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

Abstract

The application discloses a steer-by-wire system and a control method and device thereof, a storage medium and a vehicle. The method comprises the following steps: receiving a steering request signal, a steering request angle and a steering wheel steering angle; in the case that the steer-by-wire system meets a preset condition, determining a target steering angle according to the steering request angle and the steering wheel steering angle; and controlling a steering controller of the steer-by-wire system according to the target steering angle. According to the control method, the steering wheel does not shake and the steering force does not fluctuate during steering, interference on the operation of the driver is avoided, and the safety is higher.

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, a steer-by-wire system and a vehicle. BACKGROUND

[0002] For a traditional vehicle, when a dangerous working condition such as understeering / oversteering, fishtailing or sideslipping of the vehicle is detected, there are generally two schemes for adjusting the vehicle posture: scheme one, adjusting the braking force of each of the four wheels to realize adjustment of the vehicle motion posture; and scheme two, sending a torque request to an electric power steering device, and the steering device executes steering after receiving the request, and adjusts the vehicle posture in cooperation with the braking force. Compared with scheme one, scheme two introduces steering operation, and the control means is more flexible and efficient, but it also causes a new problem of conflict between manual steering of the driver and active steering of the steering device.

[0003] At present, during the process of dynamically adjusting the vehicle posture, if only braking intervention is performed, the adjustment process is slow, and if the steering device actively steers, the steering wheel will rapidly rotate, which will interfere with the steering intention of the driver in terms of both vision and hand feeling, and there is a problem of coordination between man and machine. 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, wherein, when the steer-by-wire system meets certain conditions, a target steering angle is determined according to a steering request angle and a steering wheel steering angle, and a steering controller of the steer-by-wire system is controlled according to the target steering angle, so that during active steering, the steering wheel will not shake and the steering force will not fluctuate, thereby avoiding interference with the driver's operation and improving safety.

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

[0009] To achieve the above object, the first aspect of the present application provides a control method of a steer-by-wire system, comprising: receiving a steering request signal, a steering request angle and a steering wheel steering angle; determining a target steering angle according to the steering request angle and the steering wheel steering angle in the case that the steer-by-wire system meets a preset condition; and controlling a steering controller of the steer-by-wire system according to the target steering angle.

[0010] The control method of the steer-by-wire system according to the embodiment of the present application firstly receives a steering request signal, a steering request angle and a steering wheel steering angle, then determines a target steering angle according to the steering request angle and the steering wheel steering angle in the case that the steer-by-wire system meets a preset condition, and finally controls a steering controller of the steer-by-wire system according to the target steering angle. Thus, the method can not cause the steering wheel to shake and the hand force to fluctuate in the active steering process, avoids interference to the driver's operation, and is safer.

[0011] In addition, the control method of the steer-by-wire system according to the above embodiment of the present application can have the following additional technical features:

[0012] According to an embodiment of the present application, the determination of the target steering angle according to the steering request angle and the steering wheel steering angle comprises: determining the target steering angle according to the sum of the steering request angle and the steering wheel steering angle.

[0013] According to an embodiment of the present application, the preset condition comprises: normal operation of the steer-by-wire system; validity of a vehicle speed signal; validity of the steering wheel steering angle; validity of a wheel steering angle; an angle difference between the steering request angle and the wheel steering angle being less than a first angle threshold; and the sum of the steering request angle and the steering wheel steering angle being less than a maximum allowable wheel steering angle threshold.

[0014] According to an embodiment of the present application, the preset condition further comprises: completion of the last steering request signal.

[0015] According to an embodiment of the present application, after the control of the steering controller of the steer-by-wire system according to the target steering angle, the control method of the steer-by-wire system further comprises: when a steering exit request signal is received, controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time.

[0016] According to an embodiment of the present application, after the control of the steering controller of the steer-by-wire system according to the target steering angle, the control method of the steer-by-wire system further comprises: in the case that a fault of the steer-by-wire system is determined, or the vehicle speed signal is invalid, or the steering wheel steering angle is invalid, or the wheel steering angle is invalid, controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time.

