may be obtained by subtracting the previously received steering assist torque from the currently received steering assist torque and then dividing the difference by the time difference between the currently and previously received steering assist torques, or by subtracting the previously superimposed torque to the steering wheel of the EPS module from the currently received steering assist torque and then dividing the difference by the time difference between the currently and previously received steering assist torques.

The EPS module may initiate an anomaly monitoring count function to monitor the number of anomalous accumulations, i.e., the EPS module begins monitoring the number of anomalous accumulations due to an anomaly in steering assist torque and/or an anomaly in the slope of steering assist torque received from the DSA module while the EPS module is active or in a control-ready state.

The accumulation of the number of abnormality accumulations is started when an abnormality occurs for the first time in the steering assist torque and/or the gradient of the steering assist torque, for example, at the first abnormality, the number of abnormality accumulations may be recorded to be equal to 1. In the accumulation process, the accumulated number of abnormalities is increased by a predetermined value if the steering assist torque is abnormal and/or the slope of the steering assist torque is abnormal, and the accumulated number of abnormalities is decreased by a predetermined value if both the steering assist torque and the slope of the steering assist torque are normal. The predetermined value may be set to any suitable value as needed, and the predetermined value is illustrated as 1 in the embodiment of the present invention.

The calculation of the number of abnormal accumulation times is exemplified below with the predetermined value being 1.

when the EPS module monitors that either one of the steering assist torque received from the DSA module and the gradient of the steering assist torque is abnormal for the first time, accumulation of the number of abnormal accumulation times is started, and at this time, the number of abnormal accumulation times is recorded as 1. The EPS module continues to monitor the steering assist torque received from the DSA module and the slope of the steering assist torque.

When the EPS module monitors that either one of the steering assist torque received from the DSA module and the gradient of the steering assist torque is abnormal again, the accumulated abnormal frequency is recorded to be 1+ 1-2. And when the slope of the steering assist torque or the steering assist torque is abnormal for the third time, recording the number of times of abnormality accumulation as 1+1+ 1-3, and so on, wherein the number of times of abnormality accumulation is accumulated as long as the slope of the steering assist torque or the steering assist torque is abnormal. When the EPS module monitors that the steering assist torque received from the DSA module for the fourth time and the slope of the steering assist torque are abnormal, the accumulated number of the abnormal events is recorded to be 1+1+ 1-2.

The EPS module accumulates or reduces the number of abnormal accumulations according to the above control strategy, depending on the steering assist torque currently received from the DSA module and the abnormality or normality of the slope of the steering assist torque.

In the case where the number of abnormal accumulations is less than the predetermined number, the EPS module may perform different steps depending on the steering assist torque currently received from the DSA module and the abnormality or normality of the slope of the steering assist torque.

The steering assist torque received from the DSA module is superimposed on the torque of the steering wheel if the steering assist torque and the slope of the steering assist torque are both normal.

If the steering assist torque is normal and the slope of the steering assist torque is abnormal, the current torque to be superimposed is calculated according to the preset slope value and the latest superimposed torque, and the current torque to be superimposed can be derived by using the slope calculation method. For example,if the preset slope value is k is 10Nm/S, the torque which is superposed to the steering wheel for the last time by the EPS module is Tor₁+0.78Nm, and the difference between the time when the steering assist torque is received at the current time and the time when the steering assist torque is received at the previous time is Δ T0.2S, the current torque to be superimposed is Tor₀＝k*△T+Tor₁＝10Nm/S*0.2S+(+0.78Nm)＝+2.78Nm。

and if the steering assist torque is abnormal and the slope of the steering assist torque is normal or abnormal, superposing a preset torque on the torque of the steering wheel, wherein the superposition direction of the preset torque is consistent with the superposition direction of the steering assist torque received from the DSA module. The preset torque in the embodiment of the present invention may be any suitable value determined according to actual needs, and optionally, the preset torque may be set to be a maximum value or a minimum value of the preset torque range. For example, if the preset torque range may be set to-3 Nm to +3Nm, which includes two end points of-3 Nm and +3Nm, and the steering assist torque received by the EPS module from the DSA module is-5 Nm, a torque of-3 Nm may be superimposed on the steering wheel after the EPS module detects that the steering assist torque is abnormal, regardless of whether the slope of the assist torque is normal or abnormal, and a torque of +3Nm may be superimposed on the steering wheel after the EPS module detects that the steering assist torque is abnormal, regardless of whether the slope of the assist torque is normal or abnormal, if the EPS module receives the steering assist torque from the DSA module is +5 Nm.

