Steer-by-Wire Control Method, Steer-by-Wire System of a Vehicle, and Vehicle

Abstract

The present application discloses a steer-by-wire control method, a steer-by-wire system of a vehicle, and a vehicle. The steer-by-wire control method includes obtaining a transmission ratio change signal input by a user and a current rotation angle of the steering wheel of the vehicle; determining a gear rotation angle that the gear of the steer-by-wire system needs to adjust according to the transmission ratio change signal and the current rotation angle of the steering wheel; controlling the rack of the steer-by-wire system to rotate with a preset time delay according to the gear rotation angle, and controlling the steering wheel to rotate within a predetermined angle within the preset time, so as to control the steering amplitude of the vehicle. In this way, the steer-by-wire control method, the steer-by-wire system of the vehicle, and the vehicle of the present application achieve that during the user switches the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle steering systems, and more particularly, to a steer-by-wire control method, a steer-by-wire system of a vehicle, and a vehicle. Background Art

[0002] Currently, when a vehicle needs to turn, the commonly used method is to control the switching of the vehicle's transmission ratio based on a steer-by-wire system to achieve vehicle steering. When the user switches the transmission ratio to control vehicle steering, the sudden change in the rotation angle of the vehicle tire may cause the vehicle steering amplitude to be too large, leading to safety problems for the user and affecting the user's driving experience. Summary of the Invention

[0003] In view of this, the present invention aims to at least solve one of the problems in the related art to some extent. For this purpose, the object of the present application is to provide a steer-by-wire control method, a steer-by-wire system of a vehicle, and a vehicle.

[0004] An embodiment of the present application provides a steer-by-wire control method for a steer-by-wire system of a vehicle. The steer-by-wire control method includes:

[0005] Obtaining a transmission ratio change signal input by a user and the current rotation angle of the steering wheel of the vehicle;

[0006] Determining the gear rotation angle that the gear of the steer-by-wire system needs to adjust according to the transmission ratio change signal and the current rotation angle of the steering wheel; and

[0007] Controlling the rack of the steer-by-wire system to rotate with a preset time delay according to the gear rotation angle, and controlling the steering wheel to rotate within a predetermined angle within the preset time to control the vehicle steering amplitude.

[0008] In this way, the steer-by-wire control method of the present application controls the rack to rotate with a preset time delay according to the gear rotation angle, and at the same time controls the steering wheel to rotate within a predetermined angle to return to near the initial state of the steering wheel. Since the current rotation angle of the steering wheel is near zero at this time, according to the relationship between the current rotation angle of the steering wheel and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is near zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the vehicle steering amplitude is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0009] In some embodiments, the determining the gear rotation angle that the gear of the steer-by-wire system needs to adjust according to the transmission ratio change signal and the current rotation angle of the steering wheel includes:

[0010] Determine the transmission ratio before the change and the transmission ratio after the change according to the transmission ratio change signal; and determine the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the current rotation angle of the steering wheel, the transmission ratio before the change, and the transmission ratio after the change.

[0011] In this way, the steer-by-wire control method of the present application determines the gear rotation angle according to the current rotation angle of the steering wheel, the transmission ratio before the change, and the transmission ratio after the change, so as to judge whether it is necessary to rotate the rack with a preset delay time according to the gear rotation angle and control the steering wheel to rotate within a predetermined angle.

[0012] In some embodiments, the determining the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the current rotation angle of the steering wheel, the transmission ratio before the change, and the transmission ratio after the change includes:

[0013] Determine the gear rotation angle before the change according to the current rotation angle of the steering wheel and the transmission ratio before the change;

[0014] Determine the gear rotation angle after the change according to the current rotation angle of the steering wheel and the transmission ratio after the change; and

[0015] Determine the gear rotation angle that needs to be adjusted for the gear according to the difference between the gear rotation angle before the change and the gear rotation angle after the change.

[0016] In this way, the steer-by-wire control method of the present application determines the gear rotation angle that needs to be adjusted according to the difference between the gear rotation angle before the change and the gear rotation angle after the change, so as to judge whether it is necessary to rotate the rack with a preset delay time according to the gear rotation angle and control the steering wheel to rotate within a predetermined angle.

[0017] In some embodiments, the controlling the rack of the steer-by-wire system to rotate with a preset delay time according to the gear rotation angle and controlling the steering wheel to rotate within the predetermined angle within the preset time includes:

[0018] When the gear rotation angle is greater than or equal to a preset angle, control the rack to rotate with a preset delay time and control the steering wheel to rotate within a predetermined angle.