[0017] According to one embodiment of the present application, the control method of the steer-by-wire system according to the steering request angle and the preset exit time includes: determining the exit time of the steering request signal according to the steering request angle and the preset reduction rate; if the exit time of the steering request signal is less than the preset exit time, controlling the steer-by-wire system to exit the steering request signal according to the exit time of the steering request signal; and if the exit time of the steering request signal is greater than or equal to the preset exit time, controlling the steer-by-wire system to exit the steering request signal according to the preset exit time.

[0018] According to one embodiment of the present application, when the steering request signal is received, the control method of the steer-by-wire system further includes: in the case that it is determined that the steer-by-wire system has a fault, or the vehicle speed signal of the vehicle is invalid, or the steering angle of the wheel is invalid, or the steering request signal is invalid, sending a fault information.

[0019] To achieve the above object, the second aspect of the present application provides a control device of a steer-by-wire system, comprising: a receiving module, configured to receive a steering request signal, a steering request angle and a steering angle of a steering wheel; a determining module, configured to determine a target steering angle according to the steering request angle and the steering angle of the steering wheel in the case that the steer-by-wire system meets a preset condition; and a control module, configured to control a steering controller of the steer-by-wire system according to the target steering angle.

[0020] The control device of the steer-by-wire system according to the embodiment of the present application, the receiving module is configured to receive a steering request signal, a steering request angle and a steering angle of a steering wheel, the determining module is configured to determine a target steering angle according to the steering request angle and the steering angle of the steering wheel in the case that the steer-by-wire system meets a preset condition, and the control module is configured to control a steering controller of the steer-by-wire system according to the target steering angle. Thus, the device can not cause the steering wheel to shake and the steering force to fluctuate during the active steering process, avoids interference to the driver's operation, and is safer.

[0021] 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.

[0022] The computer readable storage medium according to the embodiment of the present application, by being executed, implements the control method of the steer-by-wire system, can not cause the steering wheel to shake and the steering force to fluctuate during the active steering process, avoids interference to the driver's operation, and is safer.

[0023] To achieve the above object, the fourth aspect of the present application provides a steer-by-wire system, comprising a memory, a processor, and a control program of the steer-by-wire system stored in the memory and capable of running on the processor, wherein the processor implements the control method of the steer-by-wire system when executing the program.

[0024] According to the steer-by-wire system of the embodiment of the present application, by executing the control method of the steer-by-wire system, the steering wheel is not caused to shake and the steering force is not caused to fluctuate during the active steering, so that the driver is not disturbed in operation, and the safety is higher.

[0025] To achieve the above object, the fifth aspect of the present application provides a vehicle, comprising a controller and the steer-by-wire system, wherein the controller is configured to send a steering request signal and a steering request angle to the steer-by-wire system.

[0026] According to the vehicle of the embodiment of the present application, by comprising the controller and the steer-by-wire system, the steering wheel is not caused to shake and the steering force is not caused to fluctuate during the active steering, so that the driver is not disturbed in operation, and the safety is higher.

[0027] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 Flow chart of the control method of the steer-by-wire system according to the embodiment of the present application;

[0029] Figure 2 Flow chart of the control method of the steer-by-wire system according to one specific example of the present application;

[0030] Figure 3 Block schematic diagram of the control device of the steer-by-wire system according to the embodiment of the present application;

[0031] Figure 4 Block schematic diagram of the steer-by-wire system according to the embodiment of the present application;

[0032] Figure 5 Block schematic diagram of the vehicle according to the embodiment of the present application. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0034] A control method of a steer-by-wire system, a control device of a steer-by-wire system, a computer readable storage medium, a steer-by-wire system and a vehicle are provided.

[0035] Figure 1 A flow chart of the control method of the steer-by-wire system according to an embodiment of the present application.

[0036] As shown in Figure 1 The control method of the steer-by-wire system according to an embodiment of the present application can comprise the following steps:

[0037] S1, receiving a steering request signal, a steering request angle and a steering wheel steering angle.

