State control method of steer-by-wire system, storage medium and vehicle

Abstract

The application discloses a kind of state control methods of steer-by-wire system, storage medium and vehicle.Therein, the method includes: after vehicle ignition starts, the first electric control component and the second electric control component of steer-by-wire system are calibrated to angle, wherein the first electric control component is used to simulate the road feeling when vehicle steering, the second electric control component is used to control vehicle steering, and the first electric control component and the second electric control component interact in real time;Under the condition that the angle of the first electric control component and the second electric control component is in calibrated state, the initial state of the first electric control component and the second electric control component is obtained;Based on initial state, control the first electric control component and the second electric control component enter target state.The application solves the technical problem that the existing steering system based on the state of a single electric control component for steering control results in poor flexibility and low accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of steer-by-wire control, in particular to a state control method of a steer-by-wire system, a storage medium and a vehicle. BACKGROUND

[0002] The steering system of a vehicle is an important system for controlling the steering of the vehicle. At present, a vehicle is usually configured with an electric power steering system or a steer-by-wire system for steering control. However, the existing electric power steering system or steer-by-wire system usually controls and performs steering actions based on the state of one electric control component. When the state control of the electric control component has an error or a fault occurs, the vehicle steers incorrectly or cannot steer, thereby affecting the driving safety of the vehicle.

[0003] From the above analysis, for the problem that the existing steering system controls steering based on the state of a single electric control component, resulting in poor flexibility and low accuracy, there is currently no effective solution. SUMMARY

[0004] The embodiments of the present application provide a state control method of a steer-by-wire system, a storage medium and a vehicle, to at least solve the technical problem that the existing steering system controls steering based on the state of a single electric control component, resulting in poor flexibility and low accuracy.

[0005] According to an aspect of an embodiment of the present application, a state control method of a steer-by-wire system is provided, comprising:

[0006] After the vehicle is started, the steering angles of a first electric control component and a second electric control component of the steer-by-wire system are calibrated, wherein the first electric control component is used to simulate the road feel when the vehicle is steering, the second electric control component is used to control the steering of the vehicle, and the first electric control component and the second electric control component interact in real time; under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state, the initial states of the first electric control component and the second electric control component are obtained; based on the initial states, the first electric control component and the second electric control component are controlled to enter target states.

[0007] Optionally, the states of the first electric control component and the second electric control component include: a power-on synchronization state and a working state, wherein the power-on synchronization state includes: power-on synchronization success, power-on synchronization failure and power-on synchronization in progress, and the working state includes: a manual driving state and an automatic driving state.

[0008] Optionally, the initial states of the first electric control component and the second electric control component are acquired under the condition that the rotation angles of the first electric control component and the second electric control component are in the calibrated states, including: the initial state of the first electric control component is acquired by the first query mode and the initial state of the second electric control component is acquired by the second query mode under the condition that the rotation angles of the first electric control component and the second electric control component are in the calibrated states; wherein the first query mode is completed by the first electric control component sending a first query instruction to the second electric control component and the first electric control component analyzing a first response instruction returned by the second electric control component, and the second query mode is completed by the second electric control component sending a second query instruction to the first electric control component and the second electric control component analyzing a second response instruction returned by the first electric control component.

[0009] Optionally, the first electric control component and the second electric control component are controlled to enter the target state based on the initial states, including: the first electric control component is controlled to enter a power-on synchronization state under the condition that the rotation angles of the first electric control component and the second electric control component are in the calibrated states; and the second electric control component is controlled to enter a working state in response to the first electric control component entering the power-on synchronization state.

[0010] Optionally, the state control method of the steer-by-wire system further includes: in response to the first electric control component entering the power-on synchronization state, a target rotation angle position of the second electric control component is acquired; and the first electric control component is powered on and synchronized based on the target rotation angle position.

[0011] Optionally, the state control method of the steer-by-wire system further includes: in response to the power-on synchronization state of the first electric control component being power-on synchronization success, the second electric control component is triggered to perform steering control according to a rotation angle signal of the first electric control component; and in response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization in progress, the first electric control component and the second electric control component are waited to be powered on and synchronized.

[0012] Optionally, the state control method of the steer-by-wire system further includes: in response to the power-on synchronization state of the first electric control component being power-on synchronization success, the first electric control component is controlled to enter a working state.

