Control methods and devices for steer-by-wire systems, storage media, and vehicles.

Abstract

This invention discloses a control method, control device, storage medium, and vehicle for a steer-by-wire system. The method includes: acquiring the vehicle speed; determining that the vehicle speed is greater than or equal to a first preset speed threshold and that the vehicle meets a first preset condition; and determining a target steering ratio based on the vehicle speed. The control method of this invention can determine the steering ratio based on vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control method for a steer-by-wire system, a control device for a steer-by-wire system, a computer-readable storage medium, and a vehicle. Background Technology

[0002] Traditional steering systems, connected by mechanical hardware, can generally only achieve a constant steering ratio. Even with rack and pinion steering systems using variable steering ratios, the steering ratio cannot be adjusted according to vehicle speed. In steer-by-wire systems, the mechanical hardware of the steering wheel and wheels is completely decoupled, replaced by electrical signal transmission control. Therefore, steer-by-wire systems use software to dynamically select the variable steering ratio based on vehicle speed and steering wheel angle, perfectly balancing low-speed maneuverability and high-speed stability.

[0003] Compared to the rack and pinion design of traditional electric power steering systems with variable steering ratio, steer-by-wire systems can achieve a wider range of dynamically variable steering ratios that are adjustable with vehicle speed and steering wheel angle through software.

[0004] However, if the variable steering ratio range is designed to be too small, it will not effectively improve the vehicle's path tracking ability; if the variable steering ratio range is designed to be too large, it will cause excessive changes in steering sensitivity and expected yaw rate gain, affecting the vehicle's stability at high speeds and bringing safety risks. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to provide a control method for a steer-by-wire system that can determine the steering ratio based on vehicle speed, thereby effectively improving vehicle path tracking capability and ensuring vehicle driving safety.

[0006] The second objective of this invention is to provide a control device for a steer-by-wire system.

[0007] A third objective of this invention is to provide a computer-readable storage medium.

[0008] The fourth objective of this invention is to provide a vehicle.

[0009] To achieve the above objectives, a first aspect of the present invention provides a control method for a steer-by-wire system, comprising: acquiring the vehicle speed; determining that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition; and determining a target steering ratio based on the vehicle speed.

[0010] According to the control method of the steer-by-wire system of the present invention, the vehicle speed is first acquired, then it is determined that the vehicle speed is greater than or equal to a first preset speed threshold and the vehicle meets a first preset condition, and finally a target steering ratio is determined based on the vehicle speed. Therefore, this method can determine the steering ratio based on the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0011] In addition, the control method of the steer-by-wire system according to the above embodiments of the present invention may also have the following additional technical features:

[0012] According to one embodiment of the present invention, when the vehicle's steer-by-wire system is fault-free and the vehicle is in a straight-line driving state, it is determined that the vehicle meets a first preset condition.

[0013] According to one embodiment of the present invention, determining that a vehicle is in a straight-line driving state includes: the steering wheel angle is less than a first preset angle threshold; the steering wheel speed is less than a first preset speed threshold; and the gear angle of the steering actuator is less than a second preset angle threshold.

[0014] According to one embodiment of the present invention, determining a target steering ratio based on vehicle speed includes: obtaining a correspondence between vehicle speed and steering ratio; and determining a target steering ratio based on vehicle speed and the correspondence.

[0015] According to one embodiment of the present invention, obtaining the correspondence between vehicle speed and steering ratio includes: obtaining a first correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic parking mode; and obtaining a second correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic driving mode.

[0016] According to an embodiment of the present invention, the control method of the steer-by-wire system further includes: determining that the vehicle speed is less than a first preset vehicle speed threshold; and determining a target steering ratio based on the vehicle speed and the steering wheel angle when the vehicle meets a second preset condition.

[0017] According to one embodiment of the present invention, when the vehicle's steer-by-wire system is fault-free, it is determined that the vehicle meets a second preset condition.

