Method and device for assembling a steer-by-wire system, assembly system

Abstract

The application discloses an assembly method and an assembly device and an assembly system of a steer-by-wire system, the steer-by-wire system comprising a steering wheel, a feel simulator and a wheel actuator, and the method comprises the following steps: in a production process, obtaining the steering wheel and the feel simulator which is pre-centered; connecting the steering wheel to the feel simulator; establishing a communication connection between the feel simulator and the wheel actuator, and performing angle synchronization on the feel simulator and the wheel actuator, wherein the wheel actuator is pre-centered and installed on a vehicle; and after the angle synchronization is completed, performing four-wheel alignment on the vehicle. The assembly method can greatly simplify the whole vehicle production process and reduce the production rhythm.

Description

Technical Field

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

[0002] With the increasing demand for intelligent vehicle development, OEMs and suppliers have begun to formulate corresponding layouts or technology development roads for various modules or subsystems. As an important system of the whole vehicle, the development of intelligent vehicles will inevitably promote and accelerate the development and application of related technologies for the steering system.

[0003] Currently, the adoption of steer-by-wire technology is the main choice for OEMs and suppliers to promote the intelligent development of steering systems. Compared with traditional steering systems, steer-by-wire systems have some new changes. For example, in terms of mechanical structure connection, steer-by-wire systems eliminate the mechanical connection between the original steering column and steering gear. In terms of functional safety, steer-by-wire systems need to consider using the external steering angle signal as an input signal to execute vehicle steering actions in the event of failure, etc.

[0004] Existing vehicle manufacturing processes are no longer sufficient for vehicles equipped with steer-by-wire systems. Traditional steering systems ensure synchronization between the steering wheel and the mechanical zero position of the steering system through the connection between the steering column intermediate shaft and the steering gear; however, steer-by-wire systems eliminate the mechanical component of the steering column intermediate shaft. Based on these changes, it is necessary to consider making corresponding adjustments to the existing vehicle manufacturing processes.

[0005] In related technologies, the steering wheel is assembled after the mechanical center position is determined by the left and right movement of the actuator. This method requires two alignments, which is complicated and affects the production cycle. Furthermore, when the steering gear or steering column is aligned, another system needs to remain silent. The system logic design is unreasonable, and the steering gear alignment process causes wheel wear. Summary of the Invention

[0006] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose an assembly method for a steer-by-wire system. This method involves acquiring and connecting a steering wheel and a pre-aligned hand-feel simulator during the production process. The hand-feel simulator is then connected to pre-aligned wheel actuators, and the angle signals between the hand-feel simulator and the wheel actuators are synchronized. Finally, four-wheel alignment is performed, thereby greatly simplifying the vehicle manufacturing process and reducing production cycle time.

[0007] The second objective of this invention is to provide an assembly system for a steer-by-wire system.

[0008] The third objective of this invention is to provide an assembly device for a steer-by-wire system.

[0009] To achieve the above objectives, a first aspect of the present invention provides a method for assembling a steer-by-wire system. The steer-by-wire system includes a steering wheel, a hand-feel simulator, and wheel actuators. The method includes: during the production process, acquiring the steering wheel and a pre-aligned hand-feel simulator; connecting the steering wheel to the hand-feel simulator; establishing a communication connection between the hand-feel simulator and the wheel actuators, and synchronizing the angles of the hand-feel simulator and the wheel actuators, wherein the wheel actuators are pre-aligned and installed on the vehicle; and performing four-wheel alignment on the vehicle after the angle synchronization is completed.

[0010] According to the assembly method of the steer-by-wire system of the present invention, during the production process, a steering wheel and a pre-aligned hand-feel simulator are first acquired. Then, the steering wheel is connected to the hand-feel simulator. Next, a communication connection is established between the hand-feel simulator and the wheel actuators, and the angles of the hand-feel simulator and the wheel actuators are synchronized. The wheel actuators are pre-aligned and installed on the vehicle. Finally, after the angle synchronization is completed, four-wheel alignment is performed on the vehicle. Therefore, this method can greatly simplify the vehicle manufacturing process and reduce the production cycle time.

