Steer-by-wire system and control method and control device therefor, storage medium

Abstract

The application discloses a steer-by-wire system and a control method and a control device thereof and a storage medium, and the method comprises the following steps: acquiring steering torques of a steering wheel in multiple scenes; receiving and responding to a trigger instruction, wherein the trigger instruction is used for indicating a target scene in the multiple scenes; and controlling the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene. According to the control method, the steering torque of the steering wheel can be individually adjusted according to the demand scene of driving, and customizable steering feel simulation can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method of a steer-by-wire system, a control device of a steer-by-wire system, a computer readable storage medium and a steer-by-wire system. BACKGROUND

[0002] In the steer-by-wire system, the mechanical intermediate shaft is cancelled, the mechanical hardware of the steering wheel and the wheel is completely decoupled, and the steering angle signal and the steering motor are used to control the wheel steering. This technology greatly promotes the integration, lightweight, networking and intelligentization of the automobile, and is a key technology for the development of new popular fields such as vehicle intelligentization and unmanned driving system.

[0003] There is no road feeling simulation in the traditional steering, because the steering wheel is directly connected with the lower part through the intermediate shaft, and the road feeling can be transmitted to the driver's hand through the mechanical connection. For the steer-by-wire system, since there is no mechanical connection between the steering column and the steering gear, the road feeling feedback of the driver is completely through the hand feeling motor to generate a resistance torque acting on the steering wheel to simulate the hand feeling. Hand feeling is a relatively abstract definition, and it is necessary to balance the accurate feedback of the road surface information like the traditional steering system or the pure simulation of the hand feeling to meet the full automatic driving. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, a first object of the present application is to provide a control method of a steer-by-wire system, by obtaining the steering torque of the steering wheel in multiple scenes, responding to the trigger instruction, and controlling the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene, so as to individualize the steering torque of the steering wheel according to the demand scene of driving, and realize the customizable steering feeling simulation.

[0005] A second object of the present application is to provide a control device of a steer-by-wire system.

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

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

[0008] To achieve the above-mentioned objects, a control method of a steer-by-wire system is provided in the first aspect of the present application, comprising: obtaining the steering torque of the steering wheel in multiple scenes; receiving and responding to the trigger instruction, wherein the trigger instruction is used to indicate a target scene in the multiple scenes; and controlling the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene.

[0009] The control method of the steer-by-wire system according to the embodiment of the present application firstly acquires the steering torque of the steering wheel in multiple scenes, then receives and responds to a trigger instruction, wherein the trigger instruction is used to indicate a target scene in the multiple scenes, and finally controls the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene. Thus, the method can individualize the steering torque of the steering wheel according to the demand scene of driving, and realize customizable steering feel simulation.

[0010] In addition, the control method of the steer-by-wire system according to the above-mentioned embodiments of the present application can also have the following additional technical features:

[0011] According to one embodiment of the present application, the multiple scenes include a road surface feedback scene, and the acquiring of the steering torque of the steering wheel in multiple scenes includes: acquiring a lateral force torque of a wheel and a state signal of a wheel controller; and determining the steering torque of the steering wheel according to the lateral force torque of the wheel and the state signal of the wheel controller.

[0012] According to one embodiment of the present application, the lateral force torque of the wheel and the steering torque of the steering wheel have a positive correlation.

[0013] According to one embodiment of the present application, the multiple scenes include a road surface recognition scene, and the acquiring of the steering torque of the steering wheel in multiple scenes includes: acquiring a road surface image; determining a road surface adhesion coefficient according to the road surface image; and determining the steering torque of the steering wheel according to the road surface adhesion coefficient.

[0014] According to one embodiment of the present application, the multiple scenes include a car game scene, and the acquiring of the steering torque of the steering wheel in multiple scenes includes: acquiring a driving mode in the car game scene; and determining the steering torque of the steering wheel according to the driving mode.

[0015] According to one embodiment of the present application, the multiple scenes include one or more of an active return-to-center scene, a damping control scene, and an end lock scene, and the acquiring of the steering torque of the steering wheel in multiple scenes includes: determining the steering torque of the steering wheel according to an active return-to-center signal, or a damping control signal, or an end lock signal.

