Steer-by-wire system auxiliary control method and device, electronic equipment and storage medium

Abstract

The application relates to a kind of auxiliary control method and device of steer-by-wire system, electronic equipment and storage medium.The method comprises: obtaining the vehicle state jump information and current state information of target vehicle;Determine whether the vehicle state jump information and current state information meet the preset auxiliary control requirements, and obtain the judgment result;In the case where the judgment result indicates that the vehicle state jump information and current state information meet the auxiliary control requirements, the initial steering wheel position and real-time steering wheel state of steering wheel are determined to output the restoring torque to the steer-by-wire column of target vehicle, wherein the steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected with the steer-by-wire column;According to restoring torque, torque output is carried out to steer-by-wire column.By the present application, the problem that the steering wheel of steer-by-wire system cannot provide auxiliary force when getting on or getting off can be avoided, so that the problem of easy uncontrollable free rotation is avoided.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, specifically to an auxiliary control method and device for a steer-by-wire system, an electronic device, and a storage medium. Background Technology

[0002] Compared to traditional steering systems, steer-by-wire systems remove the mechanical intermediate shaft, decoupling the movement between the steering wheel and the steering wheels. This feature increases design freedom and significantly enhances the driving experience. However, this feature also presents some challenges. For instance, due to mechanical decoupling, the steering wheel is freely rotating after the vehicle is powered off or before it is powered on. Some drivers habitually use their hands to assist the steering wheel when getting in or out of the vehicle. In this situation, the steering wheel cannot provide assistance and may even rotate uncontrollably due to the hand's movement, which can be confusing for the driver.

[0003] It is evident that the steering wheel of the steer-by-wire system in the relevant technology cannot provide auxiliary force when getting in or out of the vehicle, thus easily causing it to rotate freely and uncontrollably. Summary of the Invention

[0004] One objective of this invention is to provide an auxiliary control method for a steer-by-wire system, in order to solve the problem that the steering wheel of a steer-by-wire system in the prior art cannot provide auxiliary force when getting in or out of the vehicle, thus easily causing it to rotate freely and uncontrollably; another objective is to provide an auxiliary control device for a steer-by-wire system; a third objective is to provide an electronic device; and a fourth objective is to provide a storage medium.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for auxiliary control of a steer-by-wire system includes:

[0007] Obtain vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle;

[0008] Determine whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements, and obtain the determination result, wherein the auxiliary control requirements include: the target vehicle is in a parked state;

[0009] When the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the restoring torque output to the steer-by-wire column of the target vehicle is determined according to the initial steering wheel position and the real-time steering wheel state, wherein the steer-by-wire column is located in the steer-by-wire system and the steering wheel is connected to the steer-by-wire column;

[0010] The torque is output to the steering column according to the restoring torque.

[0011] The method in this embodiment can determine whether the auxiliary control requirements are met based on the acquired vehicle state transition information and current state information of the target vehicle. If the auxiliary control requirements are met, the restoring torque output to the steer-by-wire column of the target vehicle can be determined according to the initial steering wheel position and real-time steering wheel state. The torque is then output to the steer-by-wire column according to the restoring torque. This ensures that when the target vehicle is parked, the steering wheel can provide auxiliary force when the driver is getting in or out of the vehicle and is using the steering wheel for leverage, thus improving the user experience. Furthermore, it avoids the problem that the steering wheel of the steer-by-wire system cannot provide auxiliary force when getting in or out of the vehicle, which can easily lead to uncontrolled free rotation.

[0012] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, the step of determining whether the vehicle state transition information meets preset auxiliary control requirements and obtaining the determination result includes:

[0013] When the vehicle state transition information meets the first transition sub-requirement in the auxiliary control requirements, the steer-by-wire system is activated, wherein the first transition sub-requirement includes: the target vehicle transitions from locked to unlocked, and the driver's door of the target vehicle transitions from closed to open.

[0014] When the current state information indicates that the current state of the target vehicle meets the state sub-requirements in the auxiliary control requirements, a judgment result indicating the vehicle state transition information and the current state information meeting the auxiliary control requirements is generated, wherein the state sub-requirements include: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0015] In this embodiment, when the target vehicle changes from locked to unlocked and the driver's door changes from closed to open, it indicates that the driver has entered the vehicle. Therefore, this embodiment provides a way to trigger a restoring torque on the steering wheel when the driver enters the vehicle.

[0016] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, when the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state includes:

[0017] If the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the current steering wheel position is determined as the initial steering wheel position;

[0018] The real-time steering wheel position and real-time steering wheel speed are obtained, wherein the steering wheel state includes: steering wheel position and steering wheel speed;

[0019] The restoring torque is determined based on the initial steering wheel position, the real-time steering wheel position, and the real-time steering wheel rotation speed.

[0020] The method described in this embodiment provides a way to accurately determine the restoring torque of the steering wheel while meeting the auxiliary control requirements.

[0021] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, determining the restoring torque based on the initial steering wheel position, the real-time steering wheel position, and the real-time steering wheel rotation speed includes:

[0022] Based on the initial steering wheel position and the real-time steering wheel position, the real-time position difference is obtained; the gain torque is determined based on the real-time position difference; the gain torque is subject to a value constraint to obtain the deviation torque;

[0023] The basic damping torque is determined based on the real-time steering wheel rotation speed; the scale coefficient corresponding to the real-time position difference is determined; the amplitude of the result of multiplying the basic damping torque by the scale coefficient is limited to obtain the damping torque;

[0024] The magnitude and slope of the result of subtracting the damping torque from the deviation torque are limited to obtain the restoring torque.

