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 steer-by-wire system comprises a steering road feel simulation unit and a steering execution unit. The method comprises the following steps: when the steer-by-wire system is in a normal working state, a steering wheel state of the vehicle is acquired in response to an automatic driving function activation signal of the vehicle; when the steering wheel is in a silent state or a storage state, the steering road feel simulation unit and the steering execution unit are decoupled, so that the automatic driving function is executed through the steering execution unit, and a synchronization state signal between the steering road feel simulation unit and the steering execution unit is set to be synchronized. The control method can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

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 computer readable storage medium, a steer-by-wire system, a vehicle and a control device of a steer-by-wire system. BACKGROUND

[0002] The electric power steering system of the transmission generally has only one control unit, and the switching of the state machine is relatively simple and mature. Even if the electric power steering system is fully redundant, it is essentially two control units that are completely integrated together, and there is no significant difference from the electric power steering system with a single control unit.

[0003] Compared with the traditional electric power steering system, the steer-by-wire system is not only composed of two completely redundant control units, but also increases many function scenes, and the function scenes are more complex, so a new control method is needed to manage the steer-by-wire system. 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, which can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0005] A second object of the present application is to provide a computer readable storage medium.

[0006] A third object of the present application is to provide a steer-by-wire system.

[0007] A fourth object of the present application is to provide a vehicle.

[0008] A fifth object of the present application is to provide a control device of a steer-by-wire system.

[0009] To achieve the above-mentioned objects, the first aspect of the present application provides a control method of a steer-by-wire system, the steer-by-wire system comprising a steering road feel simulation unit and a steering execution unit, the method comprising: in response to an automatic driving function activation signal of a vehicle, acquiring a steering wheel state of the vehicle when the steer-by-wire system is in a normal working state; when the steering wheel is in a silent state or a storage state, decoupling the steering road feel simulation unit and the steering execution unit to execute the automatic driving function through the steering execution unit, and setting a synchronization state signal between the steering road feel simulation unit and the steering execution unit to synchronization.

[0010] According to the control method of the steer-by-wire steering system, when the steer-by-wire steering system is in a normal working state, the steering wheel state of the vehicle is acquired in response to an automatic driving function activation signal of the vehicle, and then the steering road sense simulation unit and the steering execution unit are decoupled when the steering wheel is in a silent state or a storage state, so as to execute the automatic driving function through the steering execution unit, and the synchronization state signal between the steering road sense simulation unit and the steering execution unit is set to be synchronized. Therefore, the steering road sense simulation unit and the steering execution unit can be cooperated with each other, so as to ensure the normal operation of the steer-by-wire steering system.

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

[0012] According to an embodiment of the present application, the control method of the steer-by-wire steering system further comprises: in response to an automatic driving function exit signal, controlling the steering road sense simulation unit to be angle-synchronized with the steering execution unit, and keeping the synchronization state signal as synchronized.

[0013] According to an embodiment of the present application, the control method of the steer-by-wire steering system further comprises: when the steer-by-wire steering system is in a synchronization state, in response to a vehicle mode signal being switched from a power-on signal to an ignition signal, controlling the steer-by-wire steering system to enter a normal working state; and when the steer-by-wire steering system is in the normal working state, in response to the vehicle mode signal being switched from the ignition signal to the power-on signal, controlling the steer-by-wire steering system to enter the synchronization state.

[0014] According to an embodiment of the present application, the control method of the steer-by-wire steering system further comprises: when the steer-by-wire steering system is in the synchronization state or the normal working state, in response to a whole vehicle power-off signal, controlling the steering road sense simulation unit to be angle-synchronized with the steering execution unit, and after the angle synchronization is completed, controlling the steering road sense simulation unit and the steering execution unit to be powered off.

[0015] According to an embodiment of the present application, the control method of the steer-by-wire steering system further comprises: when the steer-by-wire steering system is in an initialization state, in response to a vehicle mode signal being switched from an unlock signal to a power-on signal, controlling the steer-by-wire steering system to enter a synchronization state; and in the synchronization state, controlling the steering road sense simulation unit to be angle-synchronized with the steering execution unit, and after the angle synchronization is completed, setting the synchronization state signal as synchronized.