[0016] According to one embodiment of the present application, before receiving and responding to the trigger instruction, the control method of the steer-by-wire system further includes: determining that the steer-by-wire system is in a driver-in-the-loop mode.

[0017] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a control device of a steer-by-wire system, which includes: an acquisition module, configured to acquire the steering torque of the steering wheel in multiple scenes; a receiving module, configured to receive and respond to a trigger instruction, wherein the trigger instruction is used to indicate a target scene in the multiple scenes; and a control module, configured to control the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene.

[0018] The control device of the steer-by-wire system according to the embodiment of the present application, the obtaining module is used to obtain the steering torque of the steering wheel in multiple scenes, the receiving module is used to receive and respond to a trigger instruction, wherein the trigger instruction is used to indicate a target scene in the multiple scenes, and the control module is used to control the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene. Thus, the device can individually adjust the steering torque of the steering wheel according to the demand scene of driving, and realize customizable steering feel simulation.

[0019] To achieve the above object, the third aspect of the present application provides a computer readable storage medium, which stores a control program of a steer-by-wire system, and the control program of the steer-by-wire system is executed by a processor to implement the control method of the steer-by-wire system.

[0020] The computer readable storage medium according to the embodiment of the present application, by executing the control method of the steer-by-wire system, can individually adjust the steering torque of the steering wheel according to the demand scene of driving, and realize customizable steering feel simulation.

[0021] To achieve the above object, the fourth aspect of the present application provides a steer-by-wire system, which comprises a memory, a processor, and a control program of the steer-by-wire system stored in the memory and executable on the processor, and the control method of the steer-by-wire system is implemented when the processor executes the program.

[0022] The steer-by-wire system according to the embodiment of the present application, by executing the control method of the steer-by-wire system, can individually adjust the steering torque of the steering wheel according to the demand scene of driving, and realize customizable steering feel simulation.

[0023] Additional aspects and advantages of the present application will be made apparent by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Flow chart of the control method of the steer-by-wire system according to the embodiment of the present application;

[0025] Figure 2 Flow chart of the control method of the steer-by-wire system according to one specific example of the present application;

[0026] Figure 3 Block schematic diagram of the control device of the steer-by-wire system according to the embodiment of the present application;

[0027] Figure 4 Block schematic diagram of the steer-by-wire system according to the embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described below in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0029] The most prominent feature of the steer-by-wire system is the removal of the traditional mechanical intermediate shaft, and the entire system can be divided into upper and lower parts, which are completely realized by the transmission of electrical signals to achieve the lateral movement of the vehicle. The upper part is the hand feel simulator HWA (Hand Wheel Actuator) connected to the steering wheel; the lower part is the road wheel actuator RWA (Road Wheel Actuator) connected to the wheels. The main function of the hand feel simulator HWA is to provide the driver with a hand feel simulation and to provide the driver's angle input to the RWA. The main function of the road wheel actuator RWA is to rotate the wheels according to the angle request, thereby realizing the turning of the vehicle, and at the same time providing state feedback and road feel feedback to the HWA.

[0030] The vehicle equipped with steer-by-wire has two operation modes. One is the automatic driving mode, i.e., the driver is not in the loop, and the driver does not intervene the steering wheel at all. The vehicle turns according to the instructions of the automatic driving host computer to realize the lateral movement of the vehicle, which is the opportunity and driving force for the development of steer-by-wire technology to realize higher automatic driving and intelligent driving. The other is the manual operation mode, including the angle input of pure manual driving and the angle superposition of intelligent auxiliary driving, i.e., the driver is in the loop. By turning the steering wheel, the driver realizes the turning of the vehicle according to the driver's intention.

[0031] In the mode of the driver in the loop, when the driver turns the steering wheel, the angle and torque sensors of the HWA measure the steering angle, direction and steering input force, and at the same time, combine the vehicle state information to transmit to the RWA module controller. The controller analyzes and processes the collected signals and sends torque instructions to the steering motor to change the wheel angle and adjust the vehicle's driving trajectory. At the same time, the angle sensor of the RWA tracks the tire angle and feeds back the position information to the control module, thereby realizing closed-loop control of the wheel position. In addition to manual driving, the steer-by-wire system can also accept and execute instructions superimposed from other systems of the vehicle, such as the LKA (Lane Keep Assistance, lane keeping system) auxiliary driving function, when the driver is in the loop.

