Steering control method and device, storage medium, wire-controlled steering system, vehicle

Abstract

The present invention discloses a steering control method and device, a storage medium, a steer-by-wire system, and a vehicle. The method comprises: obtaining a current steering wheel angle and steering wheel speed; determining a first steering angle of a steering actuator based on the steering wheel angle; compensating the first steering angle based on the steering wheel speed to obtain a second steering angle; and controlling the steering actuator to steer based on the second steering angle. The steering control method of the present invention can compensate the steering angle of the steering actuator based on one or more of the steering wheel speed, steering wheel angle, vehicle speed, and steering output torque of the steering actuator, without requiring additional hardware configuration, and can improve the dynamic response capability of the steering.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a steering control method, a steering control device, a computer-readable storage medium, a wire-controlled steering system, and a vehicle. Background Art

[0002] Due to the decoupling of steering wheel input and steering wheel output, steer-by-wire systems and technologies are considered by the industry to be the next generation of new automotive lateral control methods, which can effectively meet the functional needs of intelligent driving. However, the input and execution of the steer-by-wire system are respectively in two sets of controller systems. Due to the periodicity of system control, signal transmission, and the inevitable interference factors such as friction and gaps between the steering wheel execution structures, the response of the steer-by-wire system has a certain delay. Under certain driving conditions, the dynamic response capability is weaker than that of traditional steering systems with mechanical connections.

[0003] Currently, the dynamic response capability of wire-controlled steering is improved by utilizing modern control theories such as closed-loop control, reconstructing the steering system model, and establishing a system controller. However, the effect of such research is only to delay the control delay, which still cannot meet the needs of the market. In addition, the hardware configuration and software architecture of the system control can be increased to shorten the signal transmission events and system control time period limited by the hardware. For example, the 2ms cycle of signal transmission and internal calculation can be shortened to 1ms. However, such a change will greatly increase the communication load and the chip calculation load, and will also lead to an increase in system costs. Summary of the Invention

[0004] The present invention aims to at least partially address one of the technical problems in the related art. To this end, a first object of the present invention is to provide a steering control method that compensates a first steering angle determined by a steering actuator based on a steering wheel angle according to a steering wheel rotational speed to obtain a second steering angle, and then controls the steering actuator to steer according to the second steering angle. This method, without requiring additional hardware configuration, can improve the dynamic response of the steering.

[0005] A second object of the present invention is to provide a steering control device.

[0006] A third object of the present invention is to provide a computer-readable storage medium.

[0007] A fourth object of the present invention is to provide a steer-by-wire system.

[0008] A fifth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a steering control method, including: obtaining the steering wheel angle and steering wheel speed at the current moment; determining a first steering angle of a steering actuator based on the steering wheel angle; compensating the first steering angle based on the steering wheel speed to obtain a second steering angle; and controlling the steering actuator to steer based on the second steering angle.

[0010] According to an embodiment of the present invention, the steering control method first obtains the current steering wheel angle and steering wheel speed. It then determines a first steering angle for the steering actuator based on the steering wheel angle. The first steering angle is then compensated based on the steering wheel speed to obtain a second steering angle. Finally, the steering actuator is controlled based on the second steering angle to steer the vehicle. This method eliminates the need for additional hardware configuration and improves the dynamic responsiveness of the steering.

[0011] In addition, the steering control method according to the above embodiment of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, compensating a first steering angle according to a steering wheel speed to obtain a second steering angle includes: determining a steering compensation coefficient according to the steering wheel speed; and compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle.

[0013] According to one embodiment of the present invention, compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle includes: multiplying the steering compensation coefficient by the first steering angle to compensate the first steering angle to obtain the second steering angle.

[0014] According to one embodiment of the present invention, the steering control method also includes: obtaining the vehicle speed and the steering output torque of the steering actuator at the current moment; correcting the steering compensation coefficient based on one or more of the vehicle speed, the steering output torque and the steering wheel angle; compensating the first steering angle based on the corrected steering compensation coefficient to obtain a second steering angle.

[0015] According to one embodiment of the present invention, the steering compensation coefficient is corrected according to the vehicle speed, the steering output torque and the steering wheel angle, including: determining a first correction coefficient according to the steering wheel angle, determining a second correction coefficient according to the steering output torque, and determining a third correction coefficient according to the vehicle speed; and adding or multiplying the steering compensation coefficient, the first correction coefficient, the second correction coefficient and the third correction coefficient to correct the steering compensation coefficient.