[0025] The method described in this embodiment provides a way to determine the deviation torque and the damping torque, as well as a way to ultimately determine the restoring torque.

[0026] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, after determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, the method further includes:

[0027] Determine the longest continuous time period from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation, wherein the initial moment is the moment when the initial steering wheel position is determined, and the target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel being rotated is greater than or equal to a duration threshold.

[0028] If the longest continuous time period is less than or equal to the preset time limit, and the state of the target vehicle at the current time point meets the state sub-requirement in the auxiliary control requirements, the latest real-time steering wheel state of the steering wheel will continue to be acquired in real time, and the latest restoring torque output to the steer-by-wire column of the target vehicle will be determined. The state sub-requirement includes: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0029] If the longest continuous time period exceeds the preset time limit, and / or the state of the target vehicle at the current time does not meet the state sub-requirement in the auxiliary control requirements, the acquisition of the latest real-time steering wheel state shall be stopped, and the torque output to the steer-by-wire column shall be stopped.

[0030] The method of this embodiment determines the current interval between the most recently executed target operation and the current time point, and based on the relationship between the current interval and the preset interval, determines whether to continue to obtain the latest real-time steering wheel status, and determines the latest restoring torque output to the steer-by-wire column of the target vehicle. This allows the method to exit the function of the aforementioned embodiment in a timely manner when the steering wheel has not been turned for a long time or the vehicle has been started, thereby achieving the purpose of saving power and avoiding interference with the driver's normal steering operation.

[0031] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, the step of determining whether the vehicle state transition information meets preset auxiliary control requirements and obtaining the determination result includes:

[0032] If the vehicle state transition information meets the second transition sub-requirement in the auxiliary control requirements, it is determined whether the current state information indicates whether the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements. The second transition sub-requirement is that the ignition signal of the target vehicle changes from ignition to stop. The state sub-requirement includes: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0033] If the current state information indicates that the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements, a judgment result indicating the vehicle state transition information and the current state information meeting the auxiliary control requirements is generated.

[0034] In this embodiment, when the ignition signal of the target vehicle changes from ignition to stop, it indicates that the driver has stopped the target vehicle. In this case, the probability of the driver getting out of the vehicle is relatively high. Therefore, this embodiment can provide a way to trigger the steering wheel to provide restoring torque when the driver gets out of the vehicle.

[0035] Optionally, as described in the aforementioned steer-by-wire system auxiliary control method, after determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, the method further includes:

[0036] Determine the longest continuous time period from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation, wherein the initial moment is the moment when the initial steering wheel position is determined, and the target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel being rotated is greater than or equal to a duration threshold.

[0037] If the longest continuous time period exceeds the preset time limit, or if the target vehicle experiences a target change, the acquisition of the latest real-time steering wheel status will stop, and torque output to the steer-by-wire column will stop. The target change is: the driver's door of the target vehicle changes from closed to open, and then back to closed.

[0038] The method of this embodiment can stop acquiring the latest real-time steering wheel status and stop outputting torque to the steering column when the current interval is longer than the preset interval duration limit, or when the target vehicle experiences a target change. This allows the method to exit the aforementioned embodiment in a timely manner when the steering wheel has not been operated for a long time or when the driver gets out of the vehicle, thereby achieving the purpose of saving power.

[0039] According to another aspect of the embodiments of this application, a steer-by-wire system auxiliary control device is also provided, comprising:

[0040] The acquisition module is used to acquire vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle.

[0041] The judgment module is used to judge whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements, and to obtain the judgment result;

[0042] The torque determination module is used to determine the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and real-time steering wheel state, when the judgment result indicates that the vehicle state change information and the current state information meets the auxiliary control requirements. The steer-by-wire column is located in the steer-by-wire system, the steering wheel is connected to the steer-by-wire column, and the auxiliary control requirements indicate that the target vehicle is in a parked state.

[0043] The torque output module is used to output torque to the steering column according to the restoring torque.

[0044] According to another aspect of the embodiments of this application, an electronic device is also provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; wherein the memory is used to store a computer program; and the processor is used to execute the method steps of any of the above embodiments by running the computer program stored in the memory.

[0045] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the method steps of any of the above embodiments when running.

[0046] The beneficial effects of this invention are:

[0047] Based on the acquired vehicle state transition information and current state information of the target vehicle, it can determine whether the auxiliary control requirements are met. If the auxiliary control requirements are met, it can determine the restoring torque to be output to the steer-by-wire column of the target vehicle according to the initial steering wheel position and real-time steering wheel state, and output torque to the steer-by-wire column according to the restoring torque. This allows the steering wheel to provide auxiliary force when the driver is getting in and out of the vehicle while holding the steering wheel for leverage, thus improving the user experience. This also avoids the problem of the steering wheel in the steer-by-wire system not providing auxiliary force when getting in or out of the vehicle, which can easily lead to uncontrolled free rotation. Attached Figure Description

[0048] Figure 1 This is a schematic flowchart of an optional auxiliary control method for a steer-by-wire system according to an embodiment of this application;

[0049] Figure 2 This is a flowchart illustrating an optional auxiliary control method for a steer-by-wire system according to an application example of this application;

[0050] Figure 3 This is a flowchart illustrating an optional method for determining the restoring torque according to an application example of this application;

[0051] Figure 4 This is a flowchart illustrating an optional method for determining deviation torque according to an application example of this application;

[0052] Figure 5 This is a flowchart illustrating an optional method for determining damping torque according to an application example of this application;

[0053] Figure 6 This is a structural block diagram of an optional auxiliary control device for a steer-by-wire system according to an embodiment of this application;

[0054] Figure 7 This is a structural block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0056] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 this application 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 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.