[0032] Another feature of the steer-by-wire system is that the driver's hand feeling is simulated by the force feedback module, and the simulation of the hand feeling becomes an important evaluation index. Based on the information fed back by the angle sensor and other vehicle dynamics sensors, the force feedback controller generates hand feeling simulation through a preset road feeling algorithm to provide the driver with correct road feeling information. The present application proposes a control method for the steer-by-wire system, and the driver can autonomously select personalized adjustment according to the driving demand scene to complete full-road feedback or simulated driving feedback or active road feeling feedback.

[0033] The control method for the steer-by-wire system, the control device for the steer-by-wire system, the computer readable storage medium and the steer-by-wire system according to the embodiments of the present application are described below with reference to the accompanying drawings.

[0034] Figure 1 A flowchart of the control method for the steer-by-wire system according to the embodiments of the present application is shown in FIG. 1.

[0035] As shown in FIG. 2, the control method for the steer-by-wire system according to the embodiments of the present application can include the following steps: Figure 1

[0036] S1, acquiring steering torques of a steering wheel in multiple scenes.

[0037] S2, receiving and responding to a trigger instruction, wherein the trigger instruction is used to indicate a target scene in the multiple scenes.

[0038] S3, controlling the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scene.

[0039] ​Specifically, when the driver controls the steering wheel to overcome the steering torque of the steering wheel to accurately feedback the road surface information like a traditional steering system to generate a steering feel, the steering torque of the steering wheel in multiple scenes can be obtained first. The steering torque of the steering wheel in different scenes can be the same or different. For example, in the desert environment, the vehicle needs to overcome a larger resistance to successfully steer, that is, the steering torque of the steering wheel is also larger. In the ice surface environment, the friction between the ice surface and the wheel is smaller, that is, the steering torque of the steering wheel is also smaller. After obtaining the steering torque of the steering wheel in multiple scenes, the user can select, for example, through HIM (Human Machine Interaction), a plurality of scenes stored in the vehicle program for the driver to select, so that the driver can determine the current need for a scene in multiple scenes, that is, receive and respond to a target scene in multiple scenes. After the user successfully selects the target scene, the steering wheel can be controlled according to the trigger instruction of selecting the target scene and the steering torque of the steering wheel in the current target scene. For example, a relationship table can be searched, in which the steering torque of the steering wheel in each scene is stored. After the target scene is determined, the steering torque of the steering wheel in the target scene can be determined, so as to control the steering wheel. Thus, the steering torque of the steering wheel can be personalized according to the demand scene of driving, and a customizable steering feel simulation is realized.

[0040] The specific working process of the control method of the steer-by-wire system of the application is described in detail below.

[0041] According to an embodiment of the application, the multiple scenes include a road surface feedback scene, and obtaining the steering torque of the steering wheel in multiple scenes includes: obtaining a lateral force torque of a wheel and a state signal of a wheel controller; and determining the steering torque of the steering wheel according to the lateral force torque of the wheel and the state signal of the wheel controller.

[0042] Specifically, the multiple scenes can include a road surface feedback scene. When it is received that the target scene is the road surface feedback scene, the lateral force torque of the wheel and the state signal of the wheel controller can be obtained first when the steering torque of the steering wheel is obtained. When the vehicle is steering, the wheel controller will generate a lateral force torque to drive the vehicle to steer. For example, a table can be searched, in which the output torque of the motor and the size of the lateral force torque of the wheel are in a one-to-one correspondence. After the output torque of the motor is determined, the lateral force torque of the wheel can be determined. In addition, the lateral force torque of the wheel can also be calculated according to the output torque of the motor by combining a vehicle dynamics model.

[0043] In addition, in determining the steering torque of the steering wheel, not only the lateral force moment of the wheel is considered, but also the state information of the current wheel controller, i.e., the state signal of the wheel controller is acquired, for example, the motor of the current vehicle controller has exceeded the maximum working capacity, i.e., the response following state caused by the capacity overrun, which needs to be fed back, and for example, the output degradation state of the current vehicle controller caused by voltage and overheating, which needs to be fed back, the steering torque of the steering wheel determined according to the lateral force moment of the wheel is adaptively adjusted, for example, when the state signal of the wheel controller is the degradation state signal, the steering torque of the steering wheel can be adaptively reduced to prevent more severe situations from occurring, i.e., the steering torque of the steering wheel is determined according to the lateral force moment of the wheel and the state signal of the wheel controller, which can realize real-time road feel feedback and hand feeling simulation when the user steers the steering wheel according to the torque, and improve the user driving experience.