[0016] According to one embodiment of the present invention, a steering control method is applied to a steer-by-wire system.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a steering control device, including: an acquisition module for acquiring the steering wheel angle and steering wheel speed at the current moment; a determination module for determining a first steering angle of a steering actuator based on the steering wheel angle; a correction module for compensating the first steering angle according to the steering wheel speed to obtain a second steering angle; and a control module for controlling the steering actuator to steer according to the second steering angle.

[0018] According to an embodiment of the present invention, the steering control device includes an acquisition module for acquiring the current steering wheel angle and steering wheel speed; a determination module for determining a first steering angle of a steering actuator based on the steering wheel angle; a correction module for compensating the first steering angle based on the steering wheel speed to obtain a second steering angle; and a control module for controlling the steering actuator to steer based on the second steering angle. This device thus improves the dynamic responsiveness of steering without requiring additional hardware configuration.

[0019] To achieve the above-mentioned objectives, a third embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, which implements the above-mentioned steering control method when executed by a processor.

[0020] According to the computer-readable storage medium of the embodiment of the present invention, the above-mentioned steering control method is implemented when executed, without adding additional hardware configuration, and the dynamic response capability of the steering can be improved.

[0021] To achieve the above-mentioned purpose, a wire-controlled steering system is proposed in an embodiment of the fourth aspect of the present invention, comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned steering control method is implemented.

[0022] According to the embodiment of the present invention, the steer-by-wire system can improve the dynamic response capability of steering by executing the above-mentioned steering control method without adding additional hardware configuration.

[0023] To achieve the above-mentioned objectives, a fifth embodiment of the present invention provides a vehicle comprising the above-mentioned steer-by-wire system.

[0024] The vehicle according to the embodiment of the present invention includes the above-mentioned steer-by-wire system, and can improve the dynamic response capability of steering without adding additional hardware configuration.

[0025] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1is a flow chart of a steering control method according to an embodiment of the present invention;

[0027] Figure 2 is a flow chart of a steering control method according to a specific example of the present invention;

[0028] Figure 3 is a block diagram of a steering control device according to an embodiment of the present invention;

[0029] Figure 4 is a block diagram of a steer-by-wire system according to an embodiment of the present invention;

[0030] Figure 5 FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0032] The following describes a steering control method, a steering control device, a computer-readable storage medium, a steer-by-wire system, and a vehicle according to embodiments of the present invention with reference to the accompanying drawings.

[0033] In a steer-by-wire system, the feel simulator outputs the driver's steering commands to the steering actuator. The torque output of the motor on the steering actuator generates power to push the rack, thereby driving the wheels to achieve lateral movement of the vehicle. Compared to steering systems with mechanical connections, this method requires the driver's steering commands to be sent to the steering actuator in the form of angles. The delay time of the signal transmission process is longer than that of traditional steering systems. In addition, because the driver's torque cannot be directly transmitted through the mechanical connection, the initial interference of the steering actuator, such as clearance and friction, must be completely eliminated by the dynamic torque of the steering actuator motor. Therefore, steer-by-wire systems using angle tracking are prone to a certain delay when responding to the driver's dynamic input scenarios. This delay may be slightly longer than that of traditional steering systems, affecting the vehicle's lateral control accuracy. Therefore, the present invention provides a steering control method that does not require additional hardware configuration or changes to the vehicle's software architecture. That is, based on the existing signals of the steering system, without increasing hardware costs, the method increases the virtual angle input of the steering-by-wire execution wheel end to compensate for the vehicle's response characteristics under driving conditions such as large rack force load, large steering angle, and rapid steering, thereby achieving dynamic high-speed response of the vehicle and improving the dynamic response capability of the steering-by-wire.

[0034] Figure 1FIG. 4 is a flowchart of a steering control method according to an embodiment of the present invention.

[0035] like Figure 1 As shown, the steering control method according to the embodiment of the present invention may include the following steps:

[0036] S1, obtain the current steering wheel angle and steering wheel speed.

[0037] S2, determining a first steering angle of the steering actuator according to the steering wheel angle.

[0038] S3: Compensate the first steering angle according to the steering wheel speed to obtain a second steering angle.

[0039] S4, controlling the steering actuator to perform steering according to the second steering angle.