[0057] According to one aspect of the embodiments of this application, a method for assisting control of a steer-by-wire system is provided. Optionally, in this embodiment, the above-described method for assisting control of a steer-by-wire system can be applied to a hardware environment consisting of a terminal and a server. The server is connected to the terminal via a network and can be used to provide services (such as advertising push services, application services, etc.) to the terminal or clients installed on the terminal. A database can be set up on the server or independently of the server to provide data storage services to the server.

[0058] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth. The terminal is not limited to PC, mobile phone, tablet computer, etc.

[0059] The steer-by-wire auxiliary control method of this application embodiment can be executed by a server, a terminal, or both. Alternatively, the steer-by-wire auxiliary control method of this application embodiment can be executed by a client installed on the terminal.

[0060] Taking the steer-by-wire system auxiliary control method in this embodiment, executed by the on-board terminal, as an example, Figure 1 A flowchart illustrating an optional auxiliary control method for a steer-by-wire system provided in this application embodiment includes the following steps:

[0061] Step S101: Obtain the vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle.

[0062] The steer-by-wire system auxiliary control method in this embodiment can be applied to provide auxiliary torque to the steering wheel when the driver gets in and out of the vehicle (especially in new energy vehicles), thereby avoiding uncontrolled free rotation of the steering wheel due to hand-held disturbance.

[0063] Vehicle status change information can be used to indicate changes in the target vehicle caused by the driver getting in or out of the vehicle, such as opening or closing the driver's side door, locking or unlocking the vehicle, etc.

[0064] Current status information can be used to indicate the current driving status of the target vehicle.

[0065] Since the method in this embodiment provides restoring torque to the steering wheel, in order to avoid affecting the driver's steering of the steering wheel during driving, the function corresponding to the method in this embodiment is only activated when the target vehicle is in a parked state.

[0066] Step S102: Determine whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements, and obtain the determination result. The auxiliary control requirements include: the target vehicle is in a parked state.

[0067] Specifically, after obtaining information on vehicle status changes and current status, it is necessary to determine whether assisted control of the steer-by-wire system is required.

[0068] Assist control requirements can be used to indicate whether torque needs to be output to the steering wheel via the steer-by-wire system.

[0069] Optionally, the judgment result can be obtained by comparing the parameter values ​​of each parameter in the vehicle state transition information and the current state information with the parameter values ​​of each parameter in the auxiliary control requirements.

[0070] Step S103: If the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the restoring torque output to the steer-by-wire column of the target vehicle is determined according to the initial steering wheel position and the real-time steering wheel state. The steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected to the steer-by-wire column.

[0071] Specifically, after obtaining the judgment result, if the judgment result indicates that the vehicle state transition information and the current state information meet the auxiliary control requirements, it means that a restoring torque needs to be provided to the steering wheel.

[0072] In this embodiment, in order to accurately provide the restoring torque, the restoring torque output to the steer-by-wire column of the target vehicle is determined based on the initial steering wheel position and the real-time steering wheel state.

[0073] Furthermore, the restoring torque is the torque transmitted from the steering column to the steering wheel.

[0074] Step S104: Output torque to the steering column according to the restoring torque.

[0075] Specifically, after determining the restoring torque, torque can be output to the steering column according to the magnitude of the torque indicated by the restoring torque, thereby transmitting the torque to the steering wheel and achieving the purpose of outputting torque to the steering wheel according to the restoring torque.

[0076] The method in this embodiment can determine whether the auxiliary control requirements are met based on the acquired vehicle state transition information and current state information of the target vehicle. If the auxiliary control requirements are met, the restoring torque output to the steer-by-wire column of the target vehicle can be determined according to the initial steering wheel position and real-time steering wheel state. The torque is then output to the steer-by-wire column according to the restoring torque. This ensures that when the target vehicle is parked, the steering wheel can provide auxiliary force when the driver is getting in or out of the vehicle and is using the steering wheel for leverage, thus improving the user experience. Furthermore, it avoids the problem that the steering wheel of the steer-by-wire system cannot provide auxiliary force when getting in or out of the vehicle, which can easily lead to uncontrolled free rotation.

[0077] As an optional embodiment, as in the aforementioned steer-by-wire system auxiliary control method, step S102, which determines whether the vehicle state transition information meets preset auxiliary control requirements and obtains the determination result, includes the following steps:

[0078] If the vehicle status transition information meets the first transition sub-requirement in the auxiliary control requirements, the steer-by-wire system is activated. The first transition sub-requirement includes: the target vehicle changes from locked to unlocked, and the driver's door of the target vehicle changes from closed to open.

[0079] If the current state information indicates that the current state of the target vehicle meets the state sub-requirements in the auxiliary control requirements, the system generates information indicating the vehicle state transition and a judgment result indicating that the current state information meets the auxiliary control requirements. The state sub-requirements include: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0080] In other words, the first transition requirement can be determined first: the target vehicle changes from locked to unlocked, and the driver's door changes from closed to open. When the vehicle state transition information meets this first transition requirement (for example, the vehicle state transition information is consistent with the first transition requirement), the target vehicle needs to activate the steer-by-wire system.

