Wire-controlled steering system, control method and control device thereof, storage medium, and vehicle

Abstract

The present invention discloses a steer-by-wire system, a control method, a control device, a storage medium, and a vehicle. The method comprises: obtaining a steering wheel angle when determining that the vehicle is in a straight-ahead state; obtaining a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle is greater than a preset angle threshold; and controlling the steering gear based on the steering gear compensation value. The control method of the present invention can control the steering gear based on the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, thereby ensuring that the steering gear is at a zero position during the current ignition cycle.

Description

Technical Field

[0001] The present 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, a steer-by-wire system, and a vehicle. Background Art

[0002] For traditional electric power steering systems, after the steering gear completes straight-ahead self-learning, there is an offset between the steering gear's straight-ahead zero point and the mechanical zero point. The steering wheel and steering gear are mechanically connected, so when the vehicle is moving straight, the steering wheel may be offset and in a non-zero position.

[0003] For steer-by-wire systems, since there is no mechanical connection between the steering wheel and the steering gear, there is an opportunity to decouple the steering wheel angle from the steering gear angle when the steering gear is learning to drive straight.

[0004] Currently, after the steering gear completes straight-ahead self-learning, the offset between the vehicle's straight-ahead position and the steering gear angle sensor's zero position is stored in memory when the vehicle is powered off and read back on the next power-on. This allows the steering wheel to be at zero position, corresponding to the steering gear's zero position, and the vehicle to be in a straight-ahead state during the next ignition cycle. However, if the vehicle veers off course while driving, even after the steering gear completes straight-ahead self-learning, the steering wheel may still deflect when the vehicle is driving straight, or even if the steering wheel does not deflect when the vehicle is driving straight, requiring the next ignition cycle after the straight-ahead self-learning to complete the steering gear zero position compensation and return the steering gear to its zero position. Summary of the Invention

[0005] 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 control method for a steer-by-wire system, which can control the steering gear based on the steering wheel angle when the vehicle is traveling straight ahead and the steering wheel is in a deflected state, so that the steering gear is in a zero position during the current ignition cycle.

[0006] A second object of the present invention is to provide a control device for a steer-by-wire system.

[0007] A third object of the present invention is to provide a computer-readable storage medium.

[0008] A fourth object of the present invention is to provide a steer-by-wire system.

[0009] A fifth object of the present invention is to provide a vehicle.

[0010] To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a control method for a wire-controlled steering system, including: obtaining a steering wheel angle when determining that the vehicle is in a straight-ahead state; obtaining a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle is greater than a preset angle threshold; and controlling the steering gear based on the steering gear compensation value.

[0011] According to an embodiment of the present invention, a control method for a steer-by-wire system determines that the vehicle is traveling straight ahead by obtaining a steering wheel angle. When the absolute value of the steering wheel angle exceeds a preset angle threshold, a steering gear compensation value is obtained based on the steering wheel angle, and the steering gear is controlled based on the steering gear compensation value. This method thus enables control of the steering gear based on the steering wheel angle, even when the vehicle is traveling straight ahead and the steering wheel is in a yawed state, to ensure that the steering gear is at a zero position during the current ignition cycle.

[0012] In addition, the control method of the steer-by-wire system according to the above embodiment of the present invention may also have the following additional technical features:

[0013] According to one embodiment of the present invention, obtaining a steering gear compensation value according to a steering wheel angle includes: obtaining a steering gear angle according to the steering wheel angle; and determining a steering gear compensation value according to the steering gear angle.

[0014] According to one embodiment of the present invention, determining the steering gear compensation value according to the steering gear angle includes: taking the inverse of the steering gear angle as the steering gear compensation value.

[0015] According to one embodiment of the present invention, obtaining the steering gear angle according to the steering wheel angle includes: calling the correspondence between the steering wheel angle and the steering gear angle; and determining the steering gear angle according to the current steering wheel angle and the correspondence.

[0016] According to an embodiment of the present invention, obtaining the steering gear angle according to the steering wheel angle includes: using the steering wheel angle as the steering gear angle.