[0040] Specifically, when a user manually turns the steering wheel to steer, the current steering wheel angle and steering wheel speed are acquired. For example, the steering wheel angle can be acquired in real time via a steering wheel angle sensor, and the steering wheel speed can be acquired in real time via a steering wheel speed sensor. After acquiring the current steering wheel angle and steering wheel speed, a first steering angle of the steering actuator can be determined based on the steering wheel angle. After acquiring the first steering angle, the first steering angle can be compensated based on the steering wheel speed, such as by increasing the first steering angle to obtain a second steering angle. After acquiring the second steering angle, the steering actuator can be controlled to steer based on the second steering angle, thereby achieving dynamic and high-speed vehicle response to the user's steering operation.

[0041] The specific working process of the steering control method of the present invention is described in detail below.

[0042] According to one embodiment of the present invention, compensating a first steering angle according to a steering wheel speed to obtain a second steering angle includes: determining a steering compensation coefficient according to the steering wheel speed; and compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle.

[0043] Further, according to an embodiment of the present invention, compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle includes: multiplying the steering compensation coefficient by the first steering angle to compensate the first steering angle to obtain the second steering angle.

[0044] Specifically, when compensating the first steering angle based on the steering wheel speed to obtain the second steering angle, a steering compensation coefficient can be determined based on the steering wheel speed. For example, the steering compensation coefficient can be obtained by looking up a table, that is, in the table, the steering wheel speed and the compensation coefficient have a one-to-one correspondence. Once the steering wheel speed is determined, the corresponding steering compensation coefficient can be determined. After obtaining the steering compensation coefficient, the first steering angle can be compensated based on the steering compensation coefficient to obtain the second steering angle. For example, the result of multiplying the steering compensation coefficient by the first steering angle can be used as the second steering angle. For example, if the steering compensation coefficient currently obtained by looking up the table is 1.1 and the first steering angle is 100 degrees, multiplying the steering compensation coefficient by the first steering angle will result in a second steering angle of 110 degrees.

[0045] According to one embodiment of the present invention, the steering control method also includes: obtaining the vehicle speed and the steering output torque of the steering actuator at the current moment; correcting the steering compensation coefficient based on one or more of the vehicle speed, the steering output torque and the steering wheel angle; compensating the first steering angle based on the corrected steering compensation coefficient to obtain a second steering angle.

[0046] Specifically, when compensating for the first steering angle, the first steering angle can be compensated not only by steering wheel speed, but also by one or more of the steering wheel angle, vehicle speed, and steering actuator. The current vehicle speed and steering output torque of the steering actuator are obtained. For example, the current vehicle speed can be obtained by a vehicle speed sensor. When the user steers, the current consumed by the steering actuator motor can be obtained by a current sensor. The current motor output torque can be calculated by combining the current and the motor's own parameter characteristics. After obtaining the vehicle speed and the steering output torque of the steering actuator, the steering compensation coefficient determined according to the steering wheel speed can be corrected again according to one or more of the vehicle speed, the steering output torque and the steering wheel angle. For example, the steering compensation coefficient can be corrected according to the vehicle speed to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to the steering output torque of the steering actuator to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to the steering wheel angle to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to the steering wheel angle and vehicle speed to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to both the steering wheel angle and the steering output torque of the steering actuator to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to both the vehicle speed and the steering output torque of the steering actuator to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to both the steering wheel angle and the steering output torque of the steering actuator to increase the steering compensation coefficient, or the steering compensation coefficient can be corrected according to the steering wheel angle, vehicle speed and the steering output torque of the steering actuator to increase the steering compensation coefficient. Therefore, the first steering angle can be compensated according to the corrected steering compensation coefficient, so that the first steering angle is slightly increased to obtain the second steering angle.

[0047] According to one embodiment of the present invention, the steering compensation coefficient is corrected according to the vehicle speed, the steering output torque and the steering wheel angle, including: determining a first correction coefficient according to the steering wheel angle, determining a second correction coefficient according to the steering output torque, and determining a third correction coefficient according to the vehicle speed; and adding or multiplying the steering compensation coefficient, the first correction coefficient, the second correction coefficient and the third correction coefficient to correct the steering compensation coefficient.