[0016] According to an embodiment of the present application, after the angle synchronization is completed, the control method of the steer-by-wire steering system further comprises: in response to a game mode signal, decoupling the steering road sense simulation unit and the steering execution unit, so as to play a game through the steering road sense simulation unit, and keeping the synchronization state signal as synchronized, and after the game mode is exited, controlling the steering road sense simulation unit to be angle-synchronized with the steering execution unit.

[0017] According to an embodiment of the present application, the control method of the steer-by-wire system further comprises: in response to the unlock signal, controlling the steer-by-wire system to enter an initialization state when the steer-by-wire system is in the power-off state; in the initialization state, waking up and initializing the steering road feel simulation unit and the steering execution unit, and in the initialization process, in response to a vehicle power-off signal, controlling the steering road feel simulation unit and the steering execution unit to power off.

[0018] According to an embodiment of the present application, the control method of the steer-by-wire system further comprises: in response to a fault signal, controlling the steering road feel simulation unit and the steering execution unit to enter a fault state when the steer-by-wire system is in the initialization state, the synchronization state or the normal working state.

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

[0020] The computer readable storage medium according to the embodiment of the present application, by executing the control method of the steer-by-wire system, can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0021] To achieve the above object, the third aspect of the present application provides a steer-by-wire system, which comprises a steering road feel simulation unit, a steering execution unit, a memory, a processor and a program stored in the memory and executable on the processor, and the processor executes the program to implement the control method of the steer-by-wire system.

[0022] The steer-by-wire system according to the embodiment of the present application, by executing the control method of the steer-by-wire system, can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0023] To achieve the above object, the fourth aspect of the present application provides a vehicle, which comprises the steer-by-wire system.

[0024] The vehicle according to the embodiment of the present application, by comprising the steer-by-wire system, can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0025] To achieve the above object, the fifth aspect of the present application provides a control device of a steer-by-wire system, the steer-by-wire system comprising a steering road feel simulation unit and a steering execution unit, the device comprising: an acquisition module configured to acquire a steering wheel state of a vehicle in response to an automatic driving function activation signal of the vehicle when the steer-by-wire system is in a normal working state; and a control module configured to decouple the steering road feel simulation unit and the steering execution unit when the steering wheel is in a silent state or a stowed state, to execute the automatic driving function through the steering execution unit, and to set a synchronization state signal between the steering road feel simulation unit and the steering execution unit to synchronization.

[0026] According to the control device of the steer-by-wire system of the embodiment of the present application, the acquisition module is configured to acquire a steering wheel state of a vehicle in response to an automatic driving function activation signal of the vehicle when the steer-by-wire system is in a normal working state, and the control module is configured to decouple the steering road feel simulation unit and the steering execution unit when the steering wheel is in a silent state or a stowed state, to execute the automatic driving function through the steering execution unit, and to set a synchronization state signal between the steering road feel simulation unit and the steering execution unit to synchronization. Thus, the device can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring normal operation of the steer-by-wire system.

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

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

[0029] Figure 2 a block schematic diagram of the steer-by-wire system according to the embodiment of the present application;

[0030] Figure 3 a block schematic diagram of the vehicle according to the embodiment of the present application;

[0031] Figure 4 a block schematic diagram of the control device of the steer-by-wire system according to the embodiment of the present application. DETAILED DESCRIPTION

[0032] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The same or similar components are denoted by the same or similar reference numerals throughout the drawings, and a description thereof will not be repeated. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0033] In an embodiment of the present application, the steer-by-wire system can include a steering road feel simulation unit and a steering execution unit. The steering road feel simulation unit can be connected to the steering wheel, and the steering road feel simulation unit is internally provided with an angle sensor for obtaining the current steering angle of the steering wheel. The steering execution unit can be connected to the wheels, and the steering execution unit is internally provided with an angle sensor for obtaining the current steering angle of the wheels. When the steering angle of the steering wheel is consistent with the steering angle of the wheels, it indicates that the synchronization state signal between the steering road feel simulation unit and the steering execution unit is synchronized.