[0017] According to one embodiment of the present invention, after controlling the steering gear according to the steering gear compensation value, the control method of the wire-controlled steering system further includes: receiving a steering wheel rotation instruction; and controlling the steering wheel according to the rotation instruction, wherein the steering gear rotates following the steering wheel.

[0018] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a control device for a wire-controlled steering system, including: a first acquisition module, used to obtain the steering wheel angle when it is determined that the vehicle is in a straight-ahead state; a second acquisition module, used to obtain a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle is greater than a preset angle threshold; and a control module, used to control the steering gear based on the steering gear compensation value.

[0019] According to an embodiment of the present invention, a control device for a steer-by-wire system comprises a first acquisition module configured to acquire a steering wheel angle when the vehicle is determined to be traveling straight ahead. A second acquisition module is configured to acquire a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle exceeds a preset angle threshold. The control module is configured to control the steering gear based on the steering gear compensation value. Thus, when the vehicle is traveling straight ahead and the steering wheel is in a deflected state, the device can control the steering gear based on the steering wheel angle, ensuring that the steering gear is at a zero position during the current ignition cycle.

[0020] To achieve the above objectives, a third embodiment of the present invention proposes a computer-readable storage medium on which a control program for a wire-controlled steering system is stored. When the control program for the wire-controlled steering system is executed by a processor, the control method for the wire-controlled steering system is implemented.

[0021] According to the computer-readable storage medium of an embodiment of the present invention, the control method of the above-mentioned wire-controlled steering system is implemented during execution, and the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0022] To achieve the above-mentioned objectives, 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 control program for the wire-controlled steering system stored in the memory and runnable on the processor. When the processor executes the control program for the wire-controlled steering system, the above-mentioned control method for the wire-controlled steering system is implemented.

[0023] According to the steer-by-wire system of an embodiment of the present invention, by executing the above-mentioned control method of the steer-by-wire system, the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0024] To achieve the above-mentioned objectives, a fifth embodiment of the present invention provides a vehicle comprising the above-mentioned steer-by-wire system.

[0025] According to the vehicle of the embodiment of the present invention, by including the above-mentioned wire-controlled steering system, the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0026] 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

[0027] Figure 1is a flow chart of a control method of a steer-by-wire system according to an embodiment of the present invention;

[0028] Figure 2 A zero point schematic diagram of a steer-by-wire system according to a specific example of the present invention;

[0029] Figure 3 is a flow chart of a control method of a steer-by-wire system according to a specific example of the present invention;

[0030] Figure 4 is a block diagram of a control device for a steer-by-wire system according to an embodiment of the present invention;

[0031] Figure 5 is a block diagram of a steer-by-wire system according to an embodiment of the present invention;

[0032] Figure 6 FIG. 4 is a block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] 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.

[0034] The following describes a control method for a steer-by-wire system, a control device for a steer-by-wire system, 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.

[0035] Figure 1 4 is a flow chart of a control method of a steer-by-wire system according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the control method of the steer-by-wire system according to the embodiment of the present invention may include the following steps:

[0037] S1, when it is determined that the vehicle is in a straight-ahead state, obtain the steering wheel angle.

[0038] S2: When the absolute value of the steering wheel angle is greater than a preset angle threshold, a steering gear compensation value is obtained according to the steering wheel angle. The preset angle threshold can be determined according to actual conditions.

[0039] S3, controlling the steering gear according to the steering gear compensation value.

[0040] Specifically, when a vehicle veers off course during driving and the steering gear completes self-learning for straight-line driving, the steering wheel may be deflected while the vehicle is traveling straight. To maintain the steering wheel at its zero position, the steering wheel angle can be obtained when the vehicle is determined to be traveling straight. For example, the current steering wheel angle can be obtained using an angle sensor. After obtaining the steering wheel angle, the steering wheel angle is determined to be greater than a preset angle threshold, indicating that the vehicle's steering wheel has deflected. To ensure the vehicle's straight-line driving, the steering gear may also deflect by a certain angle. To maintain the steering gear at its zero position, a steering gear compensation value can be obtained based on the steering wheel angle. After obtaining the steering gear compensation value, the steering gear can be controlled based on the steering gear compensation value to maintain the steering gear at its zero position. This allows the steering gear to be controlled based on the steering wheel angle when the vehicle is traveling straight and the steering wheel is deflected, ensuring that the steering gear is at its zero position during the current ignition cycle.