[0019] In this way, the steer-by-wire control method of the present application controls the rack to rotate with a preset delay time and controls the steering wheel to rotate within a predetermined angle when the gear rotation angle that needs to be adjusted is greater than or equal to the preset angle during the transmission ratio switching, so as to prevent the vehicle tire rotation angle from being too large due to the excessive gear rotation angle that needs to be adjusted. Subsequently, during the user's switching of the vehicle's transmission ratio, the vehicle's steering amplitude is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0020] In some embodiments, the steer-by-wire control method includes:

[0021] While controlling the rack to rotate with a preset time delay, control the vehicle to switch from the manual driving mode to the assisted driving mode.

[0022] In this way, for the steer-by-wire control method of the present application, when the rack rotates with a preset time delay, there is no need for the user to manually turn the steering wheel to zero degrees. By controlling the vehicle to automatically switch to the assisted driving mode through the steer-by-wire system, the steering wheel can automatically turn to zero degrees, thereby realizing the custody of the steering wheel and shortening the rotation time of the steering wheel.

[0023] In some embodiments, when the rack rotation with time delay ends, control the vehicle to switch from the assisted driving mode to the manual driving mode.

[0024] In this way, the steer-by-wire control method of the present application automatically controls the vehicle to switch modes when the rack rotation with time delay ends, so that the user does not need to manually switch modes, improving the intelligence of the vehicle.

[0025] In some embodiments, the steer-by-wire control method includes:

[0026] After the rack time delay ends and the steering wheel rotates within a predetermined angle, execute the transmission ratio change signal.

[0027] In this way, the steer-by-wire control method of the present application only executes the transmission ratio change signal after the rack time delay ends and the steering wheel rotates within a predetermined angle, so that the vehicle has a smaller steering amplitude when changing the transmission ratio, thereby improving the safety and comfort of the user when switching the transmission ratio.

[0028] In some embodiments, after the rack time delay ends and the steering wheel rotates within a predetermined angle, executing the transmission ratio change signal includes:

[0029] Obtain the newly input steering wheel rotation angle of the user; and

[0030] Determine the changed transmission ratio and the steering wheel rotation angle according to the transmission ratio change signal, and determine the gear rotation angle to control the rotation of the vehicle tires.

[0031] In this way, the steer-by-wire control method of the present application determines the gear rotation angle according to the changed transmission ratio and the newly input steering wheel rotation angle of the user, thereby controlling the rotation of the vehicle tires, making the rotation angle of the vehicle tires more accurate, and further improving the safety of the vehicle.

[0032] The present application also provides a steer-by-wire system for a vehicle. The steer-by-wire system includes an acquisition module, a determination module, and a delay control module.

[0033] The acquisition module is configured to acquire a transmission ratio change signal input by a user and a current rotation angle of the steering wheel of the vehicle;

[0034] The determination module is configured to determine a gear rotation angle of the steer-by-wire system according to the transmission ratio change signal and the current rotation angle of the steering wheel;

[0035] The delay control module is configured to control the rack of the steer-by-wire system to rotate with a preset delay according to the gear rotation angle, and control the steering wheel to rotate within a predetermined angle, so as to control the steering amplitude of the vehicle.

[0036] In this way, the steer-by-wire system of the vehicle in the present application applies the above-mentioned steer-by-wire control method to control the rack to rotate with a preset delay according to the gear rotation angle, and at the same time control the steering wheel to rotate within a predetermined angle to restore to near the initial state. Since the current rotation angle of the steering wheel is near zero at this time, according to the relationship between the current rotation angle of the steering wheel and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is near zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0037] The present application also provides a vehicle. The vehicle includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the processor executes the steer-by-wire control method described in the above embodiments.

[0038] In this way, the vehicle in the present application applies the above-mentioned steer-by-wire control method to control the rack to rotate with a preset delay according to the gear rotation angle, and at the same time control the steering wheel to rotate within a predetermined angle to restore to near the initial state. Since the current rotation angle of the steering wheel is near zero at this time, according to the relationship between the current rotation angle of the steering wheel and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is near zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero, improving the safety and comfort of the user when switching the transmission ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0040] Figure 1 is a flowchart of the steer-by-wire control method according to some embodiments of the present application;

[0041] Figure 2 It is a schematic structural diagram of a steer-by-wire system of a vehicle according to some embodiments of the present application;

[0042] Figure 3 It is a schematic diagram of the transmission ratio switching process of a steer-by-wire control method according to some embodiments of the present application;

[0043] Figure 4 It is a schematic flowchart of a steer-by-wire control method according to some embodiments of the present application;

[0044] Figure 5 It is a schematic flowchart of a steer-by-wire control method according to some embodiments of the present application;

[0045] Figure 6 It is a schematic flowchart of a steer-by-wire control method according to some embodiments of the present application;

[0046] Figure 7 It is a schematic module diagram of a steer-by-wire system of a vehicle according to some embodiments of the present application;

[0047] Figure 8 It is a schematic diagram of the control principle when a steer-by-wire system according to some embodiments of the present application is applied to a vehicle. Detailed Embodiments

[0048] The following describes in detail the embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0050] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0051] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0052] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.