[0034] In addition, in the present application, the steer-by-wire system can be divided into multiple states. For example, in the normal state, the synchronization state signal between the steering road feel simulation unit and the steering execution unit is always kept synchronized. In the initialization state, the steering road feel simulation unit and the steering execution unit are woken up and initialized. In the synchronization state, the steering road feel simulation unit performs angle synchronization to the steering execution unit. In the power-down state, the steering road feel simulation unit and the steering execution unit do not communicate with each other. In the fault state, the steering road feel simulation unit and the steering execution unit cannot work normally.

[0035] The control method of the steer-by-wire system, the computer readable storage medium, the steer-by-wire system, the vehicle, and the control device of the steer-by-wire system according to the embodiments of the present application are described below with reference to the accompanying drawings.

[0036] Figure 1 The flowchart of the control method of the steer-by-wire system according to the embodiments of the present application is shown in FIG. 1.

[0037] As shown in FIG. 2, the control method of the steer-by-wire system according to the embodiments of the present application can include the following steps: Figure 1

[0038] S1, when the steer-by-wire system is in a normal working state, in response to an automatic driving function activation signal of the vehicle, obtaining the steering wheel state of the vehicle.

[0039] S2, when the steering wheel is in a silent state or a storage state, decoupling the steering road feel simulation unit and the steering execution unit to execute the automatic driving function through the steering execution unit, and setting the synchronization state signal between the steering road feel simulation unit and the steering execution unit to synchronization.

[0040] ​Specifically, the steer-by-wire system has multiple working states. When the steer-by-wire system is in a normal working state, the steering wheel state of the vehicle can be acquired in response to an activation signal of a different function of the vehicle, for example, when the vehicle is in an ignition state and related signals such as a vehicle speed signal and a voltage signal of the vehicle are normal, when an automatic driving function of the vehicle is in an activated state, for example, when an intelligent driving function (an intelligent driving function of an ADAS (advanced driver assistance system) L3 and above) of the vehicle is activated. For example, the steering wheel can be in a normally unfolded state, or a steering wheel mute switch or a steering wheel storage switch can be provided, for example, the switch can be a physical button provided on a center console of the vehicle, or a virtual button displayed on a center entertainment screen, and the switch can be used to trigger a steering wheel mute or storage instruction.

[0041] In the process of automatic driving of the vehicle, if the steering wheel is not muted or stored, the driver will be disturbed by the automatically rotating steering wheel, and the driver's hands may touch the steering wheel, which will negatively affect the safety and comfort of automatic driving. Therefore, when the driver sets the steering wheel to a mute state or a storage state, the steering road feel simulation unit and the steering execution unit need to be decoupled, that is, at this time the steering wheel remains stationary and the vehicle is controlled to travel only by the rotation of the wheels. In this process, since the steering wheel remains stationary and the wheels are always rotating, the angle acquired by the angle sensor in the steering road feel simulation unit is different from the angle acquired by the angle sensor in the steering execution unit. The traditional steer-by-wire system will issue a synchronization state signal between the steering road feel simulation unit and the steering execution unit as an out-of-sync state signal, which will cause problems such as display of related faults on the instrument panel. In order to solve this problem, the steering road feel simulation unit and the steering execution unit can be decoupled when the automatic driving function of the vehicle is activated and the steering wheel is in a mute state or a storage state, and the synchronization state signal between the steering road feel simulation unit and the steering execution unit can be set to be in sync, so as to ensure the normal working of the steer-by-wire system.

[0042] For example, when the APA (Auto Parking Assis) function of the vehicle is activated, the state of the steering wheel can be obtained. When the driver sets the steering wheel to a silent state or a storage state, the steering feel simulation unit and the steering execution unit need to be decoupled, that is, at this time the steering wheel remains stationary, and the vehicle is controlled only by the rotation of the wheels to park. In this process, because the angle obtained by the angle sensor in the steering feel simulation unit is different from the angle obtained by the angle sensor in the steering execution unit, the traditional steer-by-wire system will issue a synchronization state signal between the steering feel simulation unit and the steering execution unit as an out-of-sync signal, which will cause problems such as display of related faults on the instrument panel. In order to solve this problem, when the automatic driving function of the vehicle is activated and the steering wheel is in a silent state or a storage state, the steering feel simulation unit and the steering execution unit can be decoupled, and the synchronization state signal between the steering feel simulation unit and the steering execution unit can be set to synchronization, so as to ensure the normal work of the steer-by-wire system.