[0038] S2, determining a target steering angle according to the steering request angle and the steering wheel steering angle when the steer-by-wire system meets a preset condition.

[0039] S3, controlling a steering controller of the steer-by-wire system according to the target steering angle.

[0040] Specifically, when the upper computer (vehicle attitude control system, generally a brake controller) detects that the vehicle motion state is abnormal during the driving of the vehicle, for example, when the upper computer detects that the vehicle has excessive steering, or insufficient steering, or the vehicle has a dangerous working condition such as fishtailing or sideslipping, steering intervention is required, and the active steering mode request and angle request signal are sent to ensure the safety of the vehicle during driving, that is, the steering request signal and the steering request angle are sent. During steering control, considering that there may be a certain angle of the current steering wheel, the steering request signal, the steering request angle and the current steering wheel steering angle need to be received. Exemplarily, when a person is driving, the steering wheel steering angle can be obtained by measuring and calculating the angle of the steering wheel rotation through the steering wheel rotation sensor when the driver rotates the steering wheel; when there is no one driving, the steering wheel signal input by the intelligent driving system can be obtained.

[0041] When the vehicle motion state is abnormal, directly controlling the steering controller according to the steering request angle may cause the steering wheel to rotate rapidly, which interferes with the steering intention of the driver. If only the braking intervention is used, the adjustment process is slow. Therefore, the steering request angle and the steering wheel steering angle are considered to control the steering controller. When the online steering system meets the preset conditions, for example, the online steering system is normal and no fault occurs, the steering request angle and the steering wheel steering angle are considered, the target steering angle is determined according to the steering request angle and the steering wheel steering angle, and the steering controller of the online steering system is controlled according to the target steering angle, that is, the steering is performed by the steering request angle and the steering wheel steering angle. Therefore, the conflict between the manual steering of the driver and the active steering of the steering device is solved, the steering wheel does not shake and the hand force fluctuates during the active steering of the vehicle, the interference on the driver is avoided, and the safety is higher.

[0042] The specific working process of the control method of the online steering system of the application is described in detail below.

[0043] According to one embodiment of the application, the target steering angle is determined according to the steering request angle and the steering wheel steering angle, which comprises: determining the target steering angle according to the sum of the steering request angle and the steering wheel steering angle.

[0044] Specifically, when the target steering angle is determined according to the steering request angle and the steering wheel steering angle, the steering request angle and the steering wheel steering angle are added as the target steering angle. For example, the current steering request angle is 10 degrees, the steering wheel steering angle is 20 degrees, and the current target steering angle determined according to the sum of the steering request angle and the steering wheel steering angle is 30 degrees.

[0045] According to one embodiment of the application, the preset conditions include: the online steering system is normal; the vehicle speed signal of the vehicle is valid; the steering wheel steering angle is valid; the wheel steering angle is valid; the angle difference between the steering request angle and the wheel steering angle is less than a first angle threshold; and the sum of the steering request angle and the steering wheel steering angle is less than a maximum wheel steering angle threshold. The first angle threshold can be determined according to the actual situation, and the maximum wheel steering angle threshold can be determined when the vehicle is manufactured.

[0046] Specifically, in the case that the steer-by-wire system meets preset conditions, the target steering angle can be determined according to the steering request angle and the steering wheel steering angle, wherein the preset conditions can include: the steer-by-wire system is in a normal operating state, and the vehicle speed signal of the vehicle is valid, and in order to ensure that the steering intention of the driver can be conveyed, that is, when the steering angle is obtained, it is necessary to ensure that the steering wheel steering angle is valid, and in order to ensure that the vehicle can normally steer, it is also necessary to ensure that the wheel steering angle is valid, and the angle difference between the steering request angle and the wheel steering angle is less than a first angle threshold, that is, the difference between the steering request angle and the wheel steering angle cannot be too large, and if the difference is too large, the vehicle will suddenly steer and the posture will suddenly change, which will cause a safety problem. In addition, the vehicle wheel has a maximum allowable steering angle threshold, that is, when the vehicle is steering, the steering angle of the wheel will not exceed the maximum allowable steering angle threshold, and when the target steering angle is determined according to the sum of the steering request angle and the steering wheel steering angle, it is also necessary to ensure that the sum of the steering request angle and the steering wheel steering angle is less than the maximum allowable steering angle threshold of the wheel, so as to prevent the superimposed angle from being too large and exceeding the maximum allowable steering angle threshold of the wheel.