[0041] The specific working process of the control method of the steer-by-wire system of the present invention is described in detail below.

[0042] According to one embodiment of the present invention, obtaining a steering gear compensation value according to a steering wheel angle includes: obtaining a steering gear angle according to the steering wheel angle; and determining a steering gear compensation value according to the steering gear angle.

[0043] Furthermore, according to an embodiment of the present invention, determining the steering gear compensation value according to the steering gear angle includes: taking the inverse of the steering gear angle as the steering gear compensation value.

[0044] Furthermore, according to an embodiment of the present invention, obtaining the steering gear angle according to the steering wheel angle includes: calling the correspondence between the steering wheel angle and the steering gear angle; and determining the steering gear angle according to the current steering wheel angle and the correspondence.

[0045] Specifically, when obtaining the steering gear compensation value based on the steering wheel angle, the steering gear angle can be obtained based on the steering wheel angle. For example, a pre-stored relationship table between the steering wheel angle and the steering gear angle can be called. In this relationship, the steering wheel angle and the steering gear angle correspond one to one, that is, when a steering wheel angle is determined, the corresponding steering gear angle can be determined. After determining the steering gear angle, the steering gear compensation value can be determined based on the steering gear angle, that is, the opposite of the steering gear angle is used as the steering gear compensation value. For example, the steering gear compensation value determined based on the steering gear angle is 5 degrees, so the steering gear compensation value can be determined to be -5 degrees.

[0046] According to another embodiment of the present invention, obtaining the steering gear angle according to the steering wheel angle includes: using the steering wheel angle as the steering gear angle.

[0047] Specifically, when obtaining the steering gear angle based on the steering wheel angle, the steering wheel angle can also be directly used as the steering gear angle, that is, after obtaining the steering wheel angle based on the angle sensor, the steering wheel angle is used as the steering gear angle, and after obtaining the steering gear angle, the opposite of the steering gear angle is used as the steering gear compensation value.

[0048] According to one embodiment of the present invention, after controlling the steering gear according to the steering gear compensation value, the control method of the wire-controlled steering system further includes: receiving a steering wheel rotation instruction; and controlling the steering wheel according to the rotation instruction, wherein the steering gear rotates following the steering wheel.

[0049] Specifically, after the steering gear is controlled based on the steering gear compensation value, since the steering wheel and steering gear are not mechanically connected in a steer-by-wire system and are decoupled, the steering wheel does not move with the steering gear. Therefore, during the steering gear movement, the driver will actively adjust the steering wheel angle to keep the vehicle moving straight. That is, after receiving the steering wheel rotation command, the steering wheel is adjusted according to the steering wheel rotation command. Simultaneously, as the steering wheel returns to its zero point, the steering gear rotates with it, ultimately returning the steering gear to the straight-ahead position and the steering wheel to its zero point. As a result, throughout the self-learning process and after completion, the steering wheel and steering gear zero points remain synchronized, eliminating the need for additional functional algorithms and requiring simple operation via driver input.

[0050] For example, if Figure 2 As shown in the figure, there may be an offset between the mechanical zero point of the steering gear (rack) and the straight-ahead zero point of the vehicle. The steering wheel may currently deflect by an angle of α. The steering gear can obtain the steering gear angle according to the steering wheel angle and slowly compensate the straight-ahead zero point position by -offset. That is, when the vehicle is currently moving straight, the steering gear angle is zero and is at the mechanical zero point position (the mechanical zero point position represents that the steering gear angle is zero). Then the original mechanical zero point position slowly becomes -offset. During the angle compensation process, the position of the steering gear will follow the position of the steering wheel, and the vehicle will deviate. In order to ensure that the vehicle travels in a straight line, the driver can adjust the steering wheel, such as Figure 2 In the process of driving, the steering wheel is turned counterclockwise. Since the steering gear follows the rotation of the steering wheel, the steering gear will also return to the straight-ahead position of the vehicle (straight-ahead zero point), and finally the steering wheel will also return to the zero position. Therefore, the steering wheel can be kept in the center position when the vehicle is driving straight, so that the straight-ahead self-learning can be performed at any time during the driving process. The steering wheel position is then adaptively adjusted to ensure that the steering wheel zero point is always synchronized with the steering gear zero point (vehicle straight-ahead state).

