Control methods, devices, and vehicles for vehicle steer-by-wire systems

Abstract

This invention discloses a control method, device, and vehicle for a vehicle steer-by-wire system. The method includes: acquiring road feel simulation parameters and steering execution parameters, wherein the road feel simulation parameters characterize user-input parameters for controlling vehicle steering, and the steering execution parameters characterize the steering parameters expected to be achieved by the steering actuator in the steer-by-wire system, the steering actuator controlling vehicle steering; determining steering process parameters based on the road feel simulation parameters and steering execution parameters, wherein the steering process parameters characterize the control parameters for controlling the steering actuator to achieve the steering execution parameters; and controlling the steering actuator to operate based on the steering process parameters. This invention solves the technical problem in related technologies where controlling vehicle driving when the road feel simulator and steering actuator are not aligned leads to driving safety risks.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering control, and more specifically, to a control method, apparatus, and vehicle for a vehicle steer-by-wire system. Background Technology

[0002] For steer-by-wire systems, since the intermediate shaft mechanical connection between the road feel simulator and the steer-by-wire actuator is eliminated, the upper road feel simulator can rotate freely relative to the lower steering actuator when the steer-by-wire system is powered off. This may result in misalignment between the road feel simulator and the steering actuator. If the user drives the vehicle when the road feel simulator and the steering actuator are not aligned, the actual steering parameters of the vehicle may differ from the steering parameters input by the user, which may lead to safety risks during vehicle operation.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a control method, device, and vehicle for a vehicle steer-by-wire system, to at least solve the technical problem in the related art where driving safety risks arise when the road feel simulator and steering actuator are not aligned.

[0005] According to one aspect of the present invention, a control method for a control system of a vehicle steer-by-wire system is provided. The method includes: acquiring road feel simulation parameters and steering execution parameters, wherein the road feel simulation parameters are used to characterize parameters input by a user for controlling vehicle steering, and the steering execution parameters are used to characterize steering parameters expected to be achieved by a steering execution motor in the steer-by-wire system, the steering execution motor being used to control vehicle steering; determining steering process parameters based on the road feel simulation parameters and the steering execution parameters, wherein the steering process parameters are used to characterize control parameters for controlling the steering execution motor to achieve the steering execution parameters; and controlling the operation of the steering execution motor based on the steering process parameters.

[0006] Optionally, the road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed, the steering execution parameters include at least: steering execution angle, and the steering process parameters include at least: target steering speed, target steering direction, and target steering torque.

[0007] Optionally, steering process parameters are determined based on road feel simulation parameters and steering execution parameters, including: determining the target steering speed and target steering direction based on the road feel simulation angle and steering execution angle; and determining the target steering torque based on the road feel simulation speed and target steering speed.

[0008] Optionally, the target steering speed and target steering direction are determined based on the road-feel simulated steering angle and the steering execution angle, including: obtaining the difference between the road-feel simulated steering angle and the steering execution angle to obtain the steering angle difference; performing angle direction detection on the steering angle difference to obtain the target steering direction; and determining the target steering speed based on the steering angle difference and the calibrated speed threshold.

[0009] Optionally, the target steering speed is determined based on the steering angle difference and the calibrated speed threshold, including: proportionally fusing the steering angle difference to obtain a first fused speed; integrally fusing the steering angle difference to obtain a second fused speed; fusing the first fused speed and the second fused speed to obtain a third fused speed; and adjusting the third fused speed based on the calibrated speed threshold to obtain the target steering speed.

[0010] Optionally, the calibration speed threshold includes at least: a first speed threshold and a second speed threshold, wherein the first speed threshold is less than the second speed threshold. Adjusting the third fused speed based on the calibration speed threshold to obtain the target steering speed includes: determining the third fused speed as the target steering speed in response to the third fused speed being greater than the first speed threshold and less than the second speed threshold; and re-performing proportional fusion, integral fusion, and speed fusion on the steering angle difference in response to the third fused speed being less than or equal to the first speed threshold, or the third fused speed being greater than or equal to the second speed threshold, to obtain a new third fused speed, and readjusting the new third fused speed based on the calibration speed threshold.

[0011] Optionally, the target steering torque is determined based on the simulated road speed and the target steering speed, including: obtaining the difference between the target steering speed and the simulated road speed to obtain a steering speed difference; proportionally fusing the steering speed difference to obtain a first fused torque; integrally fusing the steering speed difference to obtain a second fused torque; and torque fusing the first fused torque and the second fused torque to obtain the target steering torque.