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

[0012] According to one embodiment of the present invention, the hand-feel simulator includes a spindle and a hand-feel simulator motor. One end of the spindle is provided with a first mechanical zero position. The hand-feel simulator is pre-aligned by synchronizing the initial angle of the hand-feel simulator motor with the first mechanical zero position of the spindle to center the hand-feel simulator.

[0013] According to one embodiment of the present invention, after the centering of the hand-feel simulator is completed, the assembly method of the steer-by-wire system further includes: maintaining the centering of the hand-feel simulator by means of a mechanical zero-position cage, and removing the mechanical zero-position cage when the steering wheel is connected to the hand-feel simulator.

[0014] According to one embodiment of the present invention, the connecting end of the steering wheel is provided with a second mechanical zero position, and connecting the steering wheel to the hand feel simulator includes: connecting the second mechanical zero position of the steering wheel to the first mechanical zero position of the spindle.

[0015] According to one embodiment of the present invention, the steer-by-wire system further includes a combination switch, the combination switch including a steering angle sensor, and the assembly method of the steer-by-wire system before connecting the steering wheel to the hand feel simulator further includes: connecting the combination switch to the hand feel simulator and synchronizing the initial angle of the steering angle sensor with the first mechanical zero position of the spindle to center the combination switch.

[0016] According to one embodiment of the present invention, the wheel actuator includes a rack and a wheel actuator motor. The rack is provided with a third mechanical zero position. The wheel actuator is pre-aligned by synchronizing the initial angle of the wheel actuator motor with the third mechanical zero position of the rack to align the wheel actuator.

[0017] According to one embodiment of the present invention, before synchronizing the angles of the ergonomic simulator and the wheel actuator, the assembly method of the steer-by-wire system further includes: flashing the software of the ergonomic simulator and the wheel actuator, and synchronizing the angles of the ergonomic simulator and the wheel actuator after the software flashing is successful and the vehicle is started.

[0018] According to one embodiment of the present invention, the assembly method of the steer-by-wire system further includes: during maintenance, if the hand-feed simulator is replaced, the first mechanical zero position of the vehicle's wheels and steering wheel is first controlled to be parallel to the vehicle's direction, then a new hand-feed simulator is replaced, and after the replacement is completed, the vehicle is started so that the hand-feed simulator and the wheel actuator are synchronized in angle; if the wheel actuator is replaced, after the new wheel actuator is replaced, the vehicle is started so that the hand-feed simulator and the wheel actuator are synchronized in angle.

[0019] To achieve the above objectives, a second aspect of the present invention provides an assembly system for a steer-by-wire system, comprising a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described assembly method for the steer-by-wire system.

[0020] The assembly system for the steer-by-wire system according to an embodiment of the present invention can greatly simplify the vehicle manufacturing process and reduce the production cycle by performing the above-described assembly method for the steer-by-wire system.

[0021] To achieve the above objectives, a third aspect of the present invention provides an assembly device for a steer-by-wire system. The steer-by-wire system includes a steering wheel, a hand-feel simulator, and wheel actuators. The device includes: an acquisition module for acquiring the steering wheel and a pre-aligned hand-feel simulator during the production process; a connection module for connecting the steering wheel to the hand-feel simulator; a synchronization module for establishing a communication connection between the hand-feel simulator and the wheel actuators and synchronizing their angles, wherein the wheel actuators are pre-aligned and installed on the vehicle; and a positioning module for performing four-wheel alignment on the vehicle after angle synchronization is completed.

[0022] According to an embodiment of the present invention, the assembly apparatus for a steer-by-wire system includes an acquisition module for acquiring a steering wheel and a pre-aligned hand-feel simulator during the production process; a connection module for connecting the steering wheel to the hand-feel simulator; a synchronization module for establishing a communication connection between the hand-feel simulator and the wheel actuators, and for synchronizing the angles of the hand-feel simulator and the wheel actuators, wherein the wheel actuators are pre-aligned and installed on the vehicle; and a positioning module for performing four-wheel alignment on the vehicle after angle synchronization. Therefore, this apparatus can greatly simplify the vehicle manufacturing process and reduce production cycle time.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] Figure 1 This is a flowchart of an assembly method for a steer-by-wire system according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structural connection of a steer-by-wire system according to an embodiment of the present invention;

[0026] Figure 3 A flowchart illustrating an assembly method for a steer-by-wire system according to a specific example of the present invention;