[0043] Thus, the steering feel simulation unit and the steering execution unit can be cooperated with each other, so as to ensure the normal operation of the steer-by-wire system.

[0044] The specific working process of the control method of the steer-by-wire system of the present application will be described in detail below.

[0045] According to an embodiment of the present application, the control method of the steer-by-wire system further comprises: in response to an automatic driving function exit signal, controlling the steering feel simulation unit to synchronize the angle to the steering execution unit, and keeping the synchronization state signal as synchronization.

[0046] Specifically, when the driver exits the automatic driving function, for example, the driver exits the intelligent driving function of the vehicle or exits the APA function of the vehicle, the vehicle responds to the automatic driving function exit signal, and because there may be a problem of inconsistency between the current actual rotation angle of the steering wheel and the current actual rotation angle of the wheel when the vehicle exits the intelligent driving function of the vehicle or exits the APA function of the vehicle, thereby the steering road feel simulation unit can control the angle synchronization to the steering execution unit, for example, the current rotation angle of the wheel can be obtained, that is, the current rotation angle of the wheel can be obtained through the angle sensor inside the steering execution unit, the angle sensor inside the steering road feel simulation unit can obtain the current rotation angle of the steering wheel, and the rotation angle of the wheel is sent to the controller of the steering wheel, and the steering wheel controller can control the steering wheel to rotate according to the rotation angle of the wheel, until the rotation angle of the steering wheel and the rotation angle of the wheel are consistent, for example, the current rotation angle of the wheel is 0 degrees, and the rotation angle of the steering wheel is 5 degrees, thereby the steering wheel can be controlled to rotate to 0 degrees, so as to realize the angle synchronization of the steering road feel simulation unit to the steering execution unit, and keep the synchronization state signal between the steering road feel simulation unit and the steering execution unit as synchronization.

[0047] In addition, during the process of controlling the rotation of the steering wheel, the speed of the steering wheel rotation needs to be limited, for example, the rotation speed of the steering wheel is set to a lower speed, so as to prevent the steering wheel from hitting the driver's hand when rotating, thereby causing a poor user experience.

[0048] According to an embodiment of the present application, the control method of the steer-by-wire system further comprises: when the steer-by-wire system is in the synchronization state, in response to the vehicle mode signal being switched from the power-on signal to the ignition signal, controlling the steer-by-wire system to enter the normal working state; when the steer-by-wire system is in the normal working state, in response to the vehicle mode signal being switched from the ignition signal to the power-on signal, controlling the steer-by-wire system to enter the synchronization state.

[0049] Specifically, the steer-by-wire system has multiple states, and the vehicle mode signal has multiple states, when the steer-by-wire system is in the synchronization state, and the vehicle mode signal is switched from the power-on signal to the ignition signal, the steer-by-wire system can be controlled to enter the normal working state, and the vehicle can normally travel, for example, in this state, the driver can manually rotate the steering wheel, and when the steering wheel rotates, the wheel follows the rotation angle of the steering wheel in real time, so that the rotation speed of the wheel and the steering wheel is basically consistent, that is, when the rotation speed of the steering wheel is fast, the rotation speed of the wheel will also be fast to follow the angle of the steering wheel, and for example, the vehicle can enter the automatic driving mode, that is, the driver does not need to manually operate, and the vehicle can automatically travel.

[0050] If the vehicle mode signal is switched from the ignition signal back to the power-on signal while the steer-by-wire system is in the normal working state, the steer-by-wire system can be controlled to re-enter the synchronization state, i.e., the steering road feel simulation unit is controlled to perform angle synchronization with the steering execution unit, and the synchronization state signal is kept as synchronization.

[0051] According to one embodiment of the present application, the control method of the steer-by-wire system further comprises: when the steer-by-wire system is in the synchronization state or the normal working state, in response to the vehicle power-off signal, the steering road feel simulation unit is controlled to perform angle synchronization with the steering execution unit, and after the angle synchronization is completed, the steering road feel simulation unit and the steering execution unit are controlled to power off.