[0012] Optionally, the method further includes: obtaining an alignment flag of the steering actuator motor; in response to receiving a flag application request, obtaining the request address of the flag application request; and sending the alignment flag to the target device corresponding to the request address.

[0013] According to one aspect of the present invention, a control device for a control system of a vehicle steer-by-wire system is also provided. The device includes: a parameter acquisition module for acquiring road feel simulation parameters and steering execution parameters, wherein the road feel simulation parameters characterize user-input parameters for controlling vehicle steering, and the steering execution parameters characterize the steering parameters expected to be achieved by the steering execution motor in the steer-by-wire system, the steering execution motor being used to control vehicle steering; a parameter determination module for determining steering process parameters based on the road feel simulation parameters and the steering execution parameters, wherein the steering process parameters characterize the control parameters for controlling the steering execution motor to achieve the steering execution parameters; and a motor control module for controlling the operation of the steering execution motor based on the steering process parameters.

[0014] Optionally, the road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed, the steering execution parameters include at least: steering execution angle, and the steering process parameters include at least: target steering speed, target steering direction, and target steering torque.

[0015] Optionally, the parameter determination module includes: a first determination unit, used to determine the target steering speed and target steering direction based on the road feel simulated steering angle and steering execution angle; and a second determination unit, used to determine the target steering torque based on the road feel simulated speed and target steering speed.

[0016] Optionally, the first determining unit is further configured to: obtain the difference between the simulated road feel angle and the actual steering angle to obtain the steering angle difference; perform angle direction detection on the steering angle difference to obtain the target steering direction; and determine the target steering speed based on the steering angle difference and the calibrated speed threshold.

[0017] Optionally, the first determining unit is further configured to: proportionally fuse the steering angle difference to obtain a first fused speed; integrally fuse the steering angle difference to obtain a second fused speed; fuse the first fused speed and the second fused speed to obtain a third fused speed; and adjust the third fused speed based on a calibrated speed threshold to obtain a target steering speed.

[0018] Optionally, the calibration speed threshold includes at least: a first speed threshold and a second speed threshold, wherein the first speed threshold is less than the second speed threshold, and the first determining unit is further configured to: determine the third fusion speed as the target steering speed in response to the third fusion speed being greater than the first speed threshold and the third fusion speed being less than the second speed threshold; and re-perform proportional fusion, integral fusion and speed fusion on the steering angle difference in response to the third fusion speed being less than or equal to the first speed threshold, or the third fusion speed being greater than or equal to the second speed threshold, to obtain a new third fusion speed, and readjust the new third fusion speed based on the calibration speed threshold.

[0019] Optionally, the second determining unit is further configured to: obtain the difference between the target steering speed and the simulated road feel speed to obtain a steering speed difference; perform proportional fusion on the steering speed difference to obtain a first fused torque; perform integral fusion on the steering speed difference to obtain a second fused torque; and perform torque fusion on the first fused torque and the second fused torque to obtain a target steering torque.

[0020] Optionally, the device further includes: a flag acquisition module for acquiring an alignment flag of the steering actuator motor; an address acquisition module for acquiring the request address of the flag application request in response to receiving a flag application request; and a flag sending module for sending the alignment flag to the target device corresponding to the request address.

[0021] According to one aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the above-described vehicle steer-by-wire system control methods.

[0022] According to one aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes any of the above-described control methods for a vehicle steer-by-wire system.

[0023] According to one aspect of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the above-described vehicle steer-by-wire system control methods.

[0024] In this embodiment of the invention, the method involves acquiring road feel simulation parameters and steering execution parameters; determining steering process parameters based on the road feel simulation parameters and steering execution parameters; and controlling the operation of the steering execution motor based on the steering process parameters. By first determining the steering process parameters for aligning the road feel simulator and the steering actuator based on the road feel simulation parameters and steering execution parameters, and then using the steering process parameters to control the operation of the steering execution motor, the aim of aligning the road feel simulator and the steering actuator is achieved. This allows the steering actuator to operate accurately according to the steering parameters input by the user controlling the road feel simulator, thereby improving the safety of the vehicle during steering. This also solves the technical problem in related technologies where controlling the vehicle when the road feel simulator and the steering actuator are not aligned leads to driving safety risks. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0026] Figure 1 This is a flowchart illustrating a control method for a vehicle steer-by-wire system according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram illustrating the control process of a vehicle steer-by-wire system according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram illustrating a target rotational speed determination process according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram illustrating a target torque determination process according to an embodiment of the present invention;