[0018] According to one embodiment of the present invention, determining a target steering ratio based on vehicle speed and steering wheel angle includes: obtaining a third correspondence between vehicle speed, steering wheel angle and steering ratio; and determining the target steering ratio based on vehicle speed, steering wheel angle and the third correspondence.

[0019] According to one embodiment of the present invention, at a constant vehicle speed, the steering wheel angle is negatively correlated with the steering ratio, and at a constant steering wheel angle, the vehicle speed is positively correlated with the steering ratio.

[0020] To achieve the above objectives, a second aspect of the present invention provides a control device for a steer-by-wire system, comprising: an acquisition module for acquiring the vehicle speed; a first determination module for determining that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition; and a second determination module for determining a target steering ratio based on the vehicle speed.

[0021] According to an embodiment of the present invention, the control device for a steer-by-wire system includes an acquisition module for acquiring the vehicle speed, a first determination module for determining that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition, and a second determination module for determining a target steering ratio based on the vehicle speed. Thus, the device can determine the steering ratio based on the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0022] To achieve the above objectives, a third aspect of the present invention provides a computer-readable storage medium storing a control program for a steer-by-wire system, which, when executed by a processor, implements the aforementioned control method for the steer-by-wire system.

[0023] According to the computer-readable storage medium of the present invention, by executing the above-described steer-by-wire system control method, the steering ratio can be determined according to the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0024] To achieve the above objectives, a vehicle is provided in a fourth aspect of the present invention, including a memory, a processor, and a control program for a steer-by-wire system stored in the memory and executable on the processor. When the processor executes the control program for the steer-by-wire system, it implements the control method for the steer-by-wire system described above.

[0025] According to the embodiments of the present invention, by executing the above-described steer-by-wire system control method, the steering ratio can be determined according to the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0026] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] Figure 1 A flowchart of a control method for a steer-by-wire system according to an embodiment of the present invention;

[0028] Figure 2 A flowchart illustrating a control method for a steer-by-wire system according to a specific example of the present invention;

[0029] Figure 3This is a block diagram of the control device of the steer-by-wire system according to an embodiment of the present invention;

[0030] Figure 4 This is a block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0031] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein 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 with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following description, with reference to the accompanying drawings, outlines the control method, control device, computer-readable storage medium, and vehicle for the steer-by-wire system proposed in embodiments of the present invention.

[0033] Figure 1 This is a flowchart of a control method for a steer-by-wire system according to an embodiment of the present invention.

[0034] like Figure 1 As shown, the control method of the steer-by-wire system in this embodiment of the invention may include the following steps:

[0035] S1, obtain the vehicle speed.

[0036] S2, determine that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and the vehicle meets the first preset condition. The first preset vehicle speed threshold can be determined according to the actual situation; for example, the first preset vehicle speed threshold can be 15 kph.

[0037] According to one embodiment of the present invention, when the vehicle's steer-by-wire system is fault-free and the vehicle is in a straight-line driving state, it is determined that the vehicle meets a first preset condition.

[0038] Further, according to an embodiment of the present invention, determining that the vehicle is in a straight-line driving state includes: the steering wheel angle being less than a first preset angle threshold; the steering wheel rotation speed being less than a first preset rotation speed threshold; and the gear angle of the steering actuator being less than a second preset angle threshold. The first preset angle threshold can be determined according to actual conditions, and can be between 0° and 5°, for example, the first preset angle threshold can be 5°; the first preset rotation speed threshold can be determined according to actual conditions, and can be between 0° / s and 10° / s, for example, the first preset rotation speed threshold can be 10° / s; the second preset angle threshold can be determined according to actual conditions, and can be between 0° and 5°, for example, the second preset angle threshold can be 5°.