[0047] According to an embodiment of the present application, the preset conditions further include that the last steering request signal has been completed.

[0048] Specifically, the preset conditions can further include that the last steering request signal has been completed, that is, the target angle is only the current angle (steering wheel steering angle) made by the driver and the steering request angle given by the current host computer. If the last steering request signal is not completed and there is a new steering request, the current target angle will be increased by the last steering request angle based on the steering wheel steering angle and the steering request angle given by the current host computer, which is different from the expected effect and affects the vehicle posture. In addition, after the last steering request signal is completed, a new steering request signal is received, which can prevent frequent changes in steering angle request and affect the stability of the vehicle.

[0049] According to an embodiment of the present application, after the steering controller of the steer-by-wire system is controlled according to the target steering angle, the control method of the steer-by-wire system further includes: when a steering exit request signal is received, controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time. The preset exit time can be determined according to actual conditions.

[0050] Specifically, after the steering controller of the steer-by-wire system is controlled according to the target steering angle, if the exit steering request signal is received, the steer-by-wire system is controlled to exit the steering request signal according to the steering request angle and the preset exit time, that is, when the exit steering request signal is received, instead of directly exiting, a process of slowly reducing the target steering angle to zero is needed to avoid sudden angle change causing unexpected steering of the vehicle.

[0051] According to an embodiment of the present application, after the steering controller of the steer-by-wire system is controlled according to the target steering angle, the control method of the steer-by-wire system further comprises: in the case that it is determined that the steer-by-wire system has a fault, or the vehicle speed signal of the vehicle is invalid, or the steering angle of the steering wheel is invalid, or the steering angle of the vehicle wheel is invalid, the steer-by-wire system is controlled to exit the steering request signal according to the steering request angle and the preset exit time.

[0052] Specifically, after the steering controller of the steer-by-wire system is controlled according to the target steering angle, if the exit steering request signal is received, the steer-by-wire system is controlled to exit the steering request signal according to the steering request angle and the preset exit time, that is, when the exit steering request signal is received, instead of directly exiting, a process of slowly reducing the target steering angle to zero is needed to avoid sudden angle change causing unexpected steering of the vehicle.

[0053] According to an embodiment of the present application, the steer-by-wire system is controlled to exit the steering request signal according to the steering request angle and the preset exit time, which comprises: determining the exit time of the steering request signal according to the steering request angle and a preset reduction rate; if the exit time of the steering request signal is less than the preset exit time, the steer-by-wire system is controlled to exit the steering request signal according to the exit time of the steering request signal; if the exit time of the steering request signal is greater than or equal to the preset exit time, the steer-by-wire system is controlled to exit the steering request signal according to the preset exit time. The preset reduction rate can be determined according to actual conditions, and the preset exit time can be determined according to actual conditions, for example, the preset exit time can be set to 2 seconds.

[0054] Specifically, when controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and the preset exit time, the exit time of the steering request signal needs to be calculated according to the steering request angle and the preset reduction rate, that is, the time for the steering request angle to reduce to zero according to a fixed slope is calculated. For example, if the steering request angle is 10 degrees and the preset slope is 10, the exit time of the steering request signal can be calculated as 1 second by dividing the steering request angle by the preset slope. In addition, other rules can be formulated as long as the exit time of the steering request signal can be calculated according to the steering request angle and the preset reduction rate.