[0030] Figure 5 This is a structural block diagram of a control device for a vehicle steer-by-wire system according to an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] According to an embodiment of the present invention, a method embodiment for controlling a vehicle steer-by-wire system is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 1 This is a flowchart illustrating a control method for a vehicle steer-by-wire system according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0036] Step S102: Obtain road feel simulation parameters and steering execution parameters.

[0037] Among them, the road feel simulation parameters are used to characterize the parameters input by the user to control the vehicle steering, the steering execution parameters are used to characterize the steering parameters that the steering execution motor in the steer-by-wire system is expected to achieve, and the steering execution motor is used to control the vehicle steering.

[0038] The aforementioned road feel simulation parameters can refer to the vehicle steering parameters input by the user to the steer-by-wire system by controlling the road feel simulator on the vehicle, such as the steering wheel. The aforementioned steering execution parameters can refer to the steering parameters that the steering execution motor in the steer-by-wire system is expected to achieve when steering according to the road feel simulation parameters input by the user. The aforementioned steering execution motor can refer to the motor used to control the steering actuator to achieve vehicle steering.

[0039] Considering that in a steer-by-wire system, the road feel simulator and the steering actuator are not mechanically connected via an intermediate shaft, the road feel simulator and the steering actuator may not be aligned when the vehicle is powered off. Furthermore, the steering parameters actually achieved by the steering motor during steering may deviate from the aforementioned steering parameters. Therefore, to ensure vehicle safety, when the vehicle is powered on or when the user controls the vehicle to steer, the steer-by-wire system can perform an alignment operation before steering. This involves aligning the road feel simulator and the steering actuator, and then using the steering actuator motor to control the steering actuator to achieve vehicle steering.

[0040] In order to accurately control the alignment of the road feel simulator and the steering actuator, the steer-by-wire system can first obtain the aforementioned road feel simulation parameters and steering execution parameters when it detects that the vehicle is powered on or the user controls the road feel simulator, such as the steering wheel.

[0041] Step S104: Determine the steering process parameters based on the road feel simulation parameters and steering execution parameters.

[0042] Among them, the steering process parameters are used to characterize the control parameters that control the steering actuator motor to achieve the steering execution parameters.

[0043] After obtaining the road feel simulation parameters and steering execution parameters, the steer-by-wire system can determine the control parameters that the steering motor needs to execute during actual operation to achieve the aforementioned steering execution parameters, i.e., the aforementioned steering process parameters.

[0044] Step S106: Control the operation of the steering actuator motor based on the steering process parameters.

[0045] After obtaining the above steering process parameters, the steer-by-wire system can control the steering motor to operate according to the steering control parameters, thereby achieving the purpose of first controlling the road feel simulator and steering actuator to align, and then controlling the vehicle to complete the steering, thus ensuring the safety of the user when controlling the vehicle to turn.

[0046] In this embodiment of the invention, the method involves acquiring road feel simulation parameters and steering execution parameters; determining steering process parameters based on the road feel simulation parameters and steering execution parameters; and controlling the operation of the steering execution motor based on the steering process parameters. By first determining the steering process parameters for aligning the road feel simulator and the steering actuator based on the road feel simulation parameters and steering execution parameters, and then using the steering process parameters to control the operation of the steering execution motor, the aim of aligning the road feel simulator and the steering actuator is achieved. This allows the steering actuator to operate accurately according to the steering parameters input by the user controlling the road feel simulator, thereby improving the safety of the vehicle during steering. This also solves the technical problem in related technologies where controlling the vehicle when the road feel simulator and the steering actuator are not aligned leads to driving safety risks.

[0047] Optionally, the road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed, the steering execution parameters include at least: steering execution angle, and the steering process parameters include at least: target steering speed, target steering direction, and target steering torque.

[0048] In one optional embodiment, in order to accurately determine the above-mentioned steering process parameters, the obtained road feel simulation parameters may include at least: road feel simulation angle and road feel simulation speed, and the obtained steering execution parameters may include at least: steering execution angle.