[0013] Optionally, the state control method of the steer-by-wire system further includes: the first electric control component and the second electric control component are controlled to feed back current rotation angle positions and current states in real time; and the current rotation angle positions and the current states are displayed on a target display device.

[0014] According to another aspect of the embodiment of the present application, a state control device of a steer-by-wire system is also provided, including:

[0015] The calibration module is configured to calibrate the steering angles of the first electric control component and the second electric control component of the steer-by-wire system after the vehicle is started, wherein the first electric control component is configured to simulate road feel when the vehicle is steering, and the second electric control component is configured to control the steering of the vehicle, and the first electric control component and the second electric control component interact in real time; the obtaining module is configured to obtain initial states of the first electric control component and the second electric control component under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state; and the control module is configured to control the first electric control component and the second electric control component to enter target states based on the initial states.

[0016] Optionally, the device is further configured to: the states of the first electric control component and the second electric control component include: a power-on synchronization state and a working state, wherein the power-on synchronization state includes: power-on synchronization success, power-on synchronization failure, and power-on synchronization in progress, and the working state includes: a manual driving state and an automatic driving state.

[0017] Optionally, the obtaining module is further configured to: under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state, obtain the initial state of the first electric control component by a first query method, and obtain the initial state of the second electric control component by a second query method; wherein the first query method is completed by the first electric control component sending a first query instruction to the second electric control component and the first electric control component analyzing a first response instruction returned by the second electric control component, and the second query method is completed by the second electric control component sending a second query instruction to the first electric control component and the second electric control component analyzing a second response instruction returned by the first electric control component.

[0018] Optionally, the control module is further configured to: under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state, control the first electric control component to enter the power-on synchronization state; and in response to the first electric control component entering the power-on synchronization state, control the second electric control component to enter the working state.

[0019] Optionally, the device further comprises a synchronization module configured to: in response to the first electric control component entering the power-on synchronization state, obtain a target steering angle position of the second electric control component; and based on the target steering angle position, perform power-on synchronization on the first electric control component.

[0020] Optionally, the device further comprises a steering module configured to: in response to the power-on synchronization state of the first electric control component being power-on synchronization success, trigger the second electric control component to perform steering control according to a steering angle signal of the first electric control component; and in response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization in progress, wait for the first electric control component and the second electric control component to perform power-on synchronization.

[0021] Optionally, the device further comprises a second control module configured to control the first electric control component to enter a working state in response to the power-on synchronization state of the first electric control component being power-on synchronization success.

[0022] Optionally, the device further comprises a display module configured to control the first electric control component and the second electric control component to feed back a current rotation angle position and a current state in real time, and display the current rotation angle position and the current state on a target display device.

[0023] According to another aspect of the embodiments of the present application, a storage medium is also provided, which comprises a stored program, wherein the program, when executed, controls a device where the storage medium is located to perform the state control method of the by-wire steering system.

[0024] According to another aspect of the embodiments of the present application, a vehicle is also provided, which comprises an on-board storage and an on-board processor, the on-board storage stores a computer program, and the on-board processor is configured to execute the computer program to perform the state control method of the by-wire steering system.

[0025] In the embodiments of the present application, after the vehicle is started, the rotation angles of the first electric control component and the second electric control component of the by-wire steering system are calibrated first, the first electric control component is used to simulate the road feel when the vehicle is steering, the second electric control component is used to control the vehicle steering, the first electric control component and the second electric control component interact in real time, then, the initial states of the first electric control component and the second electric control component are obtained under the condition that the rotation angles of the first electric control component and the second electric control component are in the calibrated state, and finally, the first electric control component and the second electric control component are controlled to enter the target state based on the initial states, by establishing the state control mechanism of the first electric control component and the second electric control component which interact in real time in the by-wire steering system, the purpose of steering control of the vehicle based on the states of the double electric control components is achieved, thereby the technical effect of improving the flexibility of the state control of the electric control components and improving the steering control accuracy is achieved, and the technical problem of poor flexibility and low accuracy caused by the steering control based on the state of a single electric control component in the existing steering system is solved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0027] Figure 1 is a hardware structure block diagram of a vehicle terminal of an optional state control method for a by-wire steering system according to an embodiment of the present application;