[0027] Figure 4 This is a block diagram of the assembly system of the steer-by-wire system according to an embodiment of the present invention;

[0028] Figure 5 This is a block diagram of an assembly device for a steer-by-wire system according to an embodiment of the present invention. Detailed Implementation

[0029] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0030] In one embodiment of the present invention, such as Figure 2As shown, the steer-by-wire system may include a steering wheel 1, a combination switch 2 (with a built-in angle sensor), a hand-feed simulator motor 3, a hand-feed simulator control unit 4, a hand-feed simulator reduction mechanism 5, a hand-feed simulator mechanical limit mechanism 6, a wheel actuator reduction mechanism 7, a wheel actuator motor 8, a wheel actuator control unit 9, a wheel actuator rack 10, and a wheel 11. The hand-feed simulator includes a spindle 12 (connected to the steering wheel 1), a sleeve (connected to the combination switch 2), the hand-feed simulator motor 3, the hand-feed simulator control unit 4, the hand-feed simulator reduction mechanism 5, and the hand-feed simulator mechanical limit mechanism 6, among other main components. The spindle 12 has a mechanical zero point at its top, connected to the mechanical zero point of the steering wheel. The combination switch 2 is installed on the outside of the hand-feed simulator sleeve, and the combination switch 2 contains an angle sensor that outputs an angle signal as the steering wheel rotates around the circumference of the hand-feed simulator spindle 12. The hand-feed simulator mechanical limit structure restricts the total travel of the hand-feed simulator spindle 12 in the circumferential direction. Both the hand-feed simulator motor 3 and the wheel actuator motor 8 have internal angle sensor devices.

[0031] The following description, with reference to the accompanying drawings, outlines the assembly method, assembly system, and assembly apparatus for the steer-by-wire system proposed in this invention.

[0032] Figure 1 This is a flowchart of an assembly method for a steer-by-wire system according to an embodiment of the present invention.

[0033] like Figure 1 As shown, the assembly method of the steer-by-wire system according to an embodiment of the present invention may include the following steps:

[0034] S1, during the production process, acquires the steering wheel and a pre-aligned hand feel simulator.

[0035] S2 connects the steering wheel to the feel simulator.

[0036] S3 establishes a communication connection between the hand-feel simulator and the wheel actuator, and performs angle synchronization between the hand-feel simulator and the wheel actuator. The wheel actuator is pre-aligned and installed on the vehicle.

[0037] S4, after the angle synchronization is completed, performs four-wheel alignment on the vehicle.

[0038] Specifically, to accelerate the assembly of the steer-by-wire system, the steering wheel and a pre-aligned feel simulator can be acquired during vehicle production. This means the OEM or supplier aligns the feel simulator during acquisition, avoiding the need for manual or control-based alignment during system assembly and saving time. After acquiring the steering wheel and feel simulator, they can be mechanically connected via a spindle. When the steering wheel rotates, an angle sensor in the feel simulator detects the rotation angle, allowing the wheels to steer accordingly.

[0039] Because the steer-by-wire system eliminates the mechanical components of the steering column's intermediate shaft, a communication connection can be established between the hand-feed simulator and the wheel actuators when connected via a wiring harness. This connection transmits electrical signals. After establishing this communication connection, the angles of the hand-feed simulator and the wheel actuators are synchronized. For example, when the vehicle is powered on, the angle of the wheel actuators can be obtained through the angle sensor within the wheel actuators, which provides the current steering angle of the wheels. The angle of the hand-feed simulator can also be obtained through the angle sensor within the hand-feed simulator, which provides the current steering angle of the steering wheel. When there is an angle difference between the hand-feed simulator's angle and the wheel actuator's angle, the steering wheel can be rotated until the current angle of the steering wheel matches the current angle of the wheels, thus achieving angle synchronization between the hand-feed simulator and the wheel actuators.

[0040] In addition, when establishing the communication connection between the steering simulator and the wheel actuator, the wheel actuator can be installed on the vehicle's subframe before connection. The wheel actuator has also been pre-aligned by the OEM or supplier, so it is already aligned when the wheel actuator is acquired. This avoids the need to manually or through some control commands realign the wheel actuator when assembling the steer-by-wire system, thus avoiding the waste of time.