[0044] According to an embodiment of the present application, the lateral force moment of the wheel and the steering torque of the steering wheel are in a positive correlation.

[0045] Specifically, the lateral force moment of the wheel and the steering torque of the steering wheel are in a positive correlation, i.e., when the lateral force moment of the wheel is greater, the steering torque of the steering wheel is also greater, and when the lateral force moment of the wheel is smaller, the steering torque of the steering wheel is also smaller, so that the driver can have a better hand feeling simulation and driving pleasure when steering according to the steering torque of the steering wheel determined by the lateral force moment of the wheel.

[0046] According to an embodiment of the present application, the plurality of scenes include a road surface identification scene, and the steering torque of the steering wheel in the plurality of scenes is acquired, including: acquiring a road surface image; determining a road surface adhesion coefficient according to the road surface image; and determining the steering torque of the steering wheel according to the road surface adhesion coefficient.

[0047] Specifically, the multiple scenes can include a road surface identification scene, when it is received that the target scene is the road surface identification scene, in the process of acquiring the steering torque of the steering wheel, a road surface image can be acquired first, for example, the road surface information in front of the vehicle during driving can be captured in real time through a vehicle body camera, after the road surface image is acquired, a corresponding processing algorithm can be used, that is, the identification of a typical road surface, the road surface adhesion coefficient can be determined according to the road surface image, the adhesion coefficient is the ratio of the adhesion force to the wheel normal (perpendicular to the road surface) pressure, which can be regarded as the static friction coefficient between the tire and the road surface, determined by the road surface and the tire, the larger the coefficient, the greater the adhesion force that can be used, and the less likely the car is to skid, different road surfaces correspond to different road surface adhesion coefficients, for example, in a rainy and snowy road surface, the road surface adhesion coefficient determined according to the road surface image is larger, and in a rough road surface such as land or desert, the road surface adhesion coefficient determined according to the road surface image is smaller, thus the steering torque of the steering wheel can be determined according to the road surface adhesion coefficient, for example, a table lookup method can be used, in the table, the road surface adhesion coefficient and the steering torque of the steering wheel are in one-to-one correspondence, after the road surface adhesion coefficient is determined, the corresponding steering torque of the steering wheel can be determined. Thus, when the user steers the steering wheel according to the torque, the user can simulate the hand feeling brought by the corresponding environment, that is, the active road feeling hand feeling simulation is realized according to the visual identification of the typical road surface characteristics, and the user driving experience is improved.

[0048] According to an embodiment of the present application, the multiple scenes include a car-machine game scene, and the steering torque of the steering wheel in the multiple scenes is acquired by: acquiring a driving mode in the car-machine game scene; and determining the steering torque of the steering wheel according to the driving mode.

[0049] Specifically, the multiple scenes can include a car-machine game scene, when it is received that the target scene is the road surface identification scene, in the process of acquiring the steering torque of the steering wheel, a road surface image can be acquired first, for example, the road surface information in front of the vehicle during driving can be captured in real time through a vehicle body camera, after the road surface image is acquired, a corresponding processing algorithm can be used, that is, the identification of a typical road surface, the road surface adhesion coefficient can be determined according to the road surface image, the adhesion coefficient is the ratio of the adhesion force to the wheel normal (perpendicular to the road surface) pressure, which can be regarded as the static friction coefficient between the tire and the road surface, determined by the road surface and the tire, the larger the coefficient, the greater the adhesion force that can be used, and the less likely the car is to skid, different road surfaces correspond to different road surface adhesion coefficients, for example, in a rainy and snowy road surface, the road surface adhesion coefficient determined according to the road surface image is larger, and in a rough road surface such as land or desert, the road surface adhesion coefficient determined according to the road surface image is smaller, thus the steering torque of the steering wheel can be determined according to the road surface adhesion coefficient, for example, a table lookup method can be used, in the table, the road surface adhesion coefficient and the steering torque of the steering wheel are in one-to-one correspondence, after the road surface adhesion coefficient is determined, the corresponding steering torque of the steering wheel can be determined. Thus, when the user steers the steering wheel according to the torque, the user can simulate the hand feeling brought by the corresponding environment, that is, the active road feeling hand feeling simulation is realized according to the visual identification of the typical road surface characteristics, and the user driving experience is improved.