[0051] The following combination Figure 3 The control method of the present invention will be described.

[0052] As a specific example, the control method of the steer-by-wire system of the present invention may include the following steps:

[0053] S101, the vehicle maintains a straight-ahead state.

[0054] S102: Obtain a steering wheel angle.

[0055] S103: Determine whether the absolute value of the steering wheel angle is greater than a preset angle threshold. If yes, execute step S104; if not, execute step S102.

[0056] S104: Obtain a steering gear angle according to the steering wheel angle.

[0057] S105: Taking the opposite of the steering gear angle as a steering gear compensation value.

[0058] S106: Control the steering gear according to the steering gear compensation value.

[0059] S107: Receive a steering wheel rotation instruction.

[0060] S108: Control the steering wheel according to the rotation instruction.

[0061] In summary, according to the control method for a steer-by-wire system according to an embodiment of the present invention, when the vehicle is determined to be traveling straight, the steering wheel angle is obtained. When the absolute value of the steering wheel angle is greater than a preset angle threshold, a steering gear compensation value is obtained based on the steering wheel angle, and the steering gear is controlled based on the steering gear compensation value. Consequently, this method can control the steering gear based on the steering wheel angle when the vehicle is traveling straight and the steering wheel is in a yawed state, ensuring that the steering gear is at its zero position during the current ignition cycle.

[0062] Corresponding to the above embodiment, the present invention further proposes a control device for a steer-by-wire system.

[0063] like Figure 4 As shown, the control device 100 of the steer-by-wire system according to the embodiment of the present invention includes: a first acquisition module 110 , a second acquisition module 120 and a control module 130 .

[0064] The first acquisition module 110 is configured to acquire a steering wheel angle when the vehicle is determined to be traveling straight ahead. The second acquisition module 120 is configured to acquire a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle is greater than a preset angle threshold. The control module 130 is configured to control the steering gear based on the steering gear compensation value.

[0065] According to an embodiment of the present invention, the second acquisition module 120 acquires the steering gear compensation value according to the steering wheel angle, and is specifically configured to: acquire the steering gear angle according to the steering wheel angle; and determine the steering gear compensation value according to the steering gear angle.

[0066] According to an embodiment of the present invention, the second acquisition module 120 determines the steering gear compensation value according to the steering gear angle, and is specifically configured to use the inverse of the steering gear angle as the steering gear compensation value.

[0067] According to one embodiment of the present invention, the second acquisition module 120 acquires the steering gear angle according to the steering wheel angle, and is specifically used to: call the correspondence between the steering wheel angle and the steering gear angle; and determine the steering gear angle according to the current steering wheel angle and the correspondence.

[0068] According to an embodiment of the present invention, the second acquisition module 120 acquires the steering gear angle according to the steering wheel angle, and is specifically configured to use the steering wheel angle as the steering gear angle.

[0069] According to one embodiment of the present invention, the control module 130 is further configured to: after controlling the steering gear according to the steering gear compensation value, receive a steering wheel rotation instruction; and control the steering wheel according to the rotation instruction, wherein the steering gear rotates following the steering wheel.

[0070] It should be noted that for details not disclosed in the control device of the steer-by-wire system according to the embodiment of the present invention, please refer to the details disclosed in the control method of the steer-by-wire system according to the embodiment of the present invention, and the details will not be repeated here.

[0071] According to an embodiment of the present invention, a control device for a steer-by-wire system comprises a first acquisition module configured to acquire a steering wheel angle when the vehicle is determined to be traveling straight ahead. A second acquisition module is configured to acquire a steering gear compensation value based on the steering wheel angle when the absolute value of the steering wheel angle exceeds a preset angle threshold. The control module is configured to control the steering gear based on the steering gear compensation value. Thus, when the vehicle is traveling straight ahead and the steering wheel is in a deflected state, the device can control the steering gear based on the steering wheel angle, ensuring that the steering gear is at a zero position during the current ignition cycle.