[0041] After the hand-feel simulator and wheel actuator angles are synchronized, the vehicle can leave the production line and drive normally. However, the vehicle may veer to one side. To ensure the vehicle travels straight and prevents veergence, it can be driven to the four-wheel alignment station for alignment. For example, the steering wheel can be fixed in the center position using a level, or simply turned to the center position. With the steering wheel stationary, the steering actuator will follow the hand-feel simulator, the wheels will not turn, and toe-in adjustment will be performed, such as controlling the outer and inner tie rods to ensure stable straight-line driving. This method significantly simplifies the vehicle manufacturing process and reduces production cycle time.

[0042] The specific workflow of the assembly method of the steer-by-wire system of the present invention is described in detail below.

[0043] According to one embodiment of the present invention, such as Figure 2 As shown, the hand-feel simulator includes a spindle 12 and a hand-feel simulator motor 3. One end of the spindle 12 is provided with a first mechanical zero position. The hand-feel simulator is pre-aligned in the following way: the initial angle of the hand-feel simulator motor 3 is synchronized with the first mechanical zero position of the spindle 12 to center the hand-feel simulator.

[0044] Specifically, the tactile simulator may include a spindle 12 and a tactile simulator motor 3. A first mechanical zero position may be set at the top of the spindle 12. For example, the circumferential motion angle of the spindle may be limited by setting a mechanical limit mechanism of the tactile simulator. The spindle 12 may be rotated to the left limit first, and then rotated from the left limit to the right limit to determine the total number of rotations. Half of the total number of rotations from the left limit to the right limit is the first mechanical zero position of the spindle 12. Alternatively, the spindle 12 may be rotated to the right limit position first, and then rotated from the right limit position to the left limit position to determine the total number of rotations. Half of the total number of rotations from the right limit position to the left limit position is the first mechanical zero position of the spindle 12.

[0045] After determining the first mechanical zero position of the spindle 12, the hand-feel simulator can be pre-aligned. For example, the initial angle of the hand-feel simulator motor 3 can be synchronized with the first mechanical zero position of the spindle 12 to align the hand-feel simulator. For example, when the spindle 12 is in the first mechanical zero position, the initial angle of the hand-feel simulator motor 3 can be determined to be 0 degrees. When the spindle 12 rotates, the angle of the hand-feel simulator motor 3 changes accordingly with the rotation of the spindle 12, such as increasing from 0 degrees to a certain angle value.

[0046] According to one embodiment of the present invention, after the centering of the hand-feel simulator is completed, the assembly method of the steer-by-wire system further includes: maintaining the centering of the hand-feel simulator by means of a mechanical zero-position cage, and removing the mechanical zero-position cage when the steering wheel is connected to the hand-feel simulator.

[0047] Specifically, after aligning the handheld simulator, the initial angle of the simulator motor is synchronized with the first mechanical zero position of the spindle. Since the handheld simulator includes a reduction mechanism and a motor, its center of gravity is not necessarily on the spindle, and its rotation direction varies depending on its placement. Therefore, a mechanical zero-position retainer can be installed to keep the handheld simulator in a aligned state, preventing the initial angle of the simulator motor from becoming out of sync with the first mechanical zero position of the spindle. When connecting the steering wheel to the handheld simulator, the mechanical zero-position retainer can be removed, allowing the steering wheel to connect directly to the simulator.

[0048] Additionally, the mechanical zero-position cage design can be eliminated. Before connecting the steering wheel to the handshake simulator, the initial angle of the handshake simulator motor and the first mechanical zero position of the spindle are no longer synchronized due to the elimination of the mechanical zero-position cage design. This can be achieved by manually rotating the spindle. For example, the handshake simulator's mechanical limit mechanism can restrict the circumferential motion angle of the spindle. The spindle can be rotated to the left limit first, and then rotated from the left limit to the right limit to determine the total number of rotations. Half of the total number of rotations from the left limit to the right limit is the first mechanical zero position of the spindle. Then, the initial angle of the handshake simulator motor and the first mechanical zero position of the spindle are synchronized, allowing the steering wheel to be assembled.

[0049] According to one embodiment of the present invention, the connecting end of the steering wheel is provided with a second mechanical zero position, and connecting the steering wheel to the hand feel simulator includes: connecting the second mechanical zero position of the steering wheel to the first mechanical zero position of the spindle.