[0081] Furthermore, the state sub-requirements in the auxiliary control requirements are obtained: the vehicle speed is 0 kph (i.e., the vehicle speed is 0), the gear is P (i.e., the parking gear), and the drivable state is STOP (i.e., the drivable state); then it is determined whether the current state information meets the state sub-requirements. If it does, the vehicle state transition information and the judgment result that the current state information meets the auxiliary control requirements are generated.

[0082] In this embodiment, when the target vehicle changes from locked to unlocked and the driver's door changes from closed to open, it indicates that the driver has entered the vehicle. Therefore, this embodiment provides a way to trigger a restoring torque on the steering wheel when the driver enters the vehicle.

[0083] As an optional embodiment, as described in the aforementioned steer-by-wire system auxiliary control method, step S103, when the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, determines the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, including:

[0084] If the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the current steering wheel position is determined as the initial steering wheel position; the real-time steering wheel position and real-time steering wheel speed are acquired in real time, wherein the steering wheel state includes: steering wheel position and steering wheel speed; the restoring torque is determined based on the initial steering wheel position, real-time steering wheel position and real-time steering wheel speed.

[0085] In other words, if it is determined that a restoring torque needs to be provided to the steering wheel, the current steering wheel position (e.g., the steering wheel angle) is determined and used as the initial steering wheel position.

[0086] Then, the position and speed of the steering wheel are collected in real time to obtain the real-time steering wheel position and real-time steering wheel speed.

[0087] Once the initial steering wheel position, real-time steering wheel position, and real-time steering wheel speed are determined, the restoring torque can be calculated based on the relationship between these three parameters.

[0088] As an optional embodiment, the aforementioned steer-by-wire system auxiliary control method determines the restoring torque based on the initial steering wheel position, the real-time steering wheel position, and the real-time steering wheel speed, including:

[0089] Based on the initial steering wheel position and the real-time steering wheel position, the real-time position difference is obtained; the gain torque is determined based on the real-time position difference; the gain torque is constrained to obtain the deviation torque.

[0090] In other words, in this embodiment, the method for determining the deviation torque may include: subtracting the real-time steering wheel position from the initial steering wheel position to obtain the real-time position difference (i.e., the angle difference); looking up a table in the gain Map (which records the correspondence between the angle difference and the gain torque) to obtain the gain torque corresponding to the real-time position difference; after determining the given gain torque, the amplitude of the gain torque can be limited (i.e., to avoid the gain torque being too large or too small) to obtain the deviation torque. Typically, the gain Map can be linear or quadratic curve-shaped, and as the position difference increases, the output deviation torque also increases.

[0091] The basic damping torque is determined based on the real-time steering wheel rotation speed; the scale coefficient corresponding to the real-time position difference is determined; the amplitude of the result of multiplying the basic damping torque by the scale coefficient is limited to obtain the damping torque.

[0092] Specifically, in this embodiment, the method for determining the damping torque may include: performing a damping gain map lookup table (i.e., a preset correspondence between steering wheel speed and damping torque) based on the real-time steering wheel speed to obtain the basic damping torque corresponding to the real-time steering wheel speed; subtracting the real-time steering wheel position from the initial steering wheel position to obtain the real-time position difference (i.e., angle difference), performing a scale coefficient (i.e., contraction coefficient) map lookup table to obtain the scale coefficient (i.e., contraction coefficient) corresponding to the real-time position difference; multiplying the basic damping torque by the scale coefficient and applying amplitude limitation to obtain the damping torque. Typically, the damping gain map can use a curve of dead zone + saturation zone + quadratic transition zone, and the scale coefficient map can use a curve of dead zone + surge zone + descent zone.

[0093] The restoring torque is obtained by limiting the amplitude and slope of the result of subtracting the damping torque from the deviation torque.

[0094] Specifically, after determining the deviation torque and the damping torque, the result of subtracting the damping torque from the deviation torque can be obtained. Then, the amplitude and slope of this result are limited to obtain the restoring torque.

[0095] This embodiment provides a method for determining the deviation torque and damping torque, as well as a method for ultimately determining the restoring torque. Furthermore, it provides a method for accurately determining the steering wheel's restoring torque while meeting auxiliary control requirements.

[0096] As an optional embodiment, the steer-by-wire system auxiliary control method described above, after determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state in step S104, the method further includes the following steps:

[0097] Determine the longest continuous time interval from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation. The initial moment is the moment when the initial steering wheel position is determined. The target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel rotation is greater than or equal to a duration threshold.

[0098] If the longest continuous time period is less than or equal to the preset time limit, and the state of the target vehicle at the current time point meets the state sub-requirements in the auxiliary control requirements, the latest real-time steering wheel state will continue to be acquired in real time, and the latest restoring torque output to the steer-by-wire column of the target vehicle will be determined. The state sub-requirements include: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0099] If the longest continuous time period exceeds the preset time limit, and / or the target vehicle's state at the current time does not meet the state sub-requirements in the auxiliary control requirements, stop acquiring the latest real-time steering wheel state and stop outputting torque to the steer-by-wire column.

[0100] Specifically, when it is determined that the vehicle state change information and the current state information meet the auxiliary control requirements, an enable signal can be output to activate the function of providing restoring torque to the steering wheel through the aforementioned embodiment method, and a timer can be started. At the same time, the initial steering wheel position is recorded and determined. Therefore, the moment when the timer is started is the initial moment.