[0039] Specifically, when determining the steering ratio based on vehicle speed, the vehicle speed is first acquired, for example, through a speed sensor. After acquiring the vehicle speed, its magnitude is assessed to determine if it is greater than or equal to a first preset speed threshold, and whether the vehicle meets a first preset condition. For example, if the acquired vehicle speed is 20 kph, which is 15 kph higher than the first preset speed threshold, then the speed is determined to be greater than the preset speed threshold. When determining if the vehicle meets the first preset condition, it is necessary to check if the vehicle's steer-by-wire system is malfunctioning and whether the vehicle is traveling in a straight line. To determine if the steer-by-wire system is malfunctioning, for example, by testing the steer-by-wire system to determine if it is operating normally. If the steer-by-wire system is malfunctioning, the vehicle does not meet the first preset condition. If the steer-by-wire system is found to be operating normally, it indicates that the steer-by-wire system is functioning correctly, and at this point, it is still necessary to determine if the vehicle is traveling in a straight line.

[0040] When determining that a vehicle is traveling in a straight line, this can be achieved by combining the steering wheel angle, steering wheel speed, and steering actuator gear angle. For example, if the steering wheel angle is less than a first preset angle threshold (5 degrees), the steering wheel speed is less than a first preset speed (10 degrees / s), and the steering actuator gear angle is less than a second preset angle threshold (5 degrees), then the vehicle is currently traveling in a straight line. Therefore, when the drive-by-wire steering system is functioning correctly and the vehicle is traveling in a straight line, the vehicle meets the first preset condition. However, if the steering wheel angle is greater than or equal to the first preset angle threshold (5 degrees), or the steering wheel speed is greater than or equal to the first preset speed (10 degrees / s), or the steering actuator gear angle is greater than or equal to the second preset angle threshold (5 degrees), it indicates that the vehicle may be turning and is not traveling in a straight line; that is, the vehicle does not meet the first preset condition.

[0041] S3 determines the target steering ratio based on vehicle speed.

[0042] According to one embodiment of the present invention, determining a target steering ratio based on vehicle speed includes: obtaining a correspondence between vehicle speed and steering ratio; and determining a target steering ratio based on vehicle speed and the correspondence.

[0043] Furthermore, according to an embodiment of the present invention, obtaining the correspondence between vehicle speed and steering ratio includes: obtaining a first correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic parking mode; and obtaining a second correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic driving mode.

[0044] Specifically, the steering ratio, also known as the steering drive ratio, refers to the ratio of the steering wheel angle in the upper steering system to the wheel angle in the lower steering system. For example, if the steering wheel is turned 90° to the right, and the vehicle's steering wheels turn 30° to the right, the steering ratio is 3:1. The user or vehicle can adjust the steering ratio, for example, to 2:1, so when the steering wheel is turned 90° to the right, the vehicle's steering wheels turn 45° to the right. Based on the vehicle's handling performance and response characteristics, generally, when the vehicle is traveling at low speeds, a smaller drive ratio is required to meet the vehicle's maneuverability needs at low speeds. When the vehicle is traveling at high speeds, a larger drive ratio is required to improve the vehicle's high-speed steering stability.

[0045] When determining the target steering ratio based on vehicle speed, the correspondence between vehicle speed and steering ratio is obtained. This correspondence varies depending on the vehicle's operating mode. For example, when the vehicle's current operating mode is automatic parking, a first correspondence between vehicle speed and steering ratio is obtained. The steer-by-wire system automatically matches a dynamically variable steering ratio that adjusts with both vehicle speed and steering wheel angle. For instance, at lower vehicle speeds, a smaller steering ratio can be used to facilitate steering during low-speed parking. When the vehicle's current operating mode is autonomous driving, a second correspondence between vehicle speed and steering ratio is obtained. The steer-by-wire system supports both a constant speed ratio and a dynamically variable steering ratio that adjusts with steering angle. For instance, when the vehicle is driving automatically at higher speeds, a larger steering ratio can be used to ensure vehicle stability at high speeds. Both the first and second correspondences can be pre-calibrated MAP maps. Therefore, the target steering ratio can be determined based on the vehicle speed and its corresponding relationship.