In the case that the number of abnormal accumulations is less than the predetermined number, the EPS module performs superposition of torque on the steering wheel according to the above-described strategy, so that the assist adjustment for the steering wheel is more linear and stable.

Further, in the case where the number of abnormal accumulations is less than the predetermined number, the EPS module may remain in the active state, or the EPS module may transition from the available-for-control state to the active state. Wherein if the EPS module is currently in the available control state and it is determined that the abnormality accumulated number of times is less than the predetermined number of times after the steering assist torque is received from the DSA module, a transition may be made from the available control state to the active state.

If the EPS module determines that the current abnormal cumulative number of times is equal to the predetermined number of times after receiving the steering assist torque from the DSA module, the EPS module may not adjust the torque of the steering wheel and the EPS module may transition from an active state to a permanent failure state, in which case the EPS module may also report an abnormal error. The number of times of subscription in the embodiment of the present invention may be set to any suitable value according to actual needs, and the embodiment of the present invention is illustrated by taking the number of times of subscription as 5 times.

Table 1 shows an exception error reporting logic table of the ESP module in an embodiment, where in the exception option of table 1, a value "1" indicates an exception, a value "0" indicates no exception, and in the error reporting option, a value "0" indicates no error reporting, and a value "1" indicates an error reporting. Through the logic judgment of table 1, the robustness performance requirement of the DSA module functional system can be prompted. It is to be understood that table 1 is only exemplary and not intended to limit the present invention, and the exception error logic table may be any table whose sequence number is not limited.

TABLE 1

Serial number	0	1	2	3	4	5	6	7	8	9	10	11	12
														Abnormality (S)	1	1	1	0	1	0	0	0	1	1	1	1	1
Counting	1	2	3	2	3	2	1	0	1	2	3	4	5
														Error report	0	0	0	0	0	0	0	0	0	0	0	0	1

the auxiliary control system for the vehicle provided by the embodiment of the invention has the following advantages: (1) based on the function of the set DSA module, an interaction framework between the ESP system and the EPS module is provided for the first time, the defect that the interaction function of the ESP and the EPS system is not configured in the current automobile market is overcome, and the defect that (2) the higher performance and safety requirements of customers on the vehicle performance are met, so that the interaction of a vehicle control unit is more flexible, the DSA module of the ESP system sends an instruction to the EPS module to assist a driver to control the vehicle, and the driving safety and comfort of the vehicle are improved; (2) an abnormal monitoring logic strategy is set for the EPS module, the strategy fills the blank of the current torque monitoring logic, and the robust performance is extremely high and more reliable; (3) the control logic provided by the embodiment of the invention can assist a driver to control a vehicle after the DSA module is started in a scene in which snow or rainwater and dry asphalt pavement appear in a severe environment such as a northeast snow day or a southern rainy day under a common special working condition, so that the driver can drive the vehicle more freely; (4) the control logic provided by the embodiment of the invention embodies the rationality and intelligent design level of vehicle function development, improves the competitiveness of domestic automobiles, foreign automobiles and joint wagons, and can fully display the performance level capability of domestic automobiles.

Fig. 3 shows a flow chart of an assist control method for a vehicle according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention also provides an assist control method for a vehicle, which may include: the following steps are performed by the DSA module: step S302, detecting whether the vehicle is in a special working condition; step S304, under the condition that the vehicle is in a special working condition, calculating the steering auxiliary torque aiming at the current running working condition of the vehicle; step S306 of generating a torque superposition request including the steering assist torque; step S308, transmitting the torque superposition request to the EPS module; and performing step S310 by an EPS module that adjusts a torque of a steering wheel according to the steering assist torque in the torque overlay request. The torque of the steering wheel is adjusted based on the steering auxiliary torque so as to assist a driver to operate the vehicle, and the dynamic change of the vehicle is corrected, so that the vehicle is always in a stable and controllable state, and the safety of the vehicle is improved.

The specific operating principle and benefits of the auxiliary control method for the vehicle provided by the embodiment of the invention are similar to those of the auxiliary control system for the vehicle provided by the embodiment of the invention, and will not be described again here.

although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.

Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.