[0055] After the exit time of the steering request signal is calculated, the exit time of the steering request signal is compared with the preset exit time. When the exit time of the steering request signal is less than the preset exit time, for example, the calculated exit time of the current steering request signal is 1 second and the preset exit time is 2 seconds, the steer-by-wire system can be controlled to exit the steering request signal according to the exit time of the steering request signal. When the exit time of the steering request signal is greater than or equal to the preset exit time, for example, the calculated exit time of the current steering request signal is 3 seconds and the preset exit time is 2 seconds, the steer-by-wire system is not controlled to exit the steering request signal according to the exit time of the steering request signal, but is directly controlled to exit the steering request signal according to the preset exit time. Thus, when the steering request signal is exited, the target steering angle request needs to have a slow reduction process to avoid sudden changes in the angle, such as directly reducing from a certain angle value to 0, causing unexpected steering of the vehicle and safety hazards and other problems.

[0056] According to an embodiment of the present application, when the steering request signal is received, the control method of the steer-by-wire system further includes: sending fault information in the case that the steer-by-wire system is determined to have a fault, or the vehicle speed signal of the vehicle is invalid, or the steering angle of the vehicle wheel is invalid, or the steering request signal is invalid.

[0057] Specifically, when the steering request signal is received, if the current steer-by-wire system has a fault, the fault information can be sent to timely troubleshoot the fault of the steer-by-wire system and ensure the driving safety of the vehicle; if the current vehicle speed signal is invalid, the fault information can be sent to timely troubleshoot the fault of the vehicle speed signal and ensure the driving safety of the vehicle; if the current steering angle of the vehicle wheel is invalid, the fault information can be sent to timely troubleshoot the fault of the steering angle of the vehicle wheel and ensure the driving safety of the vehicle; if the current steering request signal is invalid, the fault information can be sent to timely troubleshoot the fault of the steering request signal and ensure the driving safety of the vehicle.

[0058] The control method of the present application will be described below in conjunction with Figure 2 ​

[0059] As a specific example, the control method of the steer-by-wire steering system of the present application can include the following steps:

[0060] S101, receiving a steering request signal, a steering request angle and a steering wheel steering angle.

[0061] S102, determining whether the steer-by-wire steering system meets a preset condition. If yes, executing step S103; if no, executing step S101.

[0062] S103, determining a target steering angle according to the sum of the steering request angle and the steering wheel steering angle.

[0063] S104, controlling a steering controller of the steer-by-wire steering system according to the target steering angle.

[0064] S105, determining whether a steering request exit signal is received. If yes, executing step S106; if no, executing step S107.

[0065] S106, controlling the steer-by-wire steering system to exit the steering request signal according to the steering request angle and a preset exit time.

[0066] S107, determining whether the steer-by-wire steering system has a fault, or a vehicle speed signal is invalid, or the steering wheel steering angle is invalid, or a wheel steering angle is invalid. If yes, executing step S106; if no, executing step S104.

[0067] In summary, according to the control method of the steer-by-wire steering system of the present application, first, a steering request signal, a steering request angle and a steering wheel steering angle are received, then in the case that the steer-by-wire steering system meets a preset condition, a target steering angle is determined according to the steering request angle and the steering wheel steering angle, and finally a steering controller of the steer-by-wire steering system is controlled according to the target steering angle. Thus, the method can not cause the steering wheel to shake and the hand force to fluctuate during active steering, avoiding interference to the driver's operation, and being safer.

[0068] Corresponding to the above-mentioned embodiment, the present application further provides a control device of a steer-by-wire steering system.

[0069] As shown in the figure, the control device 100 of the steer-by-wire steering system of the present application embodiment includes a receiving module 110, a determining module 120 and a control module 130. Figure 3

[0070] ​The receiving module 110 is configured to receive a steering request signal, a steering request angle and a steering wheel steering angle. The determining module 120 is configured to determine a target steering angle according to the steering request angle and the steering wheel steering angle when the steer-by-wire system meets a preset condition. The control module 130 is configured to control a steering controller of the steer-by-wire system according to the target steering angle.

[0071] According to an embodiment of the present application, the determining module 120 determines the target steering angle according to the steering request angle and the steering wheel steering angle, specifically configured to determine the target steering angle according to a sum of the steering request angle and the steering wheel steering angle.