[0053] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a steer-by-wire control method. The steer-by-wire control method is applied to the steer-by-wire system 100 of a vehicle. The steer-by-wire control method includes:

[0054] Step 01: Obtain the transmission ratio change signal input by the user and the current rotation angle of the steering wheel 20 of the vehicle.

[0055] Among them, the structure of the steer-by-wire system 100 of the vehicle in the present application is as Figure 2 shown. It can be seen that the steer-by-wire system 100 is composed of a steering wheel 20, a gear actuator 30, and a rack and pinion steering gear 40. Among them, the steering wheel 20 of the vehicle is electrically connected to the gear actuator 30, and the gear actuator 30 is electrically connected to the rack and pinion steering gear 40. When the steering wheel 20 of the vehicle rotates and emits a rotation signal, the rotation signal passes through the gear actuator 30. After receiving the signal, the gear actuator 30 issues an instruction to control the operation of the rack and pinion steering gear 40, so as to steer the vehicle tires. It should be noted that the rack and pinion steering gear 40 includes a gear and a rack.

[0056] Specifically, the vehicle includes a processor. When the user needs to change the transmission ratio, the processor obtains the transmission ratio change signal input by the user and the current rotation angle of the steering wheel 20 of the vehicle.

[0057] Optionally, a transmission ratio change button may be provided on the vehicle. When the user needs to change the transmission ratio, the transmission ratio change signal can be input by pressing the transmission ratio change button.

[0058] Optionally, the transmission ratio change signal may include a signal for decreasing the transmission ratio and a signal for increasing the transmission ratio. For example, when driving in snowy weather or at high speed, the user hopes that the vehicle has better stability. At this time, the user can input a signal for increasing the transmission ratio through the transmission ratio change button, and the processor will increase the transmission ratio according to the signal for increasing the transmission ratio. Thus, when the steering wheel 20 has a large turning angle, the rotation of the gear is small. Another example is when driving at low speed or passing through a U-shaped curve, the user hopes to have a highly sensitive steering wheel 20 to facilitate turning with less hand force. At this time, the user can input a signal for decreasing the transmission ratio through the transmission ratio change button, and the processor will decrease the rotation ratio according to the signal for decreasing the transmission ratio. In this way, by setting the adjustable transmission ratio, the user's response methods in the face of different working conditions can be greatly satisfied, and the transmission ratio can be adjusted in a timely manner according to different working conditions to minimize the hand force required by the user and ensure the stability of vehicle operation as much as possible.

[0059] Step 02: Determine the gear rotation angle that the gear of the steer-by-wire system 100 needs to adjust according to the transmission ratio change signal and the current rotation angle of the steering wheel 20.

[0060] Herein, the current rotation angle of the steering wheel 20 refers to the angle corresponding to the steering wheel 20 relative to the vicinity of zero degree when the user inputs the transmission ratio change signal. For example, when the user inputs the transmission ratio change signal, the angle corresponding to the steering wheel 20 relative to the vicinity of zero degree is 45 degrees, that is, the current rotation angle of the steering wheel 20 is 45 degrees.

[0061] Specifically, in the case of obtaining the transmission ratio change signal and the current rotation angle of the steering wheel 20, the processor determines the gear rotation angle that the gear of the steer-by-wire system 100 needs to rotate according to the transmission ratio change signal and the current rotation angle of the steering wheel 20. For example, when the user inputs the transmission ratio change signal by pressing the transmission ratio change button and the current rotation angle of the steering wheel 20 is 45 degrees, the processor can determine the gear rotation angle of the steer-by-wire system 100 according to the transmission ratio change signal and the current rotation angle of the steering wheel 20.

[0062] Step 03: Control the rack of the steer-by-wire system 100 to rotate for a preset time according to the gear rotation angle, and control the steering wheel 20 to rotate within a predetermined angle within the preset time to control the vehicle steering amplitude.

[0063] Herein, the preset time can be a pre-set time. The preset time can be, for example, 1 second, 1.1 seconds, 1.2 seconds, 1.3 seconds, 1.4 seconds, 1.5 seconds, 1.6 seconds, 1.7 seconds, 1.8 seconds, 1.9 seconds, and 2 seconds, which is not limited herein.

[0064] The predetermined angle can be a pre-set angle. For example, the predetermined angle can be 6 degrees, 5.5 degrees, 5 degrees, 4.5 degrees, 4 degrees, 3.5 degrees, 3 degrees, 2.5 degrees, 2 degrees, 1.5 degrees, 1 degree, and 0 degree, without limitation here.

[0065] Specifically, when determining the gear rotation angle, the processor, according to the determined gear rotation angle, controls the rack of the steer-by-wire system 100 to delay for a preset time (for example, the preset time is 1 second), and then controls the rack of the steer-by-wire system 100 to rotate, and controls the steering wheel 20 to rotate within the predetermined angle within the preset time, so as to control the vehicle steering amplitude.