[0101] Then, it continuously determines whether a target operation is performed, i.e., the steering wheel speed is greater than or equal to the speed threshold (e.g., 2 deg / s) and the duration of rotation is greater than or equal to the duration threshold (e.g., 20 ms). If the conditions are met, the timer is reset, i.e., the timer is set to zero. Otherwise, if no target operation is performed, the timer continues to count, and the timer's duration is the longest continuous time period that is closest to the current time and for which no target operation has been performed.

[0102] The longest continuous time period is less than or equal to the preset time limit, and the state of the target vehicle at the current time point meets the state sub-requirements in the auxiliary control requirements, namely: continuously determining whether the vehicle speed is 0 kph, whether the gear is P, whether the drivable state is STOP, and whether the timer has not exceeded the preset time limit (i.e., not exceeding the preset time limit, such as 10 minutes).

[0103] If the longest continuous time period is less than or equal to the preset time limit, and the state of the target vehicle at the current time point meets the state sub-requirements in the auxiliary control requirements, the latest real-time steering wheel state will continue to be acquired in real time, and the latest restoring torque output to the steer-by-wire column of the target vehicle will be determined. Otherwise, the acquisition of the latest real-time steering wheel state will stop, and the torque output to the steer-by-wire column will stop.

[0104] In other words, if the vehicle speed is 0 kph, the gear is in P, the driving state is STOP, and the timer has not expired (e.g., 10 minutes), the enable output continues; if these conditions are not met, it means that the driver has not been holding the steering wheel for a long time, so the output is disabled and the function of providing restoring torque to the steering wheel is discontinued.

[0105] The method of this embodiment determines the current interval between the most recently executed target operation and the current time point, and based on the relationship between the current interval and the preset interval, determines whether to continue to obtain the latest real-time steering wheel status, and determines the latest restoring torque output to the steer-by-wire column of the target vehicle. This allows the method to exit the function of the aforementioned embodiment in a timely manner when the steering wheel has not been turned for a long time or the vehicle has been started, thereby achieving the purpose of saving power and avoiding interference with the driver's normal steering operation.

[0106] As an optional embodiment, as in the aforementioned steer-by-wire system auxiliary control method, step S102, determining whether the vehicle state transition information meets preset auxiliary control requirements and obtaining a determination result, includes:

[0107] If the vehicle state transition information meets the second transition sub-requirement in the auxiliary control requirements, determine whether the current state information indicates whether the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements. The second transition sub-requirement is that the ignition signal of the target vehicle changes from ignition to stop. The state sub-requirements include: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

[0108] If the current state information indicates that the current state of the target vehicle meets the state sub-requirements in the auxiliary control requirements, then generate information indicating a vehicle state transition and a judgment result indicating that the current state information meets the auxiliary control requirements.

[0109] The second transition requirement is that the IG (ignition signal) transitions from ON (i.e., ignition) to OFF (stop). Therefore, this embodiment method is applicable to scenarios where the driver exits the vehicle.

[0110] If the vehicle state transition information meets the second transition sub-requirement in the auxiliary control requirements, the system continues to determine whether the current state information indicates that the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements.

[0111] If the current state information indicates that the target vehicle's current state meets the state sub-requirements in the auxiliary control requirements, it indicates that the vehicle has entered a stopped state. Therefore, outputting restoring torque to the steering wheel will not affect the driver's steering operation. Thus, it is possible to generate information indicating vehicle state transition and a judgment result indicating that the current state information meets the auxiliary control requirements.

[0112] In this embodiment, when the ignition signal of the target vehicle changes from ignition to stop, it indicates that the driver has stopped the target vehicle. In this case, the probability of the driver getting out of the vehicle is relatively high. Therefore, this embodiment can provide a way to trigger the steering wheel to provide restoring torque when the driver gets out of the vehicle.

[0113] As an optional embodiment, the aforementioned steer-by-wire system auxiliary control method, after determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, further includes:

[0114] Determine the longest continuous time interval from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation. The initial moment is the moment when the initial steering wheel position is determined. The target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel rotation is greater than or equal to a duration threshold.

[0115] If the longest continuous time period exceeds the preset time limit, or if the target vehicle experiences a target change, the latest real-time steering wheel status will be stopped, and torque output to the steer-by-wire column will be stopped. The target change is: the driver's door of the target vehicle changes from closed to open, and then back to closed.

[0116] Specifically, when it is determined that the vehicle state change information and the current state information meet the auxiliary control requirements, an enable signal can be output to activate the function of providing restoring torque to the steering wheel through the aforementioned embodiment method, and a timer can be started. At the same time, the initial steering wheel position is recorded and determined. Therefore, the moment when the timer is started is the initial moment.

[0117] Then, it continuously determines whether a target operation is performed, i.e., the steering wheel speed is greater than or equal to the speed threshold (e.g., 2 deg / s) and the duration of rotation is greater than or equal to the duration threshold (e.g., 20 ms). If the conditions are met, the timer is reset, i.e., the timer is set to zero. Otherwise, if no target operation is performed, the timer continues to count, and the timer's duration is the longest continuous time period that is closest to the current time and for which no target operation has been performed.

[0118] If the longest continuous time period is greater than the preset time limit, it means that the timer has expired (i.e., it has not exceeded the preset time limit, such as 10 minutes), indicating that the driver has not held the steering wheel for a long time.