[0072] Corresponding to the above embodiment, the present invention further proposes a computer-readable storage medium.

[0073] The computer-readable storage medium of the embodiment of the present invention stores a control program of a steer-by-wire system. When the control program of the steer-by-wire system is executed by a processor, the control method of the steer-by-wire system is implemented.

[0074] According to the computer-readable storage medium of an embodiment of the present invention, by executing the above-mentioned control method of the wire-controlled steering system, the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0075] Corresponding to the above embodiment, the present invention further proposes a steer-by-wire system.

[0076] like Figure 5 As shown, the steer-by-wire system 200 of an embodiment of the present invention may include: a memory 210, a processor 220, and a control program of the steer-by-wire system stored in the memory 210 and executable on the processor 220. When the processor 220 executes the control program of the steer-by-wire system, the control method of the steer-by-wire system described above is implemented.

[0077] According to the steer-by-wire system of an embodiment of the present invention, by executing the above-mentioned control method of the steer-by-wire system, the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0078] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0079] like Figure 6 As shown, a vehicle 300 according to an embodiment of the present invention may include the aforementioned steer-by-wire system 200 .

[0080] According to the vehicle of the embodiment of the present invention, by including the above-mentioned wire-controlled steering system, the steering gear can be controlled according to the steering wheel angle when the vehicle is in a straight-ahead state and the steering wheel is in a deflected state, so that the steering gear is in the zero position in the current ignition cycle.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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 control method for a steer-by-wire system, wherein there is no mechanical connection between the steering wheel and the steering gear, characterized in that: include: When it is determined that the vehicle is in a straight-ahead state, obtain the steering wheel angle; When the absolute value of the steering wheel angle is greater than a preset angle threshold, obtaining a steering gear angle according to the steering wheel angle, and taking the inverse of the steering gear angle as a steering gear compensation value; controlling the steering gear according to the steering gear compensation value so that the steering gear is at a zero position in a current ignition cycle; Receive steering wheel rotation instructions; The steering wheel is controlled according to the rotation instruction, wherein the steering gear rotates along with the steering wheel, so that the steering wheel returns to the zero point position and remains synchronized with the zero point of the steering gear.

2. The control method of the steer-by-wire system according to claim 1, characterized in that: Obtaining a steering gear angle according to the steering wheel angle includes: Call the corresponding relationship between the steering wheel angle and the steering gear angle; The steering gear angle is determined according to the current steering wheel angle and the corresponding relationship.

3. The control method of the steer-by-wire system according to claim 1, characterized in that: Obtaining a steering gear angle according to the steering wheel angle includes: The steering wheel angle is used as the steering gear angle.

4. A control device for a steer-by-wire system, wherein there is no mechanical connection between the steering wheel and the steering gear, characterized in that: include: A first acquisition module is used to acquire a steering wheel angle when it is determined that the vehicle is in a straight-moving state; a second acquisition module, configured to acquire a steering gear angle according to the steering wheel angle when the absolute value of the steering wheel angle is greater than a preset angle threshold, and use the inverse of the steering gear angle as a steering gear compensation value; a control module, configured to control the steering gear according to the steering gear compensation value so that the steering gear is at a zero position in a current ignition cycle; After controlling the steering gear according to the steering gear compensation value, the control module is further configured to: Receive steering wheel rotation instructions; The steering wheel is controlled according to the rotation instruction, wherein the steering gear rotates along with the steering wheel, so that the steering wheel returns to the zero point position and remains synchronized with the zero point of the steering gear.

5. A computer-readable storage medium, characterized in that A control program of a steer-by-wire system is stored thereon, and when the control program of the steer-by-wire system is executed by a processor, a control method of a steer-by-wire system 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 control program of a steer-by-wire system stored in the memory and executable on the processor. When the processor executes the control program of the steer-by-wire system, the control method of the steer-by-wire system 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