[0050] Specifically, in order to align the steering wheel with the hand-feel simulator, a second mechanical zero position can be pre-set at the connection end of the steering wheel. When the steering wheel is connected to the hand-feel simulator, the second mechanical zero position of the steering wheel can be connected with the first mechanical zero position of the spindle. This ensures that the steering wheel and the spindle rotate at the same angle when the steering wheel is turned. Since the angle of the hand-feel simulator motor is synchronized with the first mechanical zero position of the spindle, the steering wheel, spindle, and hand-feel simulator motor can all be synchronized, improving the alignment accuracy of the steering wheel and ensuring the driving safety of the vehicle.

[0051] According to one embodiment of the present invention, such as Figure 2As shown, the steer-by-wire system also includes a combination switch 2, which includes a steering angle sensor. Before connecting the steering wheel 1 to the hand feel simulator, the assembly method of the steer-by-wire system further includes: connecting the combination switch 2 to the hand feel simulator and synchronizing the initial angle of the steering angle sensor with the first mechanical zero position of the spindle 12 to center the combination switch 2.

[0052] Specifically, the steer-by-wire system may also include a combination switch 2, which contains a steering angle sensor. This steering angle sensor can rotate with the steering wheel along the circumference of the spindle 12 and output a steering angle signal, thereby obtaining the steering angle of the steering wheel. The angle signal from the steering angle sensor in the combination switch 2 can serve as a backup when the steering angle signal of the hand-feel simulator motor 3 fails. Thus, when the hand-feel simulator motor 3 cannot obtain the steering angle of the steering wheel normally, the angle signal from the steering angle sensor in the combination switch 2 can be sent to the wheel actuator motor, thereby controlling the wheels to steer according to the angle signal and ensuring the normal driving of the vehicle.

[0053] When assembling the steer-by-wire system, the combination switch 2 needs to be connected to the hand feel simulator and aligned. For example, the first mechanical zero position of the spindle 12 can be determined first. After determining the first mechanical zero position of the spindle 12, the initial angle of the angle sensor can be synchronized with the first mechanical zero position of the spindle 12. For example, the initial angle of the angle sensor can be set to 0 degrees when the spindle 12 is in the first mechanical zero position. When the spindle 12 rotates, the angle obtained by the angle sensor will also increase from 0 degrees to a certain degree.

[0054] According to one embodiment of the present invention, such as Figure 2 As shown, the wheel actuator includes a rack 10 and a wheel actuator motor 8. The rack 10 is provided with a third mechanical zero position. The wheel actuator is pre-aligned by synchronizing the initial angle of the wheel actuator motor 8 with the third mechanical zero position of the rack 10 to align the wheel actuator.

[0055] Specifically, the wheel actuator may include a rack 10 and a wheel actuator motor 8. The rack 10 is provided with a third mechanical zero position. When determining the third mechanical zero position, for example, the rack 10 is provided with mechanical limit structures at both ends. The rack 10 can be moved to the left first. When the rack 10 moves to the leftmost end, the rack 10 can be moved to the right until the rack 10 moves to the rightmost end. The travel distance from the left end to the rightmost end is recorded. Half of the travel distance of the rack 10 from the left end to the right end can be used as the third mechanical zero position of the rack 10.

[0056] Similarly, you can first control the rack 10 to move to the right. When the rack 10 moves to the rightmost end, control the rack 10 to move to the left until the rack 10 moves to the leftmost end. Record the travel distance from the right end to the leftmost end. Half of the travel distance of the rack 10 from the right end to the left end can be used as the third mechanical zero position of the rack 10.

[0057] After determining the mechanical zero position of rack 10, the initial angle of wheel actuator motor 8 can be synchronized with the third mechanical zero position of rack 10 to complete the centering of wheel actuator. That is, the stroke of rack 10 at this time is the angle of rotation of wheel actuator motor 8. For example, when rack 10 is in the third mechanical zero position, the initial angle of wheel actuator motor 8 is 0 degrees. When rack moves to the left, such as by 5 millimeters, the angle of wheel actuator motor 8 changes accordingly. According to the preset proportional rule, the distance rack 10 moves and the angle of wheel actuator motor 8 are in a one-to-one correspondence. After determining the distance rack 10 moves, the corresponding angle can be determined. Similarly, when rack moves to the right, such as by 5 millimeters, the angle of wheel actuator motor 8 changes accordingly and remains synchronized.