[0119] In this embodiment, the target transition is: the driver's side door of the target vehicle changes from closed to open, and then back to closed. In other words, the target transition can be the driver opening the driver's side door and leaving the vehicle.

[0120] Therefore, if the longest continuous time period exceeds the preset time limit, or if the target vehicle experiences a target change, the system will stop acquiring the latest real-time steering wheel status and stop outputting torque to the steer-by-wire column, thus discontinuing the function of providing restoring torque to the steering wheel.

[0121] The method of this embodiment can stop acquiring the latest real-time steering wheel status and stop outputting torque to the steering column when the current interval is longer than the preset interval duration limit or when the target vehicle undergoes a target change. This allows the method to exit the aforementioned embodiment in a timely manner when the steering wheel has not been operated for a long time or when the driver gets out of the vehicle, thereby achieving the purpose of saving power.

[0122] The following describes an application example that applies any of the foregoing embodiments:

[0123] like Figure 2As shown, the system may include three modules: a condition determination module 1, a restoring torque calculation module 2, and an output arbitration module 3. The condition determination module 1 determines whether to enable the function of this invention (i.e., outputting restoring torque to the steering column) based on signals such as vehicle speed, gear position, door opening, door closing, IG, drivable status, and steering wheel speed. The restoring torque calculation module 2 calculates the restoring torque based on the steering wheel speed, initial steering wheel position, and real-time steering wheel position. The output arbitration module 3 arbitrates and determines the final output torque of the function of this invention based on the enabled / disabled state of the condition determination and the calculated value of the restoring torque. When the determination result is enabled, the calculated value of the restoring torque is output normally; when the determination result is disabled, the output is set to 0 Nm.

[0124] like Figure 3 As shown, in this application example, the restoring torque calculation module 1 can be further divided into four modules: deviation torque calculation module 21, damping torque calculation module 22, summing module 23, and amplitude and slope limiting module 24. Deviation torque calculation module 21 calculates the deviation torque based on the current and original positions of the steering wheel; damping torque calculation module 22 calculates the damping torque based on the steering wheel speed, original position, and current position; summing module 23 subtracts the damping torque from the deviation torque; and amplitude and slope limiting module 24 limits the amplitude and slope to obtain the restoring torque.

[0125] like Figure 4 As shown, the deviation torque calculation module 21 of the present invention can be subdivided into three modules: a position difference calculation module 211, a gain lookup table module 212, and a first limiting module 213. The method for determining the deviation torque may include: the position difference calculation module 211 calculating the initial steering wheel position (i.e., ... Figure 4 Subtract the real-time steering wheel position from the original position (i.e., the original position). Figure 4 The system obtains the real-time position difference (i.e., angle difference) from the current position, and then enters the gain lookup table module 212 (which records the correspondence between angle difference and gain torque) to obtain the gain torque corresponding to the real-time position difference. After determining the given gain torque, the first limiting module 213 can limit the amplitude of the gain torque (i.e., to avoid the gain torque being too large or too small) to obtain the deviation torque. Typically, the gain map can be linear or quadratic curve type, and as the position difference increases, the output deviation torque also increases.

[0126] like Figure 5As shown, the damping torque calculation module 22 of the present invention can be subdivided into five modules: a damping gain lookup table module 221, a position difference calculation module 222, a contraction coefficient lookup table module 223, a quadrature module 224, and a second amplitude limiting module 225. The method for determining the damping torque may include: the damping gain lookup table module 221 performing a damping gain Map lookup based on the real-time steering wheel speed (i.e., a pre-defined correspondence between steering wheel speed and damping torque) to obtain the basic damping torque corresponding to the real-time steering wheel speed; the position difference calculation module 222 subtracting the real-time steering wheel position from the initial steering wheel position to obtain the real-time position difference (i.e., the angle difference); the contraction coefficient lookup table module 223 performing a Scale coefficient (i.e., contraction coefficient) Map lookup to obtain the Scale coefficient (i.e., the contraction coefficient) corresponding to the real-time position difference; and the quadrature module 224 multiplying the basic damping torque by the Scale coefficient and then limiting the amplitude through the second amplitude limiting module 225 to obtain the damping torque. Typically, the damping gain map can be represented by a curve consisting of the dead zone, saturation zone, and quadratic transition zone, while the scale coefficient map can be represented by a curve consisting of the dead zone, surge zone, and descent zone.

[0127] Specifically, after determining the deviation torque and the damping torque, the result of subtracting the damping torque from the deviation torque can be obtained. Then, the amplitude and slope of this result are limited to obtain the restoring torque.

[0128] The activation and deactivation determination logic for implementing the functions of the methods in the foregoing embodiments is explained below:

[0129] I. Assistance in getting out of the vehicle:

[0130] (1) When the IG (ignition signal) changes from ON to OFF (i.e., the second change is required), and it is determined whether the current state information is satisfied: vehicle speed = 0 kph, gear is P, and drivable state is STOP; output enable, activate the function of providing restoring torque to the steering wheel, and start the timer to record the current steering wheel position as the initial steering wheel position;

[0131] (2) Continuously determine whether the state sub-requirements are met (i.e., vehicle speed = 0 kph, gear is P, drivable state STOP). If met, continue to output enable; if not met, output disable.

[0132] (3) Continuously determine whether the following conditions are met: steering wheel speed ≥ speed threshold (e.g., 2deg / s), and steering wheel rotation duration ≥ duration threshold (e.g., 20ms). If met, reset the timer.