[0066] For example, when the vehicle is driving normally, the transmission ratio is at a fixed value. When the steering wheel 20 rotates, the gear of the steer-by-wire system 100 will rotate a corresponding angle according to the transmission ratio. At this time, the user can press the transmission ratio change button to input a transmission ratio change signal. When the processor obtains the transmission ratio change signal, it delays the rack rotation for 1 second and controls the steering wheel 20 to rotate within the predetermined angle. When the steering wheel 20 rotates within the preset angle, it controls the gear of the steer-by-wire system 100 to rotate according to the transmission ratio change signal, and drives the rack to rotate through the gear rotation, so as to control the vehicle steering amplitude. Specifically, the transmission ratio switching process of the steer-by-wire control method of the present application is as Figure 3 shown. Among them, when the transmission ratio is 3, it can correspond to the transmission ratio gear position of the first gear, and when the transmission ratio is 15, it can correspond to the transmission ratio gear position of the second gear.

[0067] The steer-by-wire control method of the present application controls the rack to delay and rotate for a preset time according to the gear rotation angle, and at the same time controls the steering wheel 20 to rotate within the predetermined angle to return to near the initial state of the steering wheel. Since the current rotation angle of the steering wheel 20 is near zero at this time, according to the relationship between the current rotation angle of the steering wheel 20 and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is near zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the vehicle steering amplitude is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0068] Please refer to Figure 4 , in some embodiments, step 02: Determine the gear rotation angle that the gear of the steer-by-wire system 100 needs to adjust according to the transmission ratio change signal and the current rotation angle of the steering wheel 20, including:

[0069] Step 021: Determine the transmission ratio before and after the change according to the transmission ratio change signal.

[0070] Among them, the transmission ratio refers to the ratio of the steering wheel rotation angle to the rotation angle of the vehicle tire. Understandably, since the rack and pinion steering gear 40 controls the rotation of the vehicle tire, the gear rotation angle is equivalent to the rotation angle of the vehicle tire. Therefore, if the rotation angle of the steering wheel 20 is 45 degrees and the gear rotation angle is 15 degrees, the transmission ratio is 3. It should be noted that the larger the transmission ratio, the larger the rotation angle required for the steering wheel 20 to make the tire turn to a specified distance, but the smaller the force required to rotate the steering wheel 20. On the contrary, when the transmission ratio is smaller, it means that to make the tire turn to a specified distance, the rotation angle required for the steering wheel 20 is smaller, but the force required to rotate the steering wheel 20 is larger.

[0071] Specifically, in the case of obtaining the transmission ratio change signal input by the user, the processor determines the transmission ratio before the change and the transmission ratio after the change according to the transmission ratio change signal. It should be noted that the transmission ratio change signal includes the transmission ratio before the change and the transmission ratio after the change. For example, the transmission ratio change signal includes the transmission ratio before the change is 3 and the transmission ratio after the change is 15.

[0072] Step 022: Determine the gear rotation angle that the gears of the steer-by-wire system 100 need to be adjusted according to the current rotation angle of the steering wheel 20 and the transmission ratios before and after the change.

[0073] Specifically, in the case of determining the transmission ratios before and after the change, the processor determines the gear rotation angle that the gears of the steer-by-wire system 100 need to be adjusted according to the current rotation angle of the steering wheel 20, the transmission ratio before the change, and the transmission ratio after the change. For example, the transmission ratio before the user presses the transmission ratio change button is 3, that is, the transmission ratio before the change is 3, and the transmission ratio before the user presses the transmission ratio change button is 15, that is, the transmission ratio after the change becomes 15. At this time, if the current rotation angle of the steering wheel 20 is 45 degrees, then the rotation angle of the vehicle tire obtained by dividing the current rotation angle by the transmission ratio before the change is 15 degrees, and the rotation angle of the vehicle tire obtained by dividing the current rotation angle by the transmission ratio after the change is 3 degrees. That is, after the transmission ratio is switched, the rotation angle required for the vehicle tire is 12 degrees. Since the gear rotation angle is equal to the rotation angle of the vehicle tire, the gear rotation angle is also obtained as 12 degrees.

[0074] In this way, by determining the gear rotation angle according to the current rotation angle of the steering wheel 20, the transmission ratio before the change, and the transmission ratio after the change, it is possible to judge whether it is necessary to rotate the rack with a preset time delay and control the steering wheel 20 to rotate within a predetermined angle according to the gear rotation angle.

[0075] Please refer to Figure 5, in some embodiments, step 022: Determine the gear rotation angle that the gear of the steer-by-wire system 100 needs to be adjusted according to the current rotation angle of the steering wheel 20 and the transmission ratios before and after the change, including:

[0076] Step 0221: Determine the gear rotation angle before the change according to the current rotation angle of the steering wheel 20 and the transmission ratio before the change.