[0058] According to one embodiment of the present invention, before synchronizing the angles of the ergonomic simulator and the wheel actuator, the assembly method of the steer-by-wire system further includes: flashing the software of the ergonomic simulator and the wheel actuator, and synchronizing the angles of the ergonomic simulator and the wheel actuator after the software flashing is successful and the vehicle is started.

[0059] Specifically, before synchronizing the hand-feel simulator and wheel actuators, their software needs to be flashed. This can be done using relevant equipment via the vehicle's OBD (On-Board Diagnostics) interface. The OBD interface can use a trapezoidal 16-pin DLC (Data Link Connector). The trapezoidal design prevents incorrect insertion; if the interface is misaligned, it cannot be inserted to avoid short circuits or other issues affecting vehicle operation. After successful software flashing and vehicle power-on, the hand-feel simulator and wheel actuators are synchronized. During synchronization, the vehicle operates on the production line, and the wheel actuators are essentially in a mechanical zero position. If there is an angle difference between the hand-feel simulator's motor angle and the wheel actuator's motor angle, the hand-feel simulator's motor can be controlled to operate until they match, thus achieving angle synchronization.

[0060] According to one embodiment of the present invention, the assembly method of the steer-by-wire system further includes: during maintenance, if the hand-feed simulator is replaced, the first mechanical zero position of the vehicle's wheels and steering wheel is first controlled to be parallel to the vehicle's direction, then a new hand-feed simulator is replaced, and after the replacement is completed, the vehicle is started so that the hand-feed simulator and the wheel actuator are synchronized in angle; if the wheel actuator is replaced, after the new wheel actuator is replaced, the vehicle is started so that the hand-feed simulator and the wheel actuator are synchronized in angle.

[0061] Specifically, when a vehicle requires after-sales service, such as a malfunction of the hand-feel simulator, a new hand-feel simulator can be directly replaced during vehicle repair. Before replacing the hand-feel simulator, first control the first mechanical zero position of the vehicle's wheels and steering wheel to be parallel to the vehicle's direction, that is, ensure that the wheels are in a straight line and the steering wheel is in the center position. Then replace the new hand-feel simulator, keeping the hand-feel simulator and steering wheel connected at the mechanical zero position. After the replacement is completed, start the vehicle. At this time, the wheels remain stationary. If there is an angle difference between the motor angle of the hand-feel simulator and the motor angle of the wheel actuator, the hand-feel simulator will synchronize its angle with the wheel actuator. After synchronization is completed, four-wheel alignment can be performed to prevent the vehicle from veering off course during driving.

[0062] If the wheel actuator malfunctions, the wheel actuator obtained when replacing it will also be pre-aligned. After replacing the wheel actuator, simply start the vehicle. At this time, the wheels will remain stationary. If there is an angle difference between the motor angle of the hand-feel simulator and the motor angle of the wheel actuator, the hand-feel simulator will follow the wheel actuator to synchronize the angle. After synchronization, four-wheel alignment can be performed to prevent the vehicle from veering off course during driving.

[0063] The following is combined Figure 3 The assembly method of the present invention will be described below.

[0064] As a specific example, the assembly method of the steer-by-wire system of the present invention may include the following steps:

[0065] S101, during the production process, acquires a steering wheel and a pre-aligned hand feel simulator, as well as a pre-aligned wheel actuator.

[0066] S102, the alignment of the hand-feel simulator is maintained by a mechanical zero-position cage.

[0067] S103 connects the combination switch to the touch simulator and centers the combination switch.

[0068] S104, remove the mechanical zero-position cage and connect the steering wheel to the feel simulator.

[0069] S105, establish a communication connection between the hand-feel simulator and the wheel actuator.

[0070] S106 performs software flashing on the hand-feel simulator and wheel actuators, and after successful software flashing and vehicle startup, synchronizes the angles of the hand-feel simulator and wheel actuators.

[0071] S107, after the angle synchronization is completed, performs four-wheel alignment on the vehicle.