[0133] (4) When the driver's door changes from closed to open and then back to closed OR the timer times out (e.g., 10 minutes), the output is disabled, and the function of providing restoring torque to the steering wheel is discontinued.

[0134] II. Vehicle boarding assistance scenarios:

[0135] (1) When the vehicle changes from locked to unlocked and the driver's door changes from closed to open (i.e., the first change requirement is met), the vehicle needs to activate the steer-by-wire system.

[0136] (2) Determine whether the current state information meets the following conditions: vehicle speed = 0 kph, gear is P, and drivable state is STOP; output enable, activate the function of providing restoring torque to the steering wheel, and start the timer to record the current steering wheel position as the initial steering wheel position;

[0137] (3) Continuously determine whether the following conditions are met: steering wheel speed ≥ speed threshold (e.g., 2deg / s), and steering wheel rotation duration ≥ duration threshold (e.g., 20ms). If met, reset the timer.

[0138] (4) Continuously determine whether the following conditions are met: vehicle speed = 0 kph, gear is P, drivable state STOP, timer has not expired (e.g., 10 minutes). If met, continue to output enable; if not met, output disable and exit the function of this invention.

[0139] Through the above control process, the present invention can provide drivers with a method for getting in and getting out of the vehicle, which effectively solves the problem that the steering wheel can rotate freely after being disturbed by external interference when the vehicle is powered off or before it is powered on, thus improving the user experience.

[0140] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0141] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0142] According to another aspect of the embodiments of this application, a steer-by-wire system auxiliary control device for implementing the above-described steer-by-wire system auxiliary control method is also provided. Figure 6 This is a structural block diagram of an optional auxiliary control device for a steer-by-wire system according to an embodiment of this application, such as... Figure 6 As shown, the device may include:

[0143] The acquisition module A1 is used to acquire the vehicle status transition information and current status information of the target vehicle. The vehicle status transition information is used to indicate the status change of the target vehicle.

[0144] The judgment module A2 is used to judge whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements and obtain the judgment result. The auxiliary control requirements include: the target vehicle is in a parked state.

[0145] The torque determination module A3 is used to determine the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and real-time steering wheel state, when the judgment result indicates vehicle state change information and the current state information meets the auxiliary control requirements. The steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected to the steer-by-wire column.

[0146] The torque output module A4 is used to output torque to the steering column according to the restoring torque.

[0147] It should be noted that the acquisition module A1 in this embodiment can be used to execute the above step S101, the judgment module A2 in this embodiment can be used to execute the above step S102, the torque determination module A3 in this embodiment can be used to execute the above step S103, and the torque output module A4 in this embodiment can be used to execute the above step S104.

[0148] In addition to the modules described above, the apparatus in this embodiment may also include modules that execute any method in any of the aforementioned embodiments of the steer-by-wire system auxiliary control method.

[0149] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can operate in ways such as... Figure 1 The method shown can be implemented in either software or hardware within a hardware environment, where the hardware environment includes a network environment.

[0150] According to another aspect of the embodiments of this application, an electronic device for implementing the above-described auxiliary control method for a steer-by-wire system is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0151] According to another embodiment of this application, an electronic device is also provided, comprising: Figure 7 As shown, the electronic device may include: a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, wherein the processor 1501, the communication interface 1502, and the memory 1503 communicate with each other through the communication bus 1504.

[0152] Memory 1503 is used to store computer programs;

[0153] When processor 1501 executes the program stored in memory 1503, it performs the following steps:

[0154] Step S101: Obtain the vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle.

[0155] Step S102: Determine whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements, and obtain the determination result. The auxiliary control requirements include: the target vehicle is in a parked state.

[0156] Step S103: If the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the restoring torque output to the steer-by-wire column of the target vehicle is determined according to the initial steering wheel position and the real-time steering wheel state. The steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected to the steer-by-wire column.

[0157] Step S104: Output torque to the steering column according to the restoring torque.

[0158] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0159] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0160] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0161] This application also provides a computer-readable storage medium, which includes a stored program, wherein the program executes the method steps of the above method embodiments when it runs.

[0162] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0163] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0164] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, 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 one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0165] In the above embodiments of this application, 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.

[0166] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only 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 coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0167] 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 network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0168] Furthermore, the functional units in the various embodiments of this application 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.

[0169] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An auxiliary control method for a steer-by-wire system, characterized in that, include: Obtain vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle; Determine whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements, and obtain the determination result, wherein the auxiliary control requirements include: the target vehicle is in a parked state; When the judgment result indicates that the vehicle state transition information and the current state information meet the auxiliary control requirements, the restoring torque output to the steer-by-wire column of the target vehicle is determined based on the initial steering wheel position and the real-time steering wheel state. This includes: obtaining a real-time position difference based on the initial steering wheel position and the real-time steering wheel position; determining a gain torque based on the real-time position difference; assigning a value limit to the gain torque to obtain a deviation torque; determining a base damping torque based on the real-time steering wheel speed; determining a scale coefficient corresponding to the real-time position difference; limiting the amplitude of the result of multiplying the base damping torque by the scale coefficient to obtain a damping torque; and limiting the amplitude and slope of the result of subtracting the damping torque from the deviation torque to obtain the restoring torque. The steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected to the steer-by-wire column. The torque is output to the steering column according to the restoring torque.