[0046] According to an embodiment of the present invention, the control method of the steer-by-wire system further includes: determining that the vehicle speed is less than a first preset vehicle speed threshold; and determining a target steering ratio based on the vehicle speed and the steering wheel angle when the vehicle meets a second preset condition.

[0047] Furthermore, according to one embodiment of the present invention, when the vehicle's steer-by-wire system is fault-free, it is determined that the vehicle meets a second preset condition.

[0048] Specifically, after acquiring the vehicle's speed, a judgment is made on the speed. When the vehicle speed is less than a first preset speed threshold, for example, the currently acquired speed is 10 kph, which is less than the preset speed threshold (15 kph), and it is determined that the vehicle's steer-by-wire system is fault-free and working normally, the target steering ratio can be determined based on the vehicle speed and steering wheel angle.

[0049] Furthermore, according to one embodiment of the present invention, determining the target steering ratio based on vehicle speed and steering wheel angle includes: obtaining a third correspondence between vehicle speed, steering wheel angle, and steering ratio; and determining the target steering ratio based on vehicle speed, steering wheel angle, and the third correspondence. Wherein, at a constant vehicle speed, the steering wheel angle and steering ratio are negatively correlated, and at a constant steering wheel angle, vehicle speed and steering ratio are positively correlated.

[0050] Specifically, when determining the target steering ratio based on vehicle speed and steering wheel angle, a third correspondence between vehicle speed, steering wheel angle, and steering ratio can be obtained. This third correspondence can be a pre-calibrated MAP (Modular Map). That is, at a constant vehicle speed, steering wheel angle and steering ratio are negatively correlated. For example, when a vehicle is traveling at 10 kph, a larger steering wheel angle results in a smaller steering ratio. This allows the driver to produce a relatively large steering angle with a small steering wheel angle signal, simplifying the driver's steering operation and facilitating vehicle steering. Conversely, a smaller steering wheel angle results in a larger steering ratio, meaning a smaller front wheel angle is obtained with a larger steering wheel angle, thus ensuring vehicle stability. When the steering wheel angle is constant, vehicle speed and steering ratio are positively correlated. For example, if the current steering wheel angle is 5 degrees, the higher the vehicle speed, the larger the corresponding steering ratio. This ensures the stability of the car at higher speeds and prevents the driver from losing control of the vehicle due to a large front wheel deflection angle caused by turning the steering wheel in an emergency at high speeds, thus avoiding accidents. Conversely, the lower the vehicle speed, the smaller the corresponding steering ratio. This allows the driver to produce a relatively large steering angle with a small steering wheel angle signal at low speeds, simplifying the driver's steering operation. Therefore, the target steering ratio can be determined based on the current vehicle speed, steering wheel angle, and this third correlation.

[0051] In addition, through simulation analysis or statistical analysis of vehicle debugging data, the boundaries of steering wheel speed and yaw rate gain under different vehicle speed conditions can be obtained, and the steering wheel speed and yaw rate gain can be controlled to not exceed the boundary values ​​to ensure vehicle driving safety.

[0052] The following combination Figure 2 The control method of the present invention will be described below.

[0053] As a specific example, the control method of the steer-by-wire system of the present invention may include the following steps:

[0054] S101, obtain the vehicle speed.

[0055] S102, determine whether the vehicle speed is greater than or equal to the first preset vehicle speed threshold. If yes, proceed to step S103; if no, proceed to step S106.

[0056] S103, determine whether the vehicle's steer-by-wire system is fault-free and whether the vehicle is traveling in a straight line. If yes, proceed to step S104; if no, proceed to step S101.

[0057] S104, obtain the correspondence between vehicle speed and steering ratio.

[0058] S105, determine the target steering ratio based on vehicle speed and the corresponding relationship.