[0048] Specifically, when correcting the steering compensation coefficient based on vehicle speed, steering output torque, and steering wheel angle, a first correction coefficient can be determined based on the steering wheel angle. For example, the first correction coefficient can be obtained by looking up a table, i.e., in the table, the steering wheel angle and the first correction coefficient have a one-to-one correspondence. Once the steering wheel angle is determined, the corresponding first correction coefficient can be determined. A second correction coefficient can be determined based on the steering output torque. For example, the second correction coefficient can be obtained by looking up a table, i.e., in the table, the steering output torque and the second correction coefficient have a one-to-one correspondence. Once the steering output torque is determined, the corresponding second correction coefficient can be determined. A third correction coefficient can be determined based on vehicle speed. For example, the third correction coefficient can be obtained by looking up a table, i.e., in the table, the vehicle speed and the third correction coefficient have a one-to-one correspondence. Once the vehicle speed is determined, the corresponding third correction coefficient can be determined. After obtaining the first correction coefficient, the second correction coefficient and the third correction coefficient, the steering compensation coefficient, the first correction coefficient, the second correction coefficient and the third correction coefficient can be added together to correct the steering compensation coefficient and increase the steering compensation coefficient. Alternatively, the steering compensation coefficient, the first correction coefficient, the second correction coefficient and the third correction coefficient can be multiplied together to correct the steering compensation coefficient. For example, the steering compensation coefficient is 1.1 before correction, and the first correction coefficient, the second correction coefficient and the third correction coefficient are multiplied with the steering compensation coefficient before correction to obtain 1.3, thereby increasing the steering compensation coefficient.

[0049] According to one embodiment of the present invention, a steering control method is applied to a steer-by-wire system.

[0050] Specifically, the wire-controlled steering system may include a hand feel simulator controller and a steering actuator controller. The above-mentioned steering control method can be applied not only to the hand feel simulator controller, but also to the steering actuator controller, thereby solving the problem of long delay time in the signal transmission process when the driver's steering command is sent to the steering actuator in the form of angle in the wire-controlled steering system.

[0051] The following combination Figure 2 The control method of the present invention will be described.

[0052] As a specific example, the steering control method of the present invention may include the following steps:

[0053] S101, obtaining the current steering wheel angle, steering wheel speed, steering output torque of the steering actuator, and vehicle speed.

[0054] S102: Determine a first steering angle of a steering actuator according to a steering wheel angle.

[0055] S103: Determine a steering compensation coefficient according to the steering wheel speed.

[0056] S104 , determining a first correction coefficient according to the steering wheel angle, determining a second correction coefficient according to the steering output torque, and determining a third correction coefficient according to the vehicle speed.

[0057] S105 , adding or multiplying the steering compensation coefficient, the first correction coefficient, the second correction coefficient, and the third correction coefficient to correct the steering compensation coefficient.

[0058] S106: Multiply the first steering angle by the steering compensation coefficient to compensate for the first steering angle to obtain a second steering angle.

[0059] S107: Control the steering actuator to steer according to the second steering angle.

[0060] In summary, the steering control method according to an embodiment of the present invention first obtains the current steering wheel angle and steering wheel speed. It then determines a first steering angle for the steering actuator based on the steering wheel angle. The first steering angle is then compensated based on the steering wheel speed to obtain a second steering angle. Finally, the steering actuator is controlled based on the second steering angle to steer the vehicle. This method thus eliminates the need for additional hardware configuration and improves the dynamic responsiveness of the steering.

[0061] Corresponding to the above embodiment, the present invention further proposes a steering control device.

[0062] like Figure 3 As shown, the steering control device 100 according to the embodiment of the present invention includes: an acquisition module 110 , a determination module 120 , a correction module 130 and a control module 140 .

[0063] The acquisition module 110 is configured to obtain the current steering wheel angle and steering wheel speed. The determination module 120 is configured to determine a first steering angle of the steering actuator based on the steering wheel angle. The correction module 130 is configured to compensate the first steering angle based on the steering wheel speed to obtain a second steering angle. The control module 140 is configured to control the steering actuator to steer based on the second steering angle.

[0064] According to one embodiment of the present invention, the correction module 130 compensates the first steering angle according to the steering wheel speed to obtain the second steering angle, and is specifically used to: determine the steering compensation coefficient according to the steering wheel speed; compensate the first steering angle according to the steering compensation coefficient to obtain the second steering angle.

[0065] According to one embodiment of the present invention, the correction module 130 compensates the first steering angle according to the steering compensation coefficient to obtain the second steering angle, and is specifically used to: multiply the steering compensation coefficient by the first steering angle to compensate the first steering angle to obtain the second steering angle.

[0066] According to one embodiment of the present invention, the correction module 130 is also used to: obtain the vehicle speed and the steering output torque of the steering actuator at the current moment; correct the steering compensation coefficient according to one or more of the vehicle speed, the steering output torque and the steering wheel angle; compensate the first steering angle according to the corrected steering compensation coefficient to obtain a second steering angle.