[0049] In one optional embodiment, in order to accurately control the operation of the steering motor so that the steering motor can achieve the steering execution parameters, the aforementioned steering process parameters may include at least: target steering speed, target steering direction, and target steering torque.

[0050] Optionally, steering process parameters are determined based on road feel simulation parameters and steering execution parameters, including: determining the target steering speed and target steering direction based on the road feel simulation angle and steering execution angle; and determining the target steering torque based on the road feel simulation speed and target steering speed.

[0051] In one optional embodiment, during the process of determining the steering process parameters based on the road feel simulation parameters and the steering execution parameters, the target steering speed and target steering direction in the steering process parameters can be determined first based on the road feel simulation angle and steering execution angle in the road feel simulation parameters; then, the target steering torque for controlling the operation of the steering execution motor can be determined based on the determined target steering speed and the road feel simulation speed in the road feel simulation parameters.

[0052] Optionally, the target steering speed and target steering direction are determined based on the road-feel simulated steering angle and the steering execution angle, including: obtaining the difference between the road-feel simulated steering angle and the steering execution angle to obtain the steering angle difference; performing angle direction detection on the steering angle difference to obtain the target steering direction; and determining the target steering speed based on the steering angle difference and the calibrated speed threshold.

[0053] The aforementioned calibrated speed threshold can refer to the speed threshold used to maintain vehicle stability when controlling vehicle speed.

[0054] In one optional embodiment, when determining the target steering speed and target steering direction, the steering angle difference can first be determined based on the difference between the simulated road angle and the actual steering angle. Then, the angle and direction of this steering angle difference are detected to obtain the target steering direction. Simultaneously, the target steering speed is determined using the steering angle difference and the calibrated speed threshold. For example, the corresponding speed can be simulated based on the steering angle difference, and then the simulated speed can be adjusted using the calibrated speed threshold to avoid the simulated speed being too high, thereby maintaining the stability of the vehicle during steering.

[0055] Optionally, the target steering speed is determined based on the steering angle difference and the calibrated speed threshold, including: proportionally fusing the steering angle difference to obtain a first fused speed; integrally fusing the steering angle difference to obtain a second fused speed; fusing the first fused speed and the second fused speed to obtain a third fused speed; and adjusting the third fused speed based on the calibrated speed threshold to obtain the target steering speed.

[0056] In one optional embodiment, the steering angle difference can be processed using proportional-integral fusion, and the processed speed can be adjusted using a calibrated speed threshold to obtain a target steering speed with high accuracy that can ensure the stability of the vehicle when steering.

[0057] Specifically, the steering angle difference can be proportionally fused first to obtain the first fused speed. At the same time, the steering angle is integrally fused to obtain the second fused speed. Then, the first and second fused speeds are fused to obtain the third fused speed. Finally, after obtaining the third fused speed, the calibrated speed threshold can be used to adjust the third fused speed to obtain the target steering speed.

[0058] Optionally, the calibration speed threshold includes at least: a first speed threshold and a second speed threshold, wherein the first speed threshold is less than the second speed threshold. Adjusting the third fused speed based on the calibration speed threshold to obtain the target steering speed includes: determining the third fused speed as the target steering speed in response to the third fused speed being greater than the first speed threshold and less than the second speed threshold; and re-performing proportional fusion, integral fusion, and speed fusion on the steering angle difference in response to the third fused speed being less than or equal to the first speed threshold, or the third fused speed being greater than or equal to the second speed threshold, to obtain a new third fused speed, and readjusting the new third fused speed based on the calibration speed threshold.

[0059] Considering that if the steering speed is too high when the vehicle is turning, there may be a risk of the vehicle overturning; if the steering speed is too low, the vehicle may turn too slowly and affect traffic, at least two calibration speed thresholds can be set, namely the first speed threshold and the second speed threshold mentioned above. When the vehicle's steering speed is between the first speed threshold and the second speed threshold, the stability of the vehicle during turning can be guaranteed, while ensuring that the vehicle can complete the turning operation quickly. The first speed threshold is less than the second speed threshold.

[0060] In one optional embodiment, if the determined third fusion speed is greater than the first speed threshold and less than the second speed threshold, the third fusion speed can be determined as the target steering speed. If the determined third fusion speed is less than or equal to the first speed threshold, or greater than or equal to the second speed threshold, the steering angle difference can be re-processed with proportional fusion, integral fusion, and speed fusion to obtain a new third fusion speed. The new third fusion speed is then readjusted using the calibrated speed threshold until the new third fusion speed is between the first speed threshold and the second speed threshold.