[0028] Figure 2is a flow chart of a state control method of a steer-by-wire system according to an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of a state control process of a steer-by-wire system according to an embodiment of the present application;

[0030] Figure 4 is a structural block diagram of a state control device of a steer-by-wire system according to an embodiment of the present application;

[0031] Figure 5 is a structural block diagram of another alternative state control device of a steer-by-wire system according to an embodiment of the present application;

[0032] Figure 6 is a structural block diagram of still another alternative state control device of a steer-by-wire system according to an embodiment of the present application;

[0033] Figure 7 is a structural block diagram of still another alternative state control device of a steer-by-wire system according to an embodiment of the present application;

[0034] Figure 8 is a structural block diagram of still another alternative state control device of a steer-by-wire system according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the persons skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the persons skilled in the art without creative labor should belong to the protection scope of the present application.

[0036] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] According to the embodiments of the present application, a method embodiment of a state control method of a steer-by-wire system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0038] Figure 1 is a hardware structure block diagram of a vehicle terminal for an optional state control method of a steer-by-wire system according to the embodiments of the present application, as Figure 1 shown, the vehicle terminal 10 (or a mobile device 10 having a communication association with the vehicle) can include one or more processors 102 (the processor 102 can include but not limited to a processing device such as a microcontroller unit (MCU) or a field programmable gate array (FPGA)), a memory 104 for storing data, and a transmission device 106 for communication function. In addition, it can also include a display device 110, an input / output device 108 (i.e. I / O device), a universal serial bus (USB) port (which can be included as one of the ports of the computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure) and / or a camera (not shown in the figure). Those skilled in the art can understand that Figure 1 the structure shown is only schematic, which does not limit the structure of the above-mentioned vehicle terminal 1. For example, the vehicle terminal 10 can also include more or less components than Figure 1 shown, or have a different configuration than Figure 1 shown.

[0039] It should be noted that the one or more processors 102 and / or other data processing circuits described above can be embodied in whole or in part as software, hardware, firmware or any other combination. In addition, the data processing circuit can be a single independent processing module, or all or part of any one of the other elements combined into the vehicle terminal 10 (or mobile device).

[0040] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the state control method of the steer-by-wire system in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the state control method of the steer-by-wire system described above. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the vehicle terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0041] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the vehicle terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0042] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The state control method of the steer-by-wire system shown is as follows: Figure 2 This is a flowchart of a state control method for a steer-by-wire system according to an embodiment of the present invention, such as... Figure 2 As shown above, Figure 2 The embodiments shown may include at least the following implementation steps, that is, the technical solutions implemented by steps S201 to S203.

[0043] Step S201: After the vehicle is started, the turning angles of the first and second electronic control components of the steer-by-wire system are calibrated. The first electronic control component is used to simulate the road feel when the vehicle is turning, and the second electronic control component is used to control the vehicle's steering. The first and second electronic control components interact in real time.

[0044] Step S202: Under the condition that the rotation angles of the first and second electronic control components are both in the calibrated state, obtain the initial state of the first and second electronic control components.

[0045] Step S203: Based on the initial state, control the first and second electronic control components to enter the target state.

[0046] The technical solutions provided in steps S201 to S203 can provide an auxiliary driving function, including but not limited to automatic parking, lane keeping, and automatic cruise control, by using the electronic signal to control the steering force and the steering angle of the steering wheel of the steer-by-wire system. The first electronic control component can be a road feel simulator, and the second electronic control component can be a steer-by-wire device. It should be noted that the road feel simulator and the steer-by-wire device can each be internally provided with a steering angle sensor, and the two components can interact based on a steering angle interface.

[0047] The initial state and the target state of the first electronic control component and the second electronic control component can include but are not limited to the calibrated state of the steering angle of each electronic control component, the power-on synchronization state of the two electronic control components, and the working state of each electronic control component. It should be further noted that the calibration (zero-point calibration) of the steering angle of each electronic control component is used to make the steering angle consistent with the steering control signal, so that the steer-by-wire device can accurately control the steering angle of the vehicle.