[0050] According to an embodiment of the present application, the multiple scenes include one or more of an active return-to-center scene, a damping control scene, and an end lock scene, and the steering torque of the steering wheel in the multiple scenes is acquired by: determining the steering torque of the steering wheel according to an active return-to-center signal, or a damping control signal, or an end lock signal.

[0051] Specifically, the plurality of scenarios include one or more of an active return-to-center scenario, a damping control scenario, and an end lock scenario, and when the steering torque of the steering wheel is obtained in the plurality of scenarios, the steering torque of the steering wheel can also be determined according to the active return-to-center signal, or the damping control signal, or the end lock signal. For example, when the driver releases the steering wheel after steering, if the current steering wheel is not at the center, a PID control can be used to determine the steering torque of the steering wheel according to the active return-to-center signal, so that the steering wheel returns from a non-zero angle (the steering wheel is at the center position). For another example, when the driver hits the steering wheel to the end, the steering torque of the steering wheel can be determined according to the end lock signal to unlock the steering wheel, and for another example, the steering torque of the steering wheel can be determined according to the damping control signal to adjust the steering torque of the steering wheel and improve the stability of the curve driving.

[0052] According to an embodiment of the present application, before receiving and responding to the trigger instruction, the control method of the steer-by-wire system further comprises: determining that the steer-by-wire system is in a driver-in-the-loop mode.

[0053] Specifically, before receiving and responding to the trigger instruction, it is necessary to determine that the steer-by-wire system is in a driver-in-the-loop mode, that is, in the driver-in-the-loop mode, when the driver turns the steering wheel, the angle and torque sensor of the HWA measures the steering angle, direction and steering input force of the steering wheel, and combines the vehicle state information to transmit to the RWA module controller. The controller analyzes and processes the collected signals and sends torque instructions to the steering motor to change the wheel angle, adjust the vehicle trajectory, and according to the driver's intention, select the corresponding trigger instruction, so that the driver can autonomously select the steering torque of the steering wheel according to the driving demand scenario to realize the customizable steering feel simulation.

[0054] The control method of the present application will be described below in conjunction with Figure 2

[0055] As a specific example, the control method of the steer-by-wire system of the present application can include the following steps:

[0056] S101, obtaining the steering torque of the steering wheel in a plurality of scenarios.

[0057] S102, determining whether the steer-by-wire system is in a driver-in-the-loop mode. If yes, step S103 is executed; if no, step S101 is executed.

[0058] S103, receiving and responding to the trigger instruction, and selecting to enter step S104, S106, S109 according to the trigger instruction.

[0059] ​S104, when the scenario is a road feedback scenario, acquire the lateral torque of the wheel and the status signal of the wheel controller.

[0060] S105, determine the steering torque of the steering wheel based on the lateral torque of the wheel and the status signal of the wheel controller, and proceed to step S111.

[0061] S106, when the scenario is a road surface recognition scenario, acquire the road surface image.

[0062] S107, Determine the road surface adhesion coefficient based on the road surface image.

[0063] S108, determine the steering torque of the steering wheel based on the road surface adhesion coefficient, and proceed to step S111.

[0064] S109, when the scenario is a car game scenario, obtain the driving mode under the car game scenario.

[0065] S110, determine the steering torque of the steering wheel according to the driving mode, and proceed to step S111.

[0066] S111 controls the steering wheel based on the steering torque.

[0067] In addition, multiple scenarios may include one or more of the following: active return-to-center scenario, damping control scenario, and end-of-line lock scenario. The steering torque of the steering wheel can be determined based on the active return-to-center signal, or the damping control signal, or the end-of-line lock signal.