[0061] Optionally, the target steering torque is determined based on the simulated road speed and the target steering speed, including: obtaining the difference between the target steering speed and the simulated road speed to obtain a steering speed difference; proportionally fusing the steering speed difference to obtain a first fused torque; integrally fusing the steering speed difference to obtain a second fused torque; and torque fusing the first fused torque and the second fused torque to obtain the target steering torque.

[0062] In an optional embodiment, the proportional-integral fusion method can also be used to process the simulated road feel speed and the target steering speed to obtain the target steering torque. Specifically, the difference between the target steering speed and the simulated road feel speed can be obtained first, and then proportional fusion can be performed on this steering speed difference to obtain the first fused torque. Simultaneously, integral fusion can be performed on this steering speed difference to obtain the second fused torque. Finally, torque fusion can be performed on the first and second fused torques to obtain the target steering torque.

[0063] Optionally, the method further includes: obtaining an alignment flag of the steering actuator motor; in response to receiving a flag application request, obtaining the request address of the flag application request; and sending the alignment flag to the target device corresponding to the request address.

[0064] The aforementioned alignment flag can refer to a flag used to determine the operating status of the steering actuator motor. The motor operating status may include, but is not limited to: alignment in progress, alignment completed, and alignment failed.

[0065] In one optional embodiment, considering that some vehicle-mounted devices can perform corresponding operations based on the alignment flag of the steering actuator motor—for example, the vehicle's turn signals can be associated with the vehicle's steering actuator motor—and the turn signals need to remain on and not off when the alignment flag is in alignment, the steer-by-wire system can also acquire the aforementioned alignment flag in real time and receive the aforementioned flag application request. After receiving the flag application request, the steer-by-wire system can obtain the request address corresponding to the flag application request and send the aforementioned alignment flag to the corresponding target device according to the request address.

[0066] To facilitate understanding of the above process, Figure 2 This is a schematic diagram illustrating the control process of a vehicle steer-by-wire system according to an embodiment of the present invention. In this diagram, A represents road feel simulation input information, B represents steering execution input information, C represents road feel simulation steering angle, D represents steering execution steering angle, E represents road feel simulation speed, F represents target steering speed, G represents target steering direction, and H represents target steering torque. Figure 2As shown, when the steer-by-wire system controls the steering actuator motor, it first acquires road feel simulation input information and steering actuator input information. Then, the signal processing module processes this information to obtain parameters such as road feel simulation speed, road feel simulation angle, and steering actuator angle. Next, the alignment speed determination module processes the road feel simulation angle and steering actuator angle to obtain the target steering speed and target steering direction. Finally, the alignment torque determination module processes the target steering speed and road feel simulation speed to obtain the target steering torque. Based on these target steering speed, target steering torque, and target steering direction, the steering actuator motor can be controlled with high precision to align the road feel simulator and steering actuator. Simultaneously, during the steering process, the steer-by-wire system can also use the alignment flag determination module to determine the real-time status of the alignment flag.

[0067] Figure 3 This is a schematic diagram illustrating a target speed determination process according to an embodiment of the present invention. In this diagram, I represents the steering angle difference, J represents the target steering direction, K represents the target steering speed, and L represents the calibration speed threshold. When processing the simulated road angle and the executed steering angle using the aligning speed determination module, the difference between the simulated road angle and the executed steering angle can be determined first using the angle difference determination module to obtain the steering angle difference. Then, the direction judgment module uses the difference to identify the direction of the steering angle difference and determine the corresponding target steering direction. Finally, the speed determination module uses proportional fusion and integral fusion of the steering angle difference, combined with a preset calibration speed threshold, to obtain the target steering speed.

[0068] Figure 4 This is a schematic diagram illustrating a target torque determination process according to an embodiment of the present invention. M represents the target speed difference, N represents the first fused torque, O represents the second fused torque, and P represents the target steering torque. When processing the target steering speed and the simulated road feel speed using the positive torque determination module, the speed difference determination module can first determine the difference between the simulated road feel speed and the target steering speed to obtain the steering speed difference. Then, the proportional fusion module is used to proportionally fuse this steering speed difference to obtain the first fused torque. The integral fusion module is used to integrally fuse this steering torque difference to obtain the second fused torque. Finally, the torque fusion module is used to fuse the first and second fused torques to obtain the target steering torque.