[0077] Specifically, when the current rotation angle of the steering wheel 20 and the transmission ratio before the change are obtained, the processor determines the gear rotation angle before the change according to the current rotation angle of the steering wheel 20 and the transmission ratio before the change. For example, if the current rotation angle of the steering wheel 20 is 45 degrees and the transmission ratio before the change is 3, then the gear rotation angle before the change is obtained by dividing the current rotation angle of 45 degrees of the steering wheel 20 by the transmission ratio 3 before the change, which is 15 degrees.

[0078] Step 0222: Determine the gear rotation angle after the change according to the current rotation angle of the steering wheel 20 and the transmission ratio after the change.

[0079] Specifically, when the current rotation angle of the steering wheel 20 and the transmission ratio after the change are obtained, the processor determines the gear rotation angle after the change according to the current rotation angle of the steering wheel 20 and the transmission ratio after the change. For example, if the current rotation angle of the steering wheel 20 is 45 degrees and the transmission ratio after the change is 15, then by dividing the current rotation angle of the steering wheel 20 by the transmission ratio after the change, the gear rotation angle after the change can be determined, that is, 45 degrees divided by 15 is equal to 3 degrees, so the gear rotation angle after the change is 3 degrees at this time.

[0080] Step 0223: Determine the gear rotation angle that the gear needs to be adjusted according to the difference between the gear rotation angle before the change and the gear rotation angle after the change.

[0081] Specifically, when the gear rotation angle before the change and the gear rotation angle after the change are determined, the processor determines the gear rotation angle that the gear needs to be adjusted according to the difference between the gear rotation angle before the change and the gear rotation angle after the change. For example, if the gear rotation angle before the change is 15 degrees and the gear rotation angle after the change is 3 degrees, then the difference between the gear rotation angle before the change and the gear rotation angle after the change is 12 degrees, so the gear rotation angle at this time is 12 degrees.

[0082] In this way, by determining the gear rotation angle that needs to be adjusted according to the difference between the gear rotation angle before the change and the gear rotation angle after the change, it is judged whether it is necessary to rotate the rack for a preset time according to the gear rotation angle, and the steering wheel 20 is controlled to rotate within a predetermined angle.

[0083] In some embodiments, step 03: Control the rack to rotate with a preset time delay according to the gear rotation angle, and control the steering wheel 20 to rotate within a predetermined angle within the preset time, including:

[0084] Step 031: When the gear rotation angle is greater than or equal to the preset angle, control the rack to rotate with a preset time delay, and control the steering wheel to rotate within a predetermined angle.

[0085] Among them, the preset angle can be a pre-set angle. For example, the preset angle can be 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, 45 degrees, and 50 degrees, and there is no limit here.

[0086] Specifically, when the gear rotation angle is obtained, the processor compares the gear rotation angle with the preset angle. When the gear rotation angle is greater than or equal to the preset angle, control the rack to rotate after a preset time delay, and control the steering wheel 20 to rotate within a predetermined angle. It should be noted that the reason for setting that when the gear rotation angle is greater than or equal to the preset angle, the rack needs to be delayed for a preset time and the steering wheel 20 is controlled to rotate to zero degree is that in the actual application scenario during the process of the vehicle switching the transmission ratio, when the gear rotation angle is greater than or equal to the preset angle, due to the excessive gear rotation angle at this time, the driving experience of the user will become worse. And at this time, by first delaying the rack for a preset time and controlling the steering wheel 20 to rotate within a predetermined angle, when the gear rotation angle is relatively large, it will not cause the driving experience of the user to become worse. In addition, since when the gear rotation angle is less than the preset angle, it will not affect the driving experience of the user, so at this time, there is no need to delay the rack for a preset time and control the steering wheel 20 to rotate within a predetermined angle.

[0087] In this way, by setting during the transmission ratio switching that when the gear rotation angle to be adjusted is greater than or equal to the preset angle, controlling the rack to rotate with a preset time delay and controlling the steering wheel 20 to rotate within a predetermined angle, it will not cause the vehicle tire rotation angle to be too large due to the excessive gear rotation angle to be adjusted. Subsequently, during the process of the user switching the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero degree, improving the safety and comfort of the user when switching the transmission ratio.

[0088] In some embodiments, the steer-by-wire control method includes:

[0089] Step 04: While controlling the rack to rotate with a preset time delay, control the vehicle to switch from the manual driving mode to the assisted driving mode.

[0090] Among them, in the assisted driving mode, the user can achieve the custody of the steering wheel 20. At this time, the user does not need to operate the steering wheel 20, and the processor will control the steering wheel 20 to automatically rotate to zero degrees.