[0072] In summary, the assembly method of the steer-by-wire system according to embodiments of the present invention involves, during the production process, firstly acquiring a steering wheel and a pre-aligned hand-feel simulator, then connecting the steering wheel to the hand-feel simulator, next establishing a communication connection between the hand-feel simulator and the wheel actuators, and then synchronizing the angles of the hand-feel simulator and the wheel actuators. The wheel actuators are pre-aligned and installed on the vehicle. Finally, after angle synchronization is completed, four-wheel alignment is performed on the vehicle. Therefore, this method can greatly simplify the vehicle manufacturing process and reduce production cycle time.

[0073] Corresponding to the above embodiments, the present invention also proposes an assembly system for a steer-by-wire system.

[0074] like Figure 4 As shown, the assembly system 200 of the steer-by-wire system in this embodiment of the invention may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, it implements the above-described assembly method of the steer-by-wire system.

[0075] The assembly system for the steer-by-wire system according to an embodiment of the present invention can greatly simplify the vehicle manufacturing process and reduce the production cycle by performing the above-described assembly method for the steer-by-wire system.

[0076] Corresponding to the above embodiments, the present invention also proposes an assembly device for a steer-by-wire system.

[0077] like Figure 5 As shown, the assembly device 100 of the steer-by-wire system of this embodiment includes: an acquisition module 110, a connection module 120, a synchronization module 130, and a positioning module 140.

[0078] The acquisition module 110 acquires the steering wheel and a pre-aligned hand-feel simulator during production. The connection module 120 connects the steering wheel to the hand-feel simulator. The synchronization module 130 establishes a communication connection between the hand-feel simulator and the wheel actuators, and performs angle synchronization between the two, wherein the wheel actuators are pre-aligned and installed on the vehicle. The positioning module 140 performs four-wheel alignment on the vehicle after angle synchronization is completed.

[0079] According to one embodiment of the present invention, the hand-feel simulator includes a spindle and a hand-feel simulator motor. One end of the spindle is provided with a first mechanical zero position. The hand-feel simulator is pre-aligned by synchronizing the initial angle of the hand-feel simulator motor with the first mechanical zero position of the spindle to center the hand-feel simulator.

[0080] According to one embodiment of the present invention, after the centering of the hand feel simulator is completed, the acquisition module 110 is further configured to: maintain the centering of the hand feel simulator by means of a mechanical zero-position cage, and remove the mechanical zero-position cage when the steering wheel is connected to the hand feel simulator.

[0081] According to one embodiment of the present invention, the connecting end of the steering wheel is provided with a second mechanical zero position, and the connecting module 120 connects the steering wheel to the hand feel simulator, specifically for: connecting the second mechanical zero position of the steering wheel to the first mechanical zero position of the spindle.

[0082] According to one embodiment of the present invention, the steer-by-wire system further includes a combination switch, which includes a steering angle sensor. Before connecting the steering wheel to the hand feel simulator, the connection module 120 is further configured to: connect the combination switch to the hand feel simulator and synchronize the initial angle of the steering angle sensor with the first mechanical zero position of the spindle to center the combination switch.

[0083] According to one embodiment of the present invention, the wheel actuator includes a rack and a wheel actuator motor. The rack is provided with a third mechanical zero position. The wheel actuator is pre-aligned by synchronizing the initial angle of the wheel actuator motor with the third mechanical zero position of the rack to align the wheel actuator.

[0084] According to one embodiment of the present invention, the synchronization module 130 is further configured to: perform software flashing on the hand-feel simulator and the wheel actuator before performing angle synchronization on the hand-feel simulator and the wheel actuator, and perform angle synchronization on the hand-feel simulator and the wheel actuator after the software flashing is successful and the vehicle is started.

[0085] According to one embodiment of the present invention, the synchronization module 130 is further configured to: during maintenance, if the hand-feel simulator is replaced, first control the first mechanical zero position of the vehicle's wheels and steering wheel to be parallel to the vehicle's direction, then replace the new hand-feel simulator, and after the replacement is completed, start the vehicle so that the hand-feel simulator and the wheel actuator can synchronize their angles; if the wheel actuator is replaced, after the new wheel actuator is replaced, start the vehicle so that the hand-feel simulator and the wheel actuator can synchronize their angles.

[0086] It should be noted that for details not disclosed in the assembly device of the steer-by-wire system in this embodiment of the invention, please refer to the details disclosed in the assembly method of the steer-by-wire system in this embodiment of the invention, which will not be repeated here.