[0069] Example 2

[0070] According to another aspect of the embodiments of the present invention, corresponding to the control method embodiments of the vehicle steer-by-wire system described above, this specification also provides a control device for a vehicle steer-by-wire system. Please refer to... Figure 5 , Figure 5 This is a structural block diagram of a control device for a vehicle steer-by-wire system according to an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: a parameter acquisition module 502, used to acquire road feel simulation parameters and steering execution parameters, wherein the road feel simulation parameters are used to characterize the parameters input by the user for controlling the vehicle steering, and the steering execution parameters are used to characterize the steering parameters expected to be achieved by the steering execution motor in the steer-by-wire system, and the steering execution motor is used to control the vehicle steering; a parameter determination module 504, used to determine steering process parameters based on the road feel simulation parameters and steering execution parameters, wherein the steering process parameters are used to characterize the control parameters for controlling the steering execution motor to achieve the steering execution parameters; and a motor control module 506, used to control the operation of the steering execution motor based on the steering process parameters.

[0071] Optionally, the road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed, the steering execution parameters include at least: steering execution angle, and the steering process parameters include at least: target steering speed, target steering direction, and target steering torque.

[0072] Optionally, the parameter determination module 504 includes: a first determination unit, used to determine the target steering speed and target steering direction based on the road feel simulated steering angle and steering execution angle; and a second determination unit, used to determine the target steering torque based on the road feel simulated speed and target steering speed.

[0073] Optionally, the first determining unit is further configured to: obtain the difference between the simulated road feel angle and the actual steering angle to obtain the steering angle difference; perform angle direction detection on the steering angle difference to obtain the target steering direction; and determine the target steering speed based on the steering angle difference and the calibrated speed threshold.

[0074] Optionally, the first determining unit is further configured to: proportionally fuse the steering angle difference to obtain a first fused speed; integrally fuse the steering angle difference to obtain a second fused speed; fuse the first fused speed and the second fused speed to obtain a third fused speed; and adjust the third fused speed based on a calibrated speed threshold to obtain a target steering speed.

[0075] Optionally, the calibration speed threshold includes at least: a first speed threshold and a second speed threshold, wherein the first speed threshold is less than the second speed threshold, and the first determining unit is further configured to: determine the third fusion speed as the target steering speed in response to the third fusion speed being greater than the first speed threshold and the third fusion speed being less than the second speed threshold; and re-perform proportional fusion, integral fusion and speed fusion on the steering angle difference in response to the third fusion speed being less than or equal to the first speed threshold, or the third fusion speed being greater than or equal to the second speed threshold, to obtain a new third fusion speed, and readjust the new third fusion speed based on the calibration speed threshold.

[0076] Optionally, the second determining unit is further configured to: obtain the difference between the target steering speed and the simulated road feel speed to obtain a steering speed difference; perform proportional fusion on the steering speed difference to obtain a first fused torque; perform integral fusion on the steering speed difference to obtain a second fused torque; and perform torque fusion on the first fused torque and the second fused torque to obtain a target steering torque.

[0077] Optionally, the device further includes: a flag acquisition module for acquiring an alignment flag of the steering actuator motor; an address acquisition module for acquiring the request address of the flag application request in response to receiving a flag application request; and a flag sending module for sending the alignment flag to the target device corresponding to the request address.

[0078] Example 3

[0079] According to one aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the above-described vehicle steer-by-wire system control methods.

[0080] Example 4

[0081] According to one aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes any of the above-described control methods for a vehicle steer-by-wire system.

[0082] Example 5

[0083] According to one aspect of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the above-described vehicle steer-by-wire system control methods.