[0059] S106, Determine if the vehicle's steer-by-wire system is fault-free. If yes, proceed to step S107; if no, proceed to step S101.

[0060] S107 obtains the correspondence between vehicle speed, steering wheel angle, and steering ratio.

[0061] S108 determines the target steering ratio based on vehicle speed, steering wheel angle, and their corresponding relationships.

[0062] In summary, the control method for the steer-by-wire system according to embodiments of the present invention first acquires the vehicle speed, then determines that the vehicle speed is greater than or equal to a first preset speed threshold and that the vehicle meets a first preset condition, and finally determines the target steering ratio based on the vehicle speed. Therefore, this method can determine the steering ratio based on vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0063] Corresponding to the above embodiments, the present invention also proposes a control device for a steer-by-wire system.

[0064] like Figure 3 As shown, the control device 100 of the steer-by-wire system in this embodiment of the invention includes: an acquisition module 110, a first determination module 120, and a second determination module 130.

[0065] The acquisition module 110 is used to acquire the vehicle's speed. The first determination module 120 is used to determine that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition. The second determination module 130 is used to determine the target steering ratio based on the vehicle speed.

[0066] According to one embodiment of the present invention, the first determining module 120 is further configured to determine that the vehicle meets the first preset condition when the vehicle's steer-by-wire system is fault-free and the vehicle is in a straight-line driving state.

[0067] According to one embodiment of the present invention, the first determining module 120 determines that the vehicle is in a straight-line driving state, specifically for: the steering wheel angle being less than a first preset angle threshold; the steering wheel speed being less than a first preset speed threshold; and the gear angle of the steering actuator being less than a second preset angle threshold.

[0068] According to one embodiment of the present invention, the second determining module 130 determines the target steering ratio based on the vehicle speed, specifically for: obtaining the correspondence between vehicle speed and steering ratio; and determining the target steering ratio based on the vehicle speed and the correspondence.

[0069] According to one embodiment of the present invention, the second determining module 130 obtains the correspondence between vehicle speed and steering ratio, specifically for: obtaining a first correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic parking mode; and obtaining a second correspondence between vehicle speed and steering ratio when the current operating mode of the vehicle is automatic driving mode.

[0070] According to one embodiment of the present invention, the second determining module 130 is further configured to: determine that the vehicle speed is less than a first preset vehicle speed threshold; and determine a target steering ratio based on the vehicle speed and steering wheel angle when the vehicle meets the second preset condition.

[0071] According to one embodiment of the present invention, the second determining module 130 is further configured to: determine that the vehicle meets the second preset condition when the vehicle's steer-by-wire system is fault-free.

[0072] According to one embodiment of the present invention, the second determining module 130 determines the target steering ratio based on the vehicle speed and the steering wheel angle, including: obtaining a third correspondence between the vehicle speed, the steering wheel angle and the steering ratio; and determining the target steering ratio based on the vehicle speed, the steering wheel angle and the third correspondence.

[0073] According to one embodiment of the present invention, at a constant vehicle speed, the steering wheel angle is negatively correlated with the steering ratio, and at a constant steering wheel angle, the vehicle speed is positively correlated with the steering ratio.

[0074] It should be noted that for details not disclosed in the control device of the steer-by-wire system in this embodiment of the invention, please refer to the details disclosed in the control method of the steer-by-wire system in this embodiment of the invention, which will not be repeated here.

[0075] According to an embodiment of the present invention, the control device for a steer-by-wire system includes an acquisition module for acquiring the vehicle speed, a first determination module for determining that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition, and a second determination module for determining a target steering ratio based on the vehicle speed. Thus, the device can determine the steering ratio based on the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0076] Corresponding to the above embodiments, the present invention also proposes a computer-readable storage medium.

[0077] The computer-readable storage medium of this invention stores a control program for a steer-by-wire system, which, when executed by a processor, implements the aforementioned control method for the steer-by-wire system.