[0068] In summary, the control method of the steer-by-wire system according to embodiments of the present invention first acquires the steering torque of the steering wheel under multiple scenarios, then receives and responds to trigger commands, wherein the trigger commands represent a target scenario among the multiple scenarios, and finally controls the steering wheel according to the trigger commands and the steering torque of the steering wheel under the target scenario. Therefore, this method can personalize the steering torque of the steering wheel according to the driving needs of the scenario, achieving customizable steering feel simulation.

[0069] Corresponding to the above embodiments, the present invention also proposes a control device for a steer-by-wire system.

[0070] 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 receiving module 120, and a control module 130.

[0071] The acquisition module 110 is used to acquire the steering torque of the steering wheel in multiple scenarios. The receiving module 120 is used to receive and respond to trigger commands, wherein the trigger commands represent the target scenario among the multiple scenarios. The control module 130 is used to control the steering wheel according to the trigger commands and the steering torque of the steering wheel in the target scenario.

[0072] According to an embodiment of the present application, the plurality of scenarios includes a road surface feedback scenario, and the obtaining module 110 obtains the steering torque of the steering wheel in the plurality of scenarios, specifically for: obtaining a lateral force moment of the wheel and a state signal of the wheel controller; and determining the steering torque of the steering wheel according to the lateral force moment of the wheel and the state signal of the wheel controller.

[0073] According to an embodiment of the present application, the lateral force moment of the wheel and the steering torque of the steering wheel are in a positive correlation.

[0074] According to an embodiment of the present application, the plurality of scenarios includes a road surface identification scenario, and the obtaining module 110 obtains the steering torque of the steering wheel in the plurality of scenarios, specifically for: obtaining a road surface image; determining a road surface adhesion coefficient according to the road surface image; and determining the steering torque of the steering wheel according to the road surface adhesion coefficient.

[0075] According to an embodiment of the present application, the plurality of scenarios includes a car game scenario, and the obtaining module 110 obtains the steering torque of the steering wheel in the plurality of scenarios, specifically for: obtaining a driving mode in the car game scenario; and determining the steering torque of the steering wheel according to the driving mode.

[0076] According to an embodiment of the present application, the plurality of scenarios includes one or more of an active return-to-center scenario, a damping control scenario, and an end lock scenario, and the obtaining module 110 obtains the steering torque of the steering wheel in the plurality of scenarios, specifically for: determining the steering torque of the steering wheel according to an active return-to-center signal, or a damping control signal, or an end lock signal.

[0077] According to an embodiment of the present application, the receiving module 120 is further configured to: determine that the steer-by-wire system is in a driver-in-the-loop mode before receiving and responding to the trigger instruction.

[0078] It should be noted that details of the control device of the steer-by-wire system in the embodiments of the present application are not disclosed, and please refer to the details disclosed in the control method of the steer-by-wire system in the embodiments of the present application, which will not be described here in detail.

[0079] According to the control device of the steer-by-wire system in the embodiments of the present application, the obtaining module is configured to obtain the steering torque of the steering wheel in the plurality of scenarios, the receiving module is configured to receive and respond to the trigger instruction, wherein the trigger instruction is used to indicate a target scenario in the plurality of scenarios, and the control module is configured to control the steering wheel according to the trigger instruction and the steering torque of the steering wheel in the target scenario. Therefore, the device can individualize the steering torque of the steering wheel according to the demand scenario of driving, and realize customizable steering feel simulation.

[0080] Corresponding to the above-mentioned embodiments, the present application further provides a computer readable storage medium.

[0081] The computer readable storage medium of the embodiment of the present application, on which the control program of the steer-by-wire system is stored, implements the control method of the steer-by-wire system when executed by the processor.

[0082] The computer readable storage medium of the embodiment of the present application, by executing the control method of the steer-by-wire system, can individually adjust the steering torque of the steering wheel according to the demand scenario of driving, and realize customizable steering feel simulation.

[0083] Corresponding to the above embodiment, the present application also provides a steer-by-wire system.

[0084] As shown in Figure 4 The steer-by-wire system 200 of the embodiment of the present application can include a memory 210, a processor 220, and a control program of the steer-by-wire system stored on the memory 210 and executable on the processor 220, and the processor 220 implements the control method of the steer-by-wire system when executing the control program of the steer-by-wire system.