[0084] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0085] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0086] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0087] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0088] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0089] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0090] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a control system of a vehicle steer-by-wire system, characterized in that, The method includes: Obtain road feel simulation parameters and steering execution parameters, wherein the road feel simulation parameters are used to characterize the parameters input by the user for controlling the vehicle steering, and the steering execution parameters are used to characterize the steering parameters expected to be achieved by the steering execution motor in the steer-by-wire system, and the steering execution motor is used to control the vehicle steering; Based on the road feel simulation parameters and the steering execution parameters, steering process parameters are determined, wherein the steering process parameters are used to characterize the control parameters for controlling the steering execution motor to achieve the steering execution parameters; The steering actuator motor is controlled to operate based on the steering process parameters. The road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed; the steering execution parameters include at least: steering execution angle; and the steering process parameters include at least: target steering speed and target steering torque. Based on the road feel simulation parameters and the steering execution parameters, the steering process parameters are determined, including: determining the target steering speed based on the road feel simulation angle and the steering execution angle; and determining the target steering torque based on the road feel simulation speed and the target steering speed. Determining the target steering torque based on the simulated road feel speed and the target steering speed includes: obtaining the difference between the target steering speed and the simulated road feel speed to obtain a steering speed difference; performing proportional fusion on the steering speed difference to obtain a first fused torque; performing integral fusion on the steering speed difference to obtain a second fused torque; and performing torque fusion on the first fused torque and the second fused torque to obtain the target steering torque.

2. The method according to claim 1, characterized in that, The steering process parameters also include: the target steering direction.

3. The method according to claim 2, characterized in that, Based on the road feel simulation parameters and the steering execution parameters, the steering process parameters are determined, including: The target steering direction is determined based on the simulated road angle and the steering execution angle.

4. The method according to claim 3, characterized in that, Based on the simulated road angle and the actual steering angle, the target steering speed and the target steering direction are determined, including: The difference between the simulated road feel angle and the actual steering angle is obtained to get the steering angle difference. The target steering direction is obtained by performing angle direction detection on the steering angle difference; The target steering speed is determined based on the steering angle difference and the calibrated speed threshold.

5. The method according to claim 4, characterized in that, Determining the target steering speed based on the steering angle difference and the calibrated speed threshold includes: The steering angle difference is proportionally fused to obtain the first fused speed. The steering angle difference is integrated and fused to obtain the second fused speed. The first fusion speed and the second fusion speed are fused to obtain a third fusion speed; The third fusion speed is adjusted based on the calibrated speed threshold to obtain the target steering speed.

6. The method according to claim 5, characterized in that, The calibrated speed threshold includes at least: a first speed threshold and a second speed threshold, wherein the first speed threshold is less than the second speed threshold, and the third fused speed is adjusted based on the calibrated speed threshold to obtain the target steering speed, including: In response to the third fusion speed being greater than the first speed threshold and the third fusion speed being less than the second speed threshold, the third fusion speed is determined to be the target steering speed; In response to the third fusion speed being less than or equal to the first speed threshold, or the third fusion speed being greater than or equal to the second speed threshold, the steering angle difference is re-fused proportionally, integrally, and fused with speed to obtain a new third fusion speed, and the new third fusion speed is readjusted based on the calibrated speed threshold.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the alignment flag of the steering actuator motor; In response to receiving a flag application request, obtain the request address of the flag application request; Send the alignment flag to the target device corresponding to the requested address.

8. A control device for a control system of a vehicle steer-by-wire system, characterized in that, The device includes: The parameter acquisition module is used to acquire road feel simulation parameters and steering execution parameters. The road feel simulation parameters are used to characterize the parameters input by the user for controlling the vehicle's steering. The steering execution parameters are used to characterize the steering parameters expected to be achieved by the steering execution motor in the steer-by-wire system. The steering execution motor is used to control the vehicle's steering. The road feel simulation parameters include at least: road feel simulation angle and road feel simulation speed. The steering execution parameters include at least: steering execution angle. The parameter determination module is used to determine steering process parameters based on the road feel simulation parameters and the steering execution parameters, wherein the steering process parameters are used to characterize the control parameters for controlling the steering execution motor to achieve the steering execution parameters, and the steering process parameters include at least: target steering speed and target steering torque; The motor control module is used to control the operation of the steering motor based on the steering process parameters; The parameter determination module is further configured to determine the target steering speed based on the road feel simulated steering angle and the steering execution angle; and to determine the target steering torque based on the road feel simulated speed and the target steering speed. The parameter determination module is further configured to obtain the difference between the target steering speed and the simulated road feel speed to obtain a steering speed difference; to perform proportional fusion on the steering speed difference to obtain a first fused torque; to perform integral fusion on the steering speed difference to obtain a second fused torque; and to perform torque fusion on the first fused torque and the second fused torque to obtain the target steering torque.

9. A vehicle comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the control method of the vehicle steer-by-wire system according to any one of claims 1 to 7.

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