[0052] Specifically, when the steer-by-wire system is in the synchronization state or the normal working state, if the vehicle power-off signal is received, for example, when the KL15 power supply (powered by the total power box in the car) is turned off, and the network management message is stopped, the vehicle is controlled to power off, and before the steering road feel simulation unit and the steering execution unit are controlled to power off, it is also necessary to ensure whether the steering wheel angle is consistent with the wheel angle, if consistent, the steering road feel simulation unit and the steering execution unit can be directly controlled to power off; if not consistent, the steering road feel simulation unit is controlled to perform angle synchronization with the steering execution unit, i.e., the steering wheel angle is controlled to be consistent with the wheel angle, and the steering wheel and the wheel are controlled to the middle position, and after the angle synchronization is determined, the steering road feel simulation unit and the steering execution unit can be controlled to power off.

[0053] According to one embodiment of the present application, the control method of the steer-by-wire system further comprises: when the steer-by-wire system is in the initialization state, in response to the vehicle mode signal being switched from the unlock signal to the power-on signal, the steer-by-wire system is controlled to enter the synchronization state; in the synchronization state, the steering road feel simulation unit is controlled to perform angle synchronization with the steering execution unit, and after the angle synchronization is completed, the synchronization state signal is set as synchronization.

[0054] Specifically, when the vehicle is in the initialization state, after the mode signal of the vehicle is switched from the unlock signal to the power-on signal, for example, after the vehicle is unlocked, the driver enters the vehicle and short-presses the start button, the vehicle receives the power-on signal, and the steer-by-wire system can be controlled to enter the synchronization state. Since the driver may touch the steering wheel when he just enters the vehicle, or the driver touched the steering wheel when he got off the vehicle last time, etc., causing the angle of the steering wheel and the angle of the wheels to be inconsistent, therefore, in the synchronization state, the steering feel simulation unit controls the angle synchronization with the steering execution unit, such as obtaining the current angle of the wheels, if there is a difference between the current angle of the steering wheel and the current angle of the wheels, the steering wheel can be controlled to rotate until the angle of the steering wheel and the angle of the wheels are consistent, so that the angle between the steering feel simulation unit and the steering execution unit is synchronized, and after the angle synchronization is completed, the synchronization state signal is set to synchronization, and sent to the vehicle bus, to determine that the steer-by-wire system is running normally.

[0055] According to an embodiment of the present application, after the angle synchronization is completed, the control method of the steer-by-wire system further comprises: in response to the game mode signal, decoupling the steering feel simulation unit and the steering execution unit to play through the steering feel simulation unit, and keeping the synchronization state signal as synchronization, and after exiting the game mode, controlling the steering feel simulation unit to perform angle synchronization with the steering execution unit.

[0056] Specifically, after the angle synchronization is completed, the driver can choose to enter the game mode for entertainment, that is, after the vehicle responds to the game mode signal, in order to reduce the friction between the tire and the ground caused by the driver rotating the steering wheel to drive the tire to rotate in the game mode, reducing the wear of the tire, after entering the game mode, the steering feel simulation unit and the steering execution unit can be decoupled, that is, the wheels remain stationary, and the steering wheel can be freely rotated, so that the operation in the game can be performed through the steering feel simulation unit. During the game, since the wheels remain stationary, the steering wheel is consistently in a rotating state, at this time the angle of the steering wheel and the angle of the wheels are inconsistent, thus causing the synchronization state signal between the steering feel simulation unit and the steering execution unit to be different. In order to ensure the normal operation of the steer-by-wire system, the synchronization state signal can be kept as synchronization.

[0057] In addition, after the driver exits the game mode, the angle of the steering wheel and the angle of the wheels may be consistent or inconsistent, therefore, the steering feel simulation unit needs to be controlled to perform angle synchronization with the steering execution unit, that is, the angle of the steering wheel and the angle of the wheels need to be kept consistent.

[0058] According to one embodiment of the present application, the control method of the steer-by-wire system further comprises: in response to an unlock signal when the steer-by-wire system is in the power-off state, controlling the steer-by-wire system to enter an initialization state; in the initialization state, waking up and initializing the steering road feel simulation unit and the steering execution unit, and in the initialization process, in response to a vehicle power-off signal, controlling the steering road feel simulation unit and the steering execution unit to power off.