[0067] According to one embodiment of the present invention, the correction module 130 corrects the steering compensation coefficient according to the vehicle speed, the steering output torque and the steering wheel angle, and is specifically used to: determine a first correction coefficient according to the steering wheel angle, determine a second correction coefficient according to the steering output torque, and determine a third correction coefficient according to the vehicle speed; add or multiply the steering compensation coefficient, the first correction coefficient, the second correction coefficient and the third correction coefficient to correct the steering compensation coefficient.

[0068] According to one embodiment of the present invention, a steering control method is applied to a steer-by-wire system.

[0069] It should be noted that for details not disclosed in the steering control device of the embodiment of the present invention, please refer to the details disclosed in the steering control method of the embodiment of the present invention, and the details will not be repeated here.

[0070] According to an embodiment of the present invention, the steering control device includes an acquisition module for acquiring the current steering wheel angle and steering wheel speed; a determination module for determining a first steering angle of a steering actuator based on the steering wheel angle; a correction module for compensating the first steering angle based on the steering wheel speed to obtain a second steering angle; and a control module for controlling the steering actuator to steer based on the second steering angle. This device thus improves the dynamic responsiveness of steering without requiring additional hardware configuration.

[0071] Corresponding to the above embodiment, the present invention further proposes a computer-readable storage medium.

[0072] The computer-readable storage medium of the embodiment of the present invention stores a program thereon, and when the program is executed by a processor, the above-mentioned steering control method is implemented.

[0073] According to the computer-readable storage medium of the embodiment of the present invention, by executing the above-mentioned steering control method, the dynamic response capability of the steering can be improved without adding additional hardware configuration.

[0074] Corresponding to the above embodiment, the present invention further proposes a steer-by-wire system.

[0075] like Figure 4As shown, the wire control steering system 200 of the embodiment of the present invention may include: a memory 210, a processor 220 and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned steering control method is implemented.

[0076] According to the embodiment of the present invention, the steer-by-wire system can improve the dynamic response capability of steering by executing the above-mentioned steering control method without adding additional hardware configuration.

[0077] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0078] like Figure 5 As shown, a vehicle 300 according to an embodiment of the present invention may include a steer-by-wire system 200 .

[0079] The vehicle according to the embodiment of the present invention includes the above-mentioned steer-by-wire system, and can improve the dynamic response capability of steering without adding additional hardware configuration.

[0080] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0081] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0082] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0083] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0084] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0085] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A steering control method, characterized in that: The method comprises: Get the current steering wheel angle and steering wheel speed; determining a first steering angle of a steering actuator according to the steering wheel angle; compensating the first steering angle according to the steering wheel speed to obtain a second steering angle; controlling the steering actuator to steer according to the second steering angle; The compensating the first steering angle according to the steering wheel speed to obtain a second steering angle includes: determining a steering compensation coefficient according to the steering wheel speed; Compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle; The method further comprises: Obtaining the current vehicle speed and the steering output torque of the steering actuator; modifying the steering compensation coefficient according to one or more of the vehicle speed, the steering output torque, and the steering wheel angle; compensating the first steering angle according to the corrected steering compensation coefficient to obtain the second steering angle; Correcting the steering compensation coefficient according to the vehicle speed, the steering output torque, and the steering wheel angle includes: determining a first correction coefficient according to the steering wheel angle, determining a second correction coefficient according to the steering output torque, and determining a third correction coefficient according to the vehicle speed; The steering compensation coefficient, the first correction coefficient, the second correction coefficient, and the third correction coefficient are added or multiplied to correct the steering compensation coefficient.

2. The method according to claim 1, characterized in that The compensating the first steering angle according to the steering compensation coefficient to obtain the second steering angle includes: The steering compensation coefficient is multiplied by the first steering angle to compensate for the first steering angle and obtain the second steering angle.

3. The method according to any one of claims 1-2, characterized in that The steering control method is applied to a steer-by-wire system.

4. A steering control device, characterized in that: The device is used to implement the steering control method according to any one of claims 1 to 3, and the device includes: The acquisition module is used to obtain the current steering wheel angle and steering wheel speed; a determination module, configured to determine a first steering angle of a steering actuator according to the steering wheel angle; a correction module, configured to compensate the first steering angle according to the steering wheel speed to obtain a second steering angle; A control module is used to control the steering actuator to steer according to the second steering angle.

5. A computer-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by a processor, the steering control method according to any one of claims 1 to 3 is implemented.

6. A steer-by-wire system, characterized in that: The invention comprises a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the steering control method according to any one of claims 1 to 3 is implemented.

7. A vehicle, characterized in that: Comprising the steer-by-wire system as claimed in claim 6.

Images