[0072] According to an embodiment of the present application, the preset condition includes: the steer-by-wire system is in normal operation; a vehicle speed signal of the vehicle is valid; the steering wheel steering angle is valid; a wheel steering angle is valid; an angle difference between the steering request angle and the wheel steering angle is less than a first angle threshold; and a sum of the steering request angle and the steering wheel steering angle is less than a maximum allowable wheel steering angle threshold.

[0073] According to an embodiment of the present application, the preset condition further includes: a last steering request signal has been completed.

[0074] According to an embodiment of the present application, the control module 130 is further configured to, after controlling the steering controller of the steer-by-wire system according to the target steering angle, control the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time when an exit steering request signal is received.

[0075] According to an embodiment of the present application, the control module 130 is further configured to, after controlling the steering controller of the steer-by-wire system according to the target steering angle, control the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time when a fault of the steer-by-wire system is determined, or a vehicle speed signal of the vehicle is invalid, or the steering wheel steering angle is invalid, or the wheel steering angle is invalid.

[0076] According to an embodiment of the present application, the control module 130 controls the steer-by-wire system to exit the steering request signal according to the steering request angle and the preset exit time, specifically configured to determine an exit time of the steering request signal according to the steering request angle and a preset reduction rate; if the exit time of the steering request signal is less than the preset exit time, control the steer-by-wire system to exit the steering request signal according to the exit time of the steering request signal; if the exit time of the steering request signal is greater than or equal to the preset exit time, control the steer-by-wire system to exit the steering request signal according to the preset exit time.

[0077] According to one embodiment of the present application, the control module 130 is further configured to: upon receiving the steering request signal, send a fault information in a case that the steer-by-wire system is determined to be faulty, or a vehicle speed signal of the vehicle is determined to be faulty, or a steering angle of the vehicle wheel is determined to be faulty, or the steering request signal is determined to be faulty.

[0078] It should be noted that details not disclosed in the control device of the steer-by-wire system according to the embodiments of the present application can refer to details disclosed in the control method of the steer-by-wire system according to 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 according to the embodiments of the present application, the receiving module is configured to receive the steering request signal, the steering request angle and the steering angle of the steering wheel, the determining module is configured to determine the target steering angle according to the steering request angle and the steering angle of the steering wheel in a case that the steer-by-wire system meets a preset condition, and the control module is configured to control the steering controller of the steer-by-wire system according to the target steering angle. Thus, the device can not cause the steering wheel to shake and the steering force to fluctuate during the active steering process, avoids interference to the driver's operation, and is safer.

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

[0081] The computer readable storage medium according to the embodiments of the present application has a control program of the steer-by-wire system stored thereon, 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 described above.

[0082] According to the computer readable storage medium according to the embodiments of the present application, by executing the control method of the steer-by-wire system described above, the device can not cause the steering wheel to shake and the steering force to fluctuate during the active steering process, avoids interference to the driver's operation, and is safer.

[0083] According to the above embodiments, the present application further provides a steer-by-wire system.

[0084] As shown in Figure 4 The steer-by-wire system 200 according to the embodiments 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 described above when executing the control program of the steer-by-wire system.

[0085] According to the steer-by-wire system according to the embodiments of the present application, by executing the control method of the steer-by-wire system described above, the device can not cause the steering wheel to shake and the steering force to fluctuate during the active steering process, avoids interference to the driver's operation, and is safer.

[0086] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0087] like Figure 5 As shown, the vehicle 300 in this embodiment of the invention may include a controller 310 and a steer-by-wire system 200, wherein the controller 310 is configured to send a steering request signal and a steering request angle to the steer-by-wire system 200.

[0088] The vehicle according to embodiments of the present invention, by including a controller and the above-described steer-by-wire system, can avoid steering wheel vibration and hand force fluctuation during active steering, thus avoiding interference with driver operation and improving safety.

[0089] 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.

[0090] 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.