[0059] Specifically, when the steer-by-wire system is in the power-off state, after receiving an unlock signal, for example, the driver can unlock the vehicle through the intelligent key of the vehicle, or can remotely unlock the vehicle through a smart device, after the vehicle responds to the unlock signal, the vehicle low voltage is powered on or the network management message on the bus is started, and the electric rearview mirror of the vehicle can be changed from the folded state to the unfolded state, the doors of the vehicle are unlocked so that the driver and the passenger can enter the vehicle, and at this time the steer-by-wire system can be controlled to enter the initialization state, after the steer-by-wire system enters the initialization state, the steering road feel simulation unit and the steering execution unit are woken up and initialized, for example, whether the controller of the steering road feel simulation unit and the steering execution unit has an error or can work normally can be detected.

[0060] After the initialization is completed, the state of each of the steering road feel simulation unit and the steering execution unit can be sent to the private CAN to detect whether the communication is normal and whether the next action can be performed. By communicating through the private CAN instead of the vehicle bus, the communication speed between the steering road feel simulation unit and the steering execution unit can be improved, and the load of the vehicle bus can be reduced.

[0061] In addition, in the initialization process, in response to a vehicle power-off signal, for example, when the KL15 power supply is turned off and the network management message on the bus is turned off, the steering road feel simulation unit and the steering execution unit can be controlled to power off, and the steering road feel simulation unit and the steering execution unit no longer work.

[0062] According to one embodiment of the present application, the control method of the steer-by-wire system further comprises: in response to a fault signal when the steer-by-wire system is in the initialization state, the synchronization state or the normal working state, controlling the steering road feel simulation unit and the steering execution unit to enter a fault state.

[0063] Specifically, when the steer-by-wire system enters a fault state, for example, when the steer-by-wire system is in an initialization state, if the vehicle has a serious fault, such as the motor being unable to provide assistance, the controllable steering road feel simulation unit and the steering execution unit can enter a fault state, and entering the fault state means that the controllable steering road feel simulation unit and the steering execution unit have completely failed to work in the current state and need to be restarted or replaced.

[0064] It should be noted that when some minor faults occur but do not affect the normal driving of the vehicle, the controllable steering road feel simulation unit and the steering execution unit can not need to enter a fault state.

[0065] In summary, according to the control method of the steer-by-wire system according to the embodiment of the present application, first, when the steer-by-wire system is in a normal working state, the steering wheel state of the vehicle is obtained in response to an automatic driving function activation signal of the vehicle, and then when the steering wheel is in a silent state or a storage state, the controllable steering road feel simulation unit and the steering execution unit are decoupled to execute the automatic driving function through the steering execution unit, and the synchronization state signal between the controllable steering road feel simulation unit and the steering execution unit is set to be synchronized. Thus, the method can make the controllable steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0066] Corresponding to the above-mentioned embodiments, the present application further provides a computer readable storage medium.

[0067] The computer readable storage medium according to the embodiment of the present application has a program stored thereon, and the program is executed by a processor to implement the control method of the steer-by-wire system described above.

[0068] According to the computer readable storage medium according to the embodiment of the present application, by executing the control method of the steer-by-wire system described above, the controllable steering road feel simulation unit and the steering execution unit can cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0069] Corresponding to the above-mentioned embodiments, the present application further provides a steer-by-wire system.

[0070] As shown in Figure 2 The steer-by-wire system 200 of the embodiment of the present application can include a steering road feel simulation unit (not shown in the figure), a steering execution unit (not shown in the figure), a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220, and the processor 220 implements the control method of the steer-by-wire system when executing the program.

[0071] 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 road feel simulation unit and the steering execution unit can be cooperated with each other, so as to ensure the normal operation of the steer-by-wire system.

[0072] Corresponding to the above-mentioned embodiment, the present application further provides a vehicle.

[0073] As shown in Figure 3 The vehicle 300 of the embodiment of the present application can include the steer-by-wire system 200.

[0074] According to the vehicle of the embodiment of the present application, by including the steer-by-wire system, the steering road feel simulation unit and the steering execution unit can be cooperated with each other, so as to ensure the normal operation of the steer-by-wire system.

[0075] Corresponding to the above-mentioned embodiment, the present application further provides a control device of a steer-by-wire system.

[0076] As shown in Figure 4 The control device 100 of the steer-by-wire system of the embodiment of the present application includes an acquisition module 110 and a control module 120.