[0091] Specifically, while the processor controls the rack to rotate with a time delay for a preset time, it controls the vehicle to switch from the manual driving mode to the assisted driving mode. For example, if the preset time is 1 second, the processor controls the vehicle to switch from the manual driving mode to the assisted driving mode while controlling the rack to rotate with a 1-second time delay. In this way, when the rack rotates with a time delay for the preset time, there is no need for the user to manually rotate the steering wheel 20 to zero degrees. By controlling the vehicle to automatically switch to the assisted driving mode through the processor, the steering wheel 20 can automatically rotate to zero degrees, thereby achieving the custody of the steering wheel 20 and shortening the rotation time of the steering wheel 20.

[0092] Optionally, a driving mode switching button may also be provided on the vehicle. When the user needs to switch to the assisted driving mode, the user can press the driving mode switching button to control the vehicle to switch from the manual driving mode to the assisted driving mode.

[0093] In some embodiments, the steer-by-wire control method includes:

[0094] Step 05: When the rack rotation with a time delay ends, control the vehicle to switch from the assisted driving mode to the manual driving mode.

[0095] Specifically, when the rack rotation with a time delay ends, the processor controls the vehicle to switch from the assisted driving mode to the manual driving mode. In the manual driving mode, the user can freely rotate the angle of the steering wheel 20, and at this time, the processor will not control the steering wheel 20 to rotate to zero degrees.

[0096] In this way, by automatically controlling the vehicle to switch modes when the rack rotation with a time delay ends, the user does not need to manually switch modes, improving the intelligence of the vehicle.

[0097] In some embodiments, the steer-by-wire control method includes:

[0098] Step 06: After the rack time delay ends and the steering wheel 20 rotates within a predetermined angle, execute a transmission ratio change signal.

[0099] Among them, the transmission ratio change signal includes the transmission ratio before the change and the transmission ratio after the change, and the processor can change the transmission ratio of the steer-by-wire system 100 according to the transmission ratio change signal.

[0100] Specifically, after the rack delay ends and the steering wheel 20 rotates within a predetermined angle, the processor executes a transmission ratio change signal to change the transmission ratio of the steer-by-wire system 100. For example, if the transmission ratio before the change is 3, after the rack delay ends and the steering wheel 20 rotates within the predetermined angle, the processor executes the transmission ratio change signal to change the transmission ratio from 3 to 15.

[0101] In this way, by executing the transmission ratio change signal only after the rack delay ends and the steering wheel 20 rotates within the predetermined angle, the steering amplitude of the vehicle is smaller when the transmission ratio is changed, thereby improving the safety and comfort of the user when switching the transmission ratio.

[0102] Please refer to Figure 6 , in some embodiments, step 06: After the rack delay ends and the steering wheel 20 rotates within the predetermined angle, execute the transmission ratio change signal, including:

[0103] Step 061: Obtain the rotation angle of the steering wheel 20 newly input by the user.

[0104] Specifically, in the case where the user newly inputs the rotation angle of the steering wheel 20, the processor obtains the rotation angle of the steering wheel 20 newly input by the user. For example, if the user rotates the steering wheel 20 by 90 degrees, the rotation angle of the steering wheel 20 newly input by the processor obtained at this time is 90 degrees.

[0105] Step 062: Determine the changed transmission ratio and the rotation angle of the steering wheel 20 according to the transmission ratio change signal, and determine the rotation angle of the gear to control the rotation of the vehicle tires.

[0106] Specifically, in the case where the rotation angle of the steering wheel 20 newly input by the user is obtained and the changed transmission ratio is determined according to the transmission ratio change signal, the processor determines the rotation angle of the gear according to the changed transmission ratio and the rotation angle of the steering wheel 20 to control the rotation of the vehicle tires. For example, if the rotation angle of the steering wheel 20 newly input by the user is 90 degrees and the changed transmission ratio is 15, the processor can determine the rotation angle of the gear to be 6 degrees by dividing the rotation angle of the steering wheel 20 by the changed transmission ratio. At this time, the processor will control the vehicle tires to rotate by the same rotation angle according to the determined rotation angle of the gear.

[0107] In this way, by determining the rotation angle of the gear according to the changed transmission ratio and the rotation angle of the steering wheel newly input by the user, and thus controlling the rotation of the vehicle tires, the rotation angle of the vehicle tires is made more accurate, thereby improving the safety of the vehicle.

[0108] Please refer to Figure 7, To facilitate the better implementation of the steer-by-wire control method according to the embodiments of the present application, the embodiments of the present application further provide a steer-by-wire system 100 for a vehicle. The steer-by-wire system 100 may include:

[0109] An acquisition module 11, configured to acquire a transmission ratio change signal input by a user and a current rotation angle of a steering wheel 20 of the vehicle.

[0110] A determination module 12, configured to determine a gear rotation angle that needs to be adjusted for a gear of the steer-by-wire system 100 according to the transmission ratio change signal and the current rotation angle of the steering wheel 20.