[0078] According to the computer-readable storage medium of the present invention, by executing the control method of the above-described steer-by-wire system, the steering ratio can be determined according to the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0079] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0080] like Figure 4 As shown, the vehicle 200 of this embodiment may include: a memory 210, a processor 220, and a control program for a steer-by-wire system stored in the memory 210 and executable on the processor 220. When the processor 220 executes the control program for the steer-by-wire system, it implements the control method of the steer-by-wire system described above.

[0081] According to the embodiments of the present invention, by executing the above-described steer-by-wire system control method, the steering ratio can be determined according to the vehicle speed, thereby effectively improving the vehicle's path tracking capability and ensuring vehicle driving safety.

[0082] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing 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 (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0083] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0084] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions 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 one or more embodiments or examples.

[0085] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0087] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a steer-by-wire system, characterized in that, include: Get the vehicle's speed; Determine that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition; The target steering ratio is determined based on the vehicle speed, wherein when the vehicle's steer-by-wire system is fault-free and the vehicle is in a straight-line driving state, the vehicle is determined to meet the first preset condition.

2. The control method for the steer-by-wire system according to claim 1, characterized in that, Determining that the vehicle is traveling in a straight line includes: The steering wheel angle is less than the first preset angle threshold; The steering wheel rotation speed is less than the first preset speed threshold. The gear rotation angle of the steering actuator is less than the second preset angle threshold.

3. The control method for the steer-by-wire system according to claim 1, characterized in that, Determining the target steering ratio based on the vehicle speed includes: Obtain the correlation between vehicle speed and steering ratio; The target steering ratio is determined based on the vehicle speed and the corresponding relationship.

4. The control method for the steer-by-wire system according to claim 3, characterized in that, Obtain the relationship between vehicle speed and steering ratio, including: When the current operating mode of the vehicle is automatic parking mode, obtain the first correspondence between the vehicle speed and the steering ratio; When the vehicle's current operating mode is autonomous driving mode, a second correspondence between the vehicle speed and the steering ratio is obtained.

5. The control method for the steer-by-wire system according to claim 1, characterized in that, Also includes: It is determined that the vehicle speed is less than the first preset vehicle speed threshold; When the vehicle meets the second preset condition, the target steering ratio is determined based on the vehicle speed and steering wheel angle.

6. The control method for the steer-by-wire system according to claim 5, characterized in that, When the vehicle's steer-by-wire system is fault-free, the vehicle is determined to meet the second preset condition.

7. The control method for the steer-by-wire system according to claim 5, characterized in that, Determining the target steering ratio based on the vehicle speed and steering wheel angle includes: Obtain the third correspondence between the vehicle speed, the steering wheel angle, and the steering ratio; The target steering ratio is determined based on the vehicle speed, the steering wheel angle, and the third correspondence.

8. The control method for the steer-by-wire system according to claim 7, characterized in that, At a constant vehicle speed, the steering wheel angle is negatively correlated with the steering ratio, and at a constant steering wheel angle, the vehicle speed is positively correlated with the steering ratio.

9. A control device for a steer-by-wire system, characterized in that, include: The acquisition module is used to acquire the vehicle's speed; The first determining module is used to determine that the vehicle speed is greater than or equal to a first preset vehicle speed threshold and that the vehicle meets a first preset condition, wherein the vehicle meets the first preset condition when the vehicle's steer-by-wire system is fault-free and the vehicle is in a straight-line driving state. The second determining module is used to determine the target steering ratio based on the vehicle speed.

10. A computer-readable storage medium, characterized in that, It stores a control program for a steer-by-wire system, which, when executed by a processor, implements the control method for a steer-by-wire system according to any one of claims 1-8.

11. A vehicle, characterized in that, The system includes a memory, a processor, and a control program for a steer-by-wire system stored in the memory and executable on the processor. When the processor executes the control program for the steer-by-wire system, it implements the control method for the steer-by-wire system according to any one of claims 1-8.

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