[0077] The acquisition module 110 is configured to acquire the steering wheel state of the vehicle in response to an automatic driving function activation signal of the vehicle when the steer-by-wire system is in a normal working state. The control module 120 is configured to decouple the steering road feel simulation unit and the steering execution unit when the steering wheel is in a silent state or a storage state, to execute the automatic driving function through the steering execution unit, and to set a synchronization state signal between the steering road feel simulation unit and the steering execution unit as synchronized.

[0078] According to an embodiment of the present application, the control module 120 is further configured to control the steering road feel simulation unit to synchronize the angle with the steering execution unit in response to an automatic driving function exit signal, and keep the synchronization state signal as synchronized.

[0079] According to an embodiment of the present application, the control module 120 is further configured to: in response to the vehicle mode signal being switched from the power-on signal to the ignition signal when the steer-by-wire system is in the synchronization state, control the steer-by-wire system to enter a normal working state; and in response to the vehicle mode signal being switched from the ignition signal to the power-on signal when the steer-by-wire system is in the normal working state, control the steer-by-wire system to enter the synchronization state.

[0080] According to an embodiment of the present application, the control module 120 is further configured to: in response to the vehicle power-off signal when the steer-by-wire system is in the synchronization state or the normal working state, control the steering road feel simulation unit to perform angle synchronization with the steering execution unit, and after the angle synchronization is completed, control the steering road feel simulation unit and the steering execution unit to power off.

[0081] According to an embodiment of the present application, the control module 120 is further configured to: in response to the vehicle mode signal being switched from the unlock signal to the power-on signal when the steer-by-wire system is in the initialization state, control the steer-by-wire system to enter the synchronization state; and in the synchronization state, control the steering road feel simulation unit to perform angle synchronization with the steering execution unit, and after the angle synchronization is completed, set the synchronization state signal to synchronization.

[0082] According to an embodiment of the present application, after the angle synchronization is completed, the control module 120 is further configured to: in response to the game mode signal, decouple the steering road feel simulation unit and the steering execution unit to play a game through the steering road feel simulation unit, and keep the synchronization state signal as synchronization, and after exiting the game mode, control the steering road feel simulation unit to perform angle synchronization with the steering execution unit.

[0083] According to an embodiment of the present application, the control module 120 is further configured to: in response to the unlock signal when the steer-by-wire system is in the power-off state, control the steer-by-wire system to enter the initialization state; in the initialization state, wake up and initialize the steering road feel simulation unit and the steering execution unit, and in the initialization process, in response to the vehicle power-off signal, control the steering road feel simulation unit and the steering execution unit to power off.

[0084] According to an embodiment of the present application, the control module 120 is further configured to: in response to the fault signal when the steer-by-wire system is in the initialization state, the synchronization state or the normal working state, control the steering road feel simulation unit and the steering execution unit to enter a fault state.

[0085] 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.

[0086] The control device of the steer-by-wire system according to the embodiment of the present application, the acquisition module is configured to acquire the steering wheel state of the vehicle in response to an automatic driving function activation signal of the vehicle when the steer-by-wire system is in a normal working state, and the control module is configured to decouple the steering road feel simulation unit and the steering execution unit when the steering wheel is in a silent state or a stowed state, so as to execute the automatic driving function through the steering execution unit, and set a synchronization state signal between the steering road feel simulation unit and the steering execution unit to be synchronized. Thus, the device can make the steering road feel simulation unit and the steering execution unit cooperate with each other, thereby ensuring the normal operation of the steer-by-wire system.

[0087] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or in conjunction with such an instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device, or in conjunction with such an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires (electrical apparatus), a portable computer diskette (magnetic apparatus), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber (optical apparatus), and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, because the program can be electronically captured, for example, by optically scanning the paper or other suitable medium, then electronically converted into a form that is suitable for use in the computer storage medium. Note also that the software implemented logic can be stored and transmitted using any medium that is suitable for this purpose. Examples of such media include, but are not limited to, RAM, ROM, flash memory, EPROM, optical media, magnetic media, etc.

[0088] It should be understood that various parts of the present application can be realized in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized in hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gates for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0089] In the description of the specification, 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 present application. In the specification, 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.