[0111] The determination module 12 is specifically further configured to determine the transmission ratio before and after the change according to the transmission ratio change signal; determine the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system 100 according to the current rotation angle of the steering wheel 20 and the transmission ratio before and after the change; determine the gear rotation angle before the change according to the current rotation angle of the steering wheel 20 and the transmission ratio before the change; determine the gear rotation angle after the change according to the current rotation angle of the steering wheel 20 and the transmission ratio after the change; and determine the gear rotation angle that needs to be adjusted for the gear according to the difference between the gear rotation angle before the change and the gear rotation angle after the change.

[0112] A delay control module 13, configured to control the rack of the steer-by-wire system 100 to rotate with a preset delay time according to the gear rotation angle, and control the steering wheel 20 to rotate within a predetermined angle to control the steering amplitude of the vehicle.

[0113] The delay control module 13 is specifically further configured to, when the gear rotation angle is greater than or equal to a preset angle, control the rack to rotate with a preset delay time, and control the steering wheel 20 to rotate within a predetermined angle.

[0114] The steer-by-wire system 100 may further include:

[0115] A first control module 14, configured to control the vehicle to switch from a manual driving mode to an assisted driving mode while controlling the rack to rotate with a preset delay time.

[0116] A second control module 15, configured to control the vehicle to switch from the assisted driving mode to the manual driving mode when the rack delay rotation ends.

[0117] An execution module 16, configured to execute the transmission ratio change signal after the rack delay ends and the steering wheel 20 rotates within a predetermined angle.

[0118] The execution module 16 is specifically further configured to acquire a newly input rotation angle of the steering wheel 20 by the user; determine the transmission ratio after the change and the rotation angle of the steering wheel 20 according to the transmission ratio change signal, and determine the gear rotation angle to control the rotation of the vehicle tires.

[0119] In this way, the steer-by-wire system 100 of the vehicle in this application uses the above-mentioned steer-by-wire control method to control the rack to rotate with a time delay of a preset time according to the rotation angle of the gear, and at the same time controls the steering wheel 20 to rotate within a predetermined angle to return to near the initial state. Since the current rotation angle of the steering wheel 20 is near zero at this time, according to the relationship between the current rotation angle of the steering wheel 20 and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is near zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0120] In addition, the schematic diagram of the control principle when the steer-by-wire system 100 of this application is specifically applied to a vehicle is as Figure 8 shown. Specifically, the electronic control unit of the steer-by-wire system 100 controls three actuators, namely, an automatic locking module, a motor, and a phase splitter module, through a spiral cable. The actuator is used to receive the rotation angle signal of the vehicle tire calculated based on the rotation angle sensor of the steering wheel and control the motor to rotate the angle of the vehicle tire.

[0121] Optionally, the electronic control unit of the brake control system and the electronic control unit of the power system can transmit the vehicle speed information and the rack rotation information to the electronic control unit of the steer-by-wire system 100 through the controller area network bus protocol. The phase splitter (torque sensor) can be used to detect the torsional deformation of the torsion bar and convert it into a torsional deformation signal of the torsion bar and output it to the electronic control unit of the electric power steering system.

[0122] Specifically, the electronic control unit of the brake control system can detect the vehicle speed. The steering wheel angle sensor can detect the current rotation angle of the vehicle in real time. The electronic control unit of the steer-by-wire system 100 can obtain the vehicle speed information detected by the electronic control unit of the brake control system and the current rotation angle of the vehicle detected by the steering wheel angle sensor in real time.

[0123] When the electronic control unit of the steer-by-wire system 100 obtains the vehicle speed information and the current rotation angle of the vehicle, the electronic control unit of the steer-by-wire system 100 will select the most suitable rotation angle of the vehicle tire and the vehicle speed according to the actual application scenario, and send a control command to the motor to control the motor to rotate the vehicle tire to the most suitable angle.

[0124] In addition, the electronic control unit of the steer-by-wire system 100 can determine whether the vehicle reaches a preset speed threshold according to the vehicle speed. If the preset speed threshold is reached, the vehicle speed can be automatically locked through the automatic locking module.

[0125] An embodiment of the present application further provides a vehicle, which includes a processor and a memory. A computer program is stored on the memory. When the computer program is executed by the processor, the steps of the steer-by-wire control method of any of the above embodiments are implemented. For the sake of brevity, they will not be elaborated here.

[0126] In this way, the vehicle of the present application controls the rack to rotate with a time delay of a preset time according to the rotation angle of the gear by applying the above steer-by-wire control method, and at the same time controls the steering wheel 20 to rotate within a predetermined angle to restore to near the initial state of the steering wheel. Since the current rotation angle of the steering wheel 20 is near zero at this time, according to the relationship between the current rotation angle of the steering wheel 20 and the rotation angle of the vehicle tire, it can be known that the rotation angle of the vehicle tire is zero at this time, realizing that during the user switches the transmission ratio of the vehicle, the steering amplitude of the vehicle is small or even zero, improving the safety and comfort of the user when switching the transmission ratio.