2. The auxiliary control method for a steer-by-wire system according to claim 1, characterized in that, The process of determining whether the vehicle state transition information meets preset auxiliary control requirements and obtaining the determination result includes: When the vehicle state transition information meets the first transition sub-requirement in the auxiliary control requirements, the steer-by-wire system is activated, wherein the first transition sub-requirement includes: the target vehicle transitions from locked to unlocked, and the driver's door of the target vehicle transitions from closed to open. When the current state information indicates that the current state of the target vehicle meets the state sub-requirements in the auxiliary control requirements, a judgment result indicating the vehicle state transition information and the current state information meeting the auxiliary control requirements is generated, wherein the state sub-requirements include: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable.

3. The auxiliary control method for a steer-by-wire system according to claim 2, characterized in that, When the judgment result indicates that the vehicle state transition information and the current state information meet the auxiliary control requirements, the restoring torque output to the steer-by-wire column of the target vehicle is determined based on the initial steering wheel position and the real-time steering wheel state, including: If the judgment result indicates that the vehicle state change information and the current state information meet the auxiliary control requirements, the current steering wheel position is determined as the initial steering wheel position; The real-time steering wheel position and real-time steering wheel speed are obtained, wherein the steering wheel state includes: steering wheel position and steering wheel speed; The restoring torque is determined based on the initial steering wheel position, the real-time steering wheel position, and the real-time steering wheel rotation speed.

4. The auxiliary control method for a steer-by-wire system according to claim 1, characterized in that, After determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, the method further includes: Determine the longest continuous time period from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation, wherein the initial moment is the moment when the initial steering wheel position is determined, and the target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel being rotated is greater than or equal to a duration threshold. If the longest continuous time period is less than or equal to the preset time limit, and the state of the target vehicle at the current moment meets the state sub-requirement in the auxiliary control requirements, the latest real-time steering wheel state of the steering wheel continues to be acquired in real time, and the latest restoring torque output to the steer-by-wire column of the target vehicle is determined. The state sub-requirement includes: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable. If the longest continuous time period exceeds the preset time limit, and / or the state of the target vehicle at the current moment does not meet the state sub-requirement in the auxiliary control requirements, the acquisition of the latest real-time steering wheel state of the steering wheel shall be stopped, and the torque output to the steer-by-wire column shall be stopped.

5. The auxiliary control method for a steer-by-wire system according to claim 1, characterized in that, The process of determining whether the vehicle state transition information meets preset auxiliary control requirements and obtaining the determination result includes: If the vehicle state transition information meets the second transition sub-requirement in the auxiliary control requirements, it is determined whether the current state information indicates whether the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements. The second transition sub-requirement is that the ignition signal of the target vehicle changes from ignition to stop. The state sub-requirement includes: vehicle speed is 0, gear is parking gear, and drivable state is non-drivable. If the current state information indicates that the current state of the target vehicle meets the state sub-requirement in the auxiliary control requirements, a judgment result indicating the vehicle state transition information and the current state information meeting the auxiliary control requirements is generated.

6. The auxiliary control method for a steer-by-wire system according to claim 1, characterized in that, After determining the restoring torque output to the steer-by-wire column of the target vehicle based on the initial steering wheel position and the real-time steering wheel state, the method further includes: Determine the longest continuous time period from the initial moment to the current moment that is closest to the current moment and has not yet executed the target operation, wherein the initial moment is the moment when the initial steering wheel position is determined, and the target operation is: the steering wheel is rotated at a speed greater than or equal to a speed threshold, and the duration of the steering wheel being rotated is greater than or equal to a duration threshold. If the longest continuous time period exceeds the preset time limit, or if the target vehicle experiences a target change, the acquisition of the latest real-time steering wheel status will stop, and torque output to the steer-by-wire column will stop. The target change is: the driver's door of the target vehicle changes from closed to open, and then back to closed.

7. An auxiliary control device for a steer-by-wire system, characterized in that, include: The acquisition module is used to acquire vehicle state transition information and current state information of the target vehicle, wherein the vehicle state transition information is used to indicate the state change of the target vehicle. The judgment module is used to judge whether the vehicle state transition information and the current state information meet the preset auxiliary control requirements and obtain the judgment result, wherein the auxiliary control requirements include: the target vehicle is in a parked state; A torque determination module is used to determine, based on the initial steering wheel position and real-time steering wheel state, the recovery torque output to the steer-by-wire column of the target vehicle when the judgment result indicates that the vehicle state transition information and the current state information meets the auxiliary control requirements. This includes: obtaining a real-time position difference based on the initial steering wheel position and the real-time steering wheel position; determining a gain torque based on the real-time position difference; assigning a value limit to the gain torque to obtain a deviation torque; determining a base damping torque based on the real-time steering wheel rotation speed; determining a scale coefficient corresponding to the real-time position difference; limiting the amplitude of the result of multiplying the base damping torque by the scale coefficient to obtain a damping torque; and limiting the amplitude and slope of the result of subtracting the damping torque from the deviation torque to obtain the recovery torque. The steer-by-wire column is located in the steer-by-wire system, and the steering wheel is connected to the steer-by-wire column. The torque output module is used to output torque to the steering column according to the restoring torque.

8. An electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, the communication interface, and the memory communicate with each other via the communication bus, characterized in that... The memory is used to store computer programs; The processor is configured to perform the method steps of any one of claims 1 to 6 by running the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the steps of the method described in any one of claims 1 to 6 when it is run.

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