[0090] In addition, the terms "first", "second" are only 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 present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0091] In the present 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, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A control method for a steer-by-wire system, characterized in that, The steer-by-wire system includes a steering road feel simulation unit and a steering execution unit, and the method includes: When the steer-by-wire system is in normal working condition, the steering wheel status of the vehicle is acquired in response to the activation signal of the vehicle's autonomous driving function. When the steering wheel is in a silent or retracted state, the steering road feel simulation unit and the steering execution unit are decoupled so that the automatic driving function can be executed through the steering execution unit. The synchronization status signal between the steering road feel simulation unit and the steering execution unit is set to synchronize to avoid displaying related faults on the instrument panel when the steering wheel is stationary and the wheels are rotating, due to the angle obtained by the angle sensor in the steering road feel simulation unit being different from the angle obtained by the angle sensor in the steering execution unit.

2. The method according to claim 1, characterized in that, The method further includes: In response to the autonomous driving function exit signal, the steering road feel simulation unit is controlled to synchronize its angle with the steering execution unit, and the synchronization status signal is kept synchronized.

3. The method according to claim 1, characterized in that, The method further includes: When the steer-by-wire system is in a synchronized state, in response to the vehicle mode signal switching from a power-on signal to an ignition signal, the steer-by-wire system is controlled to enter a normal working state. When the steer-by-wire system is in normal working condition, in response to the vehicle mode signal switching from ignition signal to power-on signal, the steer-by-wire system is controlled to enter a synchronization state.

4. The method according to claim 3, characterized in that, The method further includes: When the steer-by-wire system is in a synchronized state or a normal operating state, in response to the vehicle power-off signal, the steering road feel simulation unit is controlled to synchronize its angle with the steering execution unit, and after the angle synchronization is completed, the steering road feel simulation unit and the steering execution unit are powered off.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: When the steer-by-wire system is in the initialization state, in response to the vehicle mode signal switching from the unlock signal to the power-on signal, the steer-by-wire system is controlled to enter the synchronization state. In the synchronization state, the steering road feel simulation unit is controlled to synchronize its angle with the steering execution unit, and after the angle synchronization is completed, the synchronization state signal is set to synchronize.

6. The method according to claim 5, characterized in that, After angle synchronization is completed, the method further includes: In response to the game mode signal, the steering road feel simulation unit and the steering execution unit are decoupled to allow the game to be played through the steering road feel simulation unit, and the synchronization state signal is kept synchronized. After exiting the game mode, the steering road feel simulation unit is controlled to synchronize its angle with the steering execution unit.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: When the steer-by-wire system is in a power-off state, in response to an unlock signal, the steer-by-wire system is controlled to enter an initialization state; In the initialization state, the steering road feel simulation unit and the steering execution unit are woken up and initialized, and during the initialization process, in response to the vehicle power-down signal, the steering road feel simulation unit and the steering execution unit are powered down.

8. The method according to claim 5, characterized in that, The method further includes: When the steer-by-wire system is in the initialization state, synchronization state, or normal operation state, in response to a fault signal, the steering road feel simulation unit and the steering execution unit are controlled to enter the fault state.

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

10. A steer-by-wire system, characterized in that, include: The system includes a steering feel simulation unit, a steering execution unit, 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 control method of the steer-by-wire system according to any one of claims 1-8.

11. A vehicle, characterized in that, Including the steer-by-wire system as described in claim 10.

12. A control device for a steer-by-wire system, characterized in that, The steer-by-wire system includes a steering road feel simulation unit and a steering actuation unit; the device includes: The acquisition module is used to acquire the steering wheel status of the vehicle in response to the activation signal of the vehicle's autonomous driving function when the steer-by-wire system is in normal working condition. The control module is used to decouple the steering road feel simulation unit and the steering execution unit when the steering wheel is in a silent or retracted state, so as to execute the automatic driving function through the steering execution unit, and to set the synchronization status signal between the steering road feel simulation unit and the steering execution unit to be synchronized, so as to avoid the display of related faults on the instrument panel due to the difference between the angle obtained by the angle sensor in the steering road feel simulation unit and the angle obtained by the angle sensor in the steering execution unit when the steering wheel is stationary and the wheels are rotating.

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