[0127] In addition, the vehicle of the present application also has an automatic locking function. When the speed of the vehicle reaches a preset speed threshold, the processor will automatically lock the driving speed of the vehicle according to the driving speed of the vehicle and the preset speed threshold. At this time, the driving speed of the vehicle cannot exceed the preset speed threshold, so as to prevent the speed from being too fast during the driving of the vehicle and threatening the user's life safety. And by setting the automatic locking function, it can prevent the steer-by-wire system 100 from being damaged due to some force majeure factors (such as car crashes, accidents, etc.). The automatic locking can temporarily lock the steer-by-wire system 100 to prevent the steer-by-wire system 100 from interfering with the normal steering function of the vehicle.

[0128] In the description of this specification, the descriptions with reference to terms such as "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0129] Any process or method description, whether in a flowchart or otherwise described herein, can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations where functions may be performed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the technical field to which the embodiments of the present application pertain.

[0130] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A steer-by-wire control method for a steer-by-wire system of a vehicle, characterized in that, The above-mentioned steer-by-wire control method includes: Obtaining a transmission ratio change signal input by the user and the current rotation angle of the vehicle's steering wheel; Determining the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the transmission ratio change signal and the current rotation angle of the steering wheel; and Controlling the rack of the steer-by-wire system to rotate with a preset delay according to the gear rotation angle, and controlling the steering wheel to rotate within a predetermined angle within the preset time to control the steering amplitude of the vehicle.

2. The steer-by-wire control method according to claim 1, wherein, The determining the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the transmission ratio change signal and the current rotation angle of the steering wheel includes: Determining the transmission ratio before change and the transmission ratio after change according to the transmission ratio change signal; and Determining the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the current rotation angle of the steering wheel, the transmission ratio before change, and the transmission ratio after change.

3. The steer-by-wire control method according to claim 2, wherein The determining the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the current rotation angle of the steering wheel, the transmission ratio before change, and the transmission ratio after change includes: Determining the gear rotation angle before change according to the current rotation angle of the steering wheel and the transmission ratio before change; Determining the gear rotation angle after change according to the current rotation angle of the steering wheel and the transmission ratio after change; and Determining the gear rotation angle that needs to be adjusted for the gear according to the difference between the gear rotation angle before change and the gear rotation angle after change.

4. The steer-by-wire control method according to claim 1, wherein The controlling the rack of the steer-by-wire system to rotate with a preset delay according to the gear rotation angle, and controlling the steering wheel to rotate within a predetermined angle within the preset time includes: When the gear rotation angle is greater than or equal to a preset angle, controlling the rack to rotate with a preset delay and controlling the steering wheel to rotate within a predetermined angle.

5. The steer-by-wire control method according to claim 1, characterized in that The above-mentioned steer-by-wire control method includes: While controlling the rack to rotate with a preset delay, controlling the vehicle to switch from the manual driving mode to the assisted driving mode.

6. The steer-by-wire control method according to claim 5, wherein The above-mentioned steer-by-wire control method includes: When the rack delay rotation ends, controlling the vehicle to switch from the assisted driving mode to the manual driving mode.

7. The steer-by-wire control method according to claim 1, characterized in that, The above-mentioned steer-by-wire control method includes: After the rack delay ends and the steering wheel rotates within a predetermined angle, executing the transmission ratio change signal.

8. The steer-by-wire control method according to claim 7, characterized in that, The executing the transmission ratio change signal after the rack delay ends and the steering wheel rotates within a predetermined angle includes: Obtaining a newly input rotation angle of the steering wheel by the user; and Determining the transmission ratio after change and the rotation angle of the steering wheel according to the transmission ratio change signal, and determining the gear rotation angle to control the rotation of the vehicle's tires.

9. A steer-by-wire system for a vehicle, characterized in that, The above-mentioned steer-by-wire system includes: An acquisition module, configured to acquire a transmission ratio change signal input by the user and the current rotation angle of the vehicle's steering wheel; A determination module, configured to determine the gear rotation angle that needs to be adjusted for the gear of the steer-by-wire system according to the transmission ratio change signal and the current rotation angle of the steering wheel; The delay control module is used to control the rack of the steer-by-wire system to rotate with a preset delay according to the rotation angle of the gear, and control the steering wheel to rotate within a predetermined angle within the preset time, so as to control the steering amplitude of the vehicle.

10. A vehicle, characterized in that, It includes a processor and a memory, and a computer program is stored on the memory. When the computer program is executed by the processor, the steer-by-wire control method according to any one of claims 1-8 is implemented.

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