[0087] According to an embodiment of the present invention, the assembly apparatus for a steer-by-wire system includes an acquisition module for acquiring a steering wheel and a pre-aligned hand-feel simulator during the production process; a connection module for connecting the steering wheel to the hand-feel simulator; a synchronization module for establishing a communication connection between the hand-feel simulator and the wheel actuators, and for synchronizing the angles of the hand-feel simulator and the wheel actuators, wherein the wheel actuators are pre-aligned and installed on the vehicle; and a positioning module for performing four-wheel alignment on the vehicle after angle synchronization. Therefore, this apparatus can greatly simplify the vehicle manufacturing process and reduce production cycle time.

[0088] 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.

[0089] 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.

[0090] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0091] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0092] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for assembling a steer-by-wire system, characterized in that, The steer-by-wire system includes a steering wheel, a hand feel simulator, and wheel actuators; the method includes: During the production process, the steering wheel, the pre-aligned feel simulator, and the pre-aligned wheel actuator installed on the vehicle are acquired. The hand-feel simulator includes a spindle and a hand-feel simulator motor. One end of the spindle is provided with a first mechanical zero position. The hand-feel simulator is pre-aligned by synchronizing the initial angle of the hand-feel simulator motor with the first mechanical zero position of the spindle to center the hand-feel simulator. The wheel actuator includes a rack and a wheel actuator motor. The rack is provided with a third mechanical zero position. The wheel actuator is pre-aligned by synchronizing the initial angle of the wheel actuator motor with the third mechanical zero position of the rack to center the wheel actuator. After the hand-feel simulator is aligned, the alignment of the hand-feel simulator is maintained by a mechanical zero-position cage; The steer-by-wire system also includes a combination switch, which includes a steering angle sensor. Before connecting the steering wheel to the hand feel simulator, the combination switch is connected to the hand feel simulator, and the initial angle of the steering angle sensor is synchronized with the first mechanical zero position of the spindle to center the combination switch. The steering wheel is connected to the feel simulator while the mechanical zero-position cage is removed; Establish a communication connection between the hand-feel simulator and the wheel actuator, and perform software flashing on the hand-feel simulator and the wheel actuator. After the software flashing is successful and the vehicle is started, synchronize the angles of the hand-feel simulator and the wheel actuator. After the angle synchronization is completed, the vehicle is subjected to four-wheel alignment.

2. The method according to claim 1, characterized in that, The steering wheel has a second mechanical zero position at its connection end. Connecting the steering wheel to the hand feel simulator includes: Connect the second mechanical zero position of the steering wheel to the first mechanical zero position of the spindle.

3. The method according to claim 1, characterized in that, The method further includes: During maintenance, if the hand-feel simulator is to be replaced, first control the first mechanical zero position of the vehicle's wheels and steering wheel to be parallel to the vehicle's direction, then replace the new hand-feel simulator, and after the replacement is completed, start the vehicle to synchronize the angle of the hand-feel simulator and the wheel actuator. If the wheel actuator is replaced, the vehicle is started after the new wheel actuator is replaced so that the hand-feel simulator and the wheel actuator can synchronize their angles.

4. An assembly system for a steer-by-wire system, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method according to any one of claims 1-3.

5. An assembly apparatus for performing the method of any one of claims 1-3 in a steer-by-wire system, characterized in that, The steer-by-wire system includes a steering wheel, a hand feel simulator, and wheel actuators; the device includes: The acquisition module is used to acquire the steering wheel and the pre-aligned hand feel simulator during the production process. A connection module for connecting the steering wheel to the feel simulator; A synchronization module is used to establish a communication connection between the hand-feel simulator and the wheel actuator, and to synchronize the angles of the hand-feel simulator and the wheel actuator, wherein the wheel actuator is pre-aligned and installed on the vehicle; The positioning module is used to perform four-wheel positioning on the vehicle after angle synchronization is completed. The hand-feel simulator includes a spindle and a hand-feel simulator motor. One end of the spindle is provided with a first mechanical zero position. The hand-feel simulator is pre-aligned in the following manner: The initial angle of the hand-feel simulator motor is synchronized with the first mechanical zero position of the spindle to center the hand-feel simulator.

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