[0085] The steer-by-wire system of the embodiment of the present application, by executing the control method of the steer-by-wire system, can individually adjust the steering torque of the steering wheel according to the demand scenario of driving, and realize customizable steering feel simulation.

[0086] 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 list of executable instructions for implementing logic functions, which can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus or device, such as a computer-based system, a system that includes a processor, or other system that can fetch the instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instruction execution systems, apparatus or devices. For the 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 connection with an instruction execution system, apparatus or device, or in conjunction with these instruction execution systems, apparatus or devices. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection having one or more wires (electronic devices), a portable computer diskette (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, a computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be electronically obtained, for example, by optical scanning of the paper or other medium, followed by electronic conversion of the optical scanning into the program, and then storing the program in a computer memory if necessary.

[0087] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the embodiments described above, a number of steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any of the following techniques, or combinations thereof, can be utilized to implement the various techniques described herein: a discrete logic circuit(s) having logic gates for implementing logic functions upon data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array(s) (PGA), a field programmable gate array (FPGA), and / or the like.

[0088] In the description of the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like, are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example of the application, nor are separate or alternative embodiments or examples mutually exclusive of one another. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0089] Furthermore, the terms "first", "second", and the like, do not necessarily indicate any order, quantity, combination, or importance, but rather are used to nomenclature different components and / or structures of the application. Thus, a "first" and / or "second" feature can include one or more of the described features, either explicitly or implicitly, regardless of the specific labeling. The term "plurality" means at least two, for example, two, three, or the like, unless otherwise specifically indicated or limited in the specification.

[0090] In the present application, unless otherwise specifically indicated and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0091] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary, and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A control method for a steer-by-wire system, characterized in that, The method includes: Obtain the steering torque of the steering wheel in multiple scenarios; Receive and respond to a trigger instruction, wherein the trigger instruction is used to represent a target scenario among the plurality of scenarios, the plurality of scenarios including one or more of the following: vehicle game scenario, active return scenario, damping control scenario and end-lock scenario; The steering wheel is controlled according to the trigger command and the steering torque of the steering wheel in the target scenario; Before receiving and responding to the trigger command, the method further includes: The steer-by-wire system is determined to be in driver-in-the-loop mode.

2. The control method for the steer-by-wire system according to claim 1, characterized in that, The multiple scenarios include road feedback scenarios, and the steering torque of the steering wheel is obtained under multiple scenarios, including: Acquire the lateral torque of the wheel and the status signal of the wheel controller; The steering torque of the steering wheel is determined based on the lateral torque of the wheel and the status signal of the wheel controller.

3. The control method for the steer-by-wire system according to claim 2, characterized in that, The lateral torque of the wheel is positively correlated with the steering torque of the steering wheel.

4. The control method for the steer-by-wire system according to claim 1, characterized in that, The multiple scenarios include road surface recognition scenarios, and the steering torque of the steering wheel is obtained in multiple scenarios, including: Acquire road surface images; Determine the road surface adhesion coefficient based on the road surface image; The steering torque of the steering wheel is determined based on the road surface adhesion coefficient.

5. The control method for the steer-by-wire system according to claim 1, characterized in that, The multiple scenarios include in-vehicle game scenarios, and the steering torque of the steering wheel is obtained in multiple scenarios, including: Obtain the driving mode in the aforementioned in-vehicle game scenario; The steering torque of the steering wheel is determined according to the driving mode.

6. The control method for the steer-by-wire system according to claim 1, characterized in that, The multiple scenarios include one or more of the following: active return-to-center scenario, damping control scenario, and end-of-line lock scenario. The steering torque of the steering wheel under these multiple scenarios is obtained, including: The steering torque of the steering wheel is determined based on the active return-to-center signal, the damping control signal, or the end-lock signal.

7. A control device for a steer-by-wire system, characterized in that, The control device of the steer-by-wire system implements the control method of the steer-by-wire system according to any one of claims 1-6, including: The acquisition module is used to acquire the steering torque of the steering wheel in multiple scenarios; A receiving module is used to receive and respond to a triggering instruction, wherein the triggering instruction is used to represent a target scene among the plurality of scenes; The control module is used to control the steering wheel according to the trigger command and the steering torque of the steering wheel under the target scenario.

8. 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 1-6.

9. A steer-by-wire system, 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 1-6.

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