[0091] In the description of the application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of the application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] In addition, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0093] In the application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0094] Although the embodiments of the application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the application.

Claims

1. A control method of a steer-by-wire system, characterized by, The method comprises: receiving a steering request signal, a steering request angle, and a steering wheel steering angle; determining a target steering angle according to the steering request angle and the steering wheel steering angle when the steer-by-wire system meets preset conditions; controlling a steering controller of the steer-by-wire system according to the target steering angle; determining the target steering angle according to the steering request angle and the steering wheel steering angle comprises: determining the target steering angle according to a sum of the steering request angle and the steering wheel steering angle; the preset conditions comprise: the steer-by-wire system is in normal operation; a vehicle speed signal of the vehicle is valid; the steering wheel steering angle is valid; a wheel steering angle is valid; an angle difference between the steering request angle and the wheel steering angle is less than a first angle threshold; a sum of the steering request angle and the steering wheel steering angle is less than a wheel maximum allowable steering angle threshold.

2. The control method of the steer-by-wire system according to claim 1, characterized by, the preset conditions further comprise: a previous steering request signal has been completed.

3. The control method of the steer-by-wire system according to claim 1, characterized by, after controlling the steering controller of the steer-by-wire system according to the target steering angle, the method further comprises: controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time when an exit steering request signal is received.

4. The control method of the steer-by-wire system according to claim 1, characterized by, after controlling the steering controller of the steer-by-wire system according to the target steering angle, the method further comprises: controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time when it is determined that the steer-by-wire system has a fault, or the vehicle speed signal of the vehicle is invalid, or the steering wheel steering angle is invalid, or the wheel steering angle is invalid.

5. The control method of the steer-by-wire steering system according to claim 3 or 4, characterized by, controlling the steer-by-wire system to exit the steering request signal according to the steering request angle and a preset exit time comprises: determining an exit time of the steering request signal according to the steering request angle and a preset reduction rate; if the exit time of the steering request signal is less than the preset exit time, controlling the steer-by-wire system to exit the steering request signal according to the exit time of the steering request signal; if the exit time of the steering request signal is greater than or equal to the preset exit time, controlling the steer-by-wire system to exit the steering request signal according to the preset exit time.

6. The control method of the steer-by-wire system according to claim 1, characterized by, when the steering request signal is received, the method further comprises: sending fault information when it is determined that the steer-by-wire system has a fault, or the vehicle speed signal of the vehicle is invalid, or the wheel steering angle is invalid, or the steering request signal is invalid.

7. A control device of a steer-by-wire system characterized by comprising: comprise: a receiving module configured to receive a steering request signal, a steering request angle, and a steering wheel steering angle; a determining module configured to determine a target steering angle according to the steering request angle and the steering wheel steering angle when the steer-by-wire system meets preset conditions; a control module configured to control a steering controller of the steer-by-wire system according to the target steering angle; the determining module is specifically configured to determine the target steering angle according to a sum of the steering request angle and the steering wheel steering angle; The preset condition comprises: The steer-by-wire system is in normal operation; A vehicle speed signal is valid; A steering wheel steering angle is valid; A wheel steering angle is valid; An angle difference between the steering request angle and the wheel steering angle is less than a first angle threshold value; An angle sum between the steering request angle and the steering wheel steering angle is less than a wheel maximum allowable steering angle threshold value.

8. A computer-readable storage medium, characterized in that, A storage medium having stored thereon a control program of a steer-by-wire system, the control program of the steer-by-wire system being executed by a processor to implement the control method of the steer-by-wire system according to any one of claims 1-6.

9. A steer-by-wire system characterized by, A computer program product, comprising a memory, a processor, and a control program of a steer-by-wire system stored on the memory and executable on the processor, the control program of the steer-by-wire system being executed by the processor to implement the control method of the steer-by-wire system according to any one of claims 1-6.

10. A vehicle characterized by comprising: Comprise: A controller and the steer-by-wire system of claim 9, wherein the controller is configured to send a steering request signal and a steering request angle to the steer-by-wire system.

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