[0048] In the embodiment of the present application, after the vehicle is started, the steering angles of the first electronic control component and the second electronic control component of the steer-by-wire system are first calibrated, the first electronic control component is used to simulate the road feel during vehicle steering, the second electronic control component is used to control vehicle steering, the first electronic control component and the second electronic control component interact in real time, then, under the condition that the steering angles of the first electronic control component and the second electronic control component are in the calibrated state, the initial state of the first electronic control component and the second electronic control component is obtained, and finally, based on the initial state, the first electronic control component and the second electronic control component are controlled to enter the target state. By establishing a state control mechanism for the first electronic control component and the second electronic control component that interact in real time in the steer-by-wire system, the purpose of steering control of the vehicle based on the state of the double electronic control components is achieved, thereby improving the flexibility of state control of the electronic control components and improving the steering control accuracy, thereby solving the technical problems of poor flexibility and low accuracy caused by the steering control based on the state of a single electronic control component in the existing steering system.

[0049] The above method of the embodiment of the present application will be further described below.

[0050] In an optional embodiment, the state of the first electronic control component and the second electronic control component includes a power-on synchronization state and a working state, wherein the power-on synchronization state includes power-on synchronization success, power-on synchronization failure, and power-on synchronization in progress, and the working state includes a manual driving state and an automatic driving state.

[0051] The technical scheme provided by the present application synchronizes the power-on of the first electric control component and the second electric control component, so as to ensure that the working states of the two electric control components are consistent in the steering control process, thereby improving the accuracy, stability and reliability of the steering control signal and reducing the error and interference of the steering control.

[0052] It should be further explained that the working states of the first electric control component and the second electric control component can also include a general fault state (such as a failure of the power-on synchronization of the electric control component), a serious fault state (such as a steering out-of-control of the steer-by-wire device) and a fault-free state. It can also be understood that the states of the first electric control component and the second electric control component can include a boost delay state, which can refer to a state in which the vehicle steering system produces a delay after the steering wheel is turned, and a boost exit state, which can be a state in which the boost system reduces the assistance force on the steering wheel when the steering wheel is stopped.

[0053] In an optional embodiment, in step S202, the initial states of the first electric control component and the second electric control component are obtained under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state, including:

[0054] In step S2021, the initial state of the first electric control component is obtained by a first query mode and the initial state of the second electric control component is obtained by a second query mode under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state; the first query mode is completed by sending a first query instruction from the first electric control component to the second electric control component and analyzing a first response instruction returned by the second electric control component to the first electric control component, and the second query mode is completed by sending a second query instruction from the second electric control component to the first electric control component and analyzing a second response instruction returned by the first electric control component to the second electric control component.

[0055] In the technical solution provided by this invention, after the vehicle is ignited and started, the first electronic control component and the second electronic control component enter an initialization waiting state. During this process, the rotation angles of the two electronic control components are zero-point calibrated respectively. Under the condition that the rotation angles of both components are in the calibrated state, the current state (initial state) of the two electronic control components is obtained. Specifically: the first electronic control component can send a first state query command to the second electronic control component. The first state query command is used to obtain the current state of the second electronic control component. After receiving the first state query command, the second electronic control component returns a first response command to the first electronic control component. Further, the first electronic control component receives the first response command and parses it to obtain the current state of the second electronic control component. Also, the second electronic control component can send a second state query command to the first electronic control component. The second state query command is used to obtain the current state of the first electronic control component. After receiving the second state query command, the first electronic control component returns a second response command to the second electronic control component. Further, the second electronic control component receives the second response command and parses it to obtain the current state of the first electronic control component.

[0056] In an optional embodiment, in step S203, based on the initial state, controlling the first and second electronic control components to enter the target state includes:

[0057] Step S2031: Under the condition that the rotation angles of the first and second electronic control components are both in the calibrated state, control the first electronic control component to enter the power-on synchronization state.

[0058] In step S2032, in response to the first electronic control component entering the power-on synchronization state, the second electronic control component is controlled to enter the working state.

[0059] The following combination Figure 3 The above methods will be further explained.

[0060] Figure 3 This is a schematic diagram of the state control process of a steer-by-wire system according to an embodiment of the present invention, as shown below. Figure 3 As shown, after the vehicle is started, the first electronic control unit (road feel simulator 301) and the second electronic control unit (steer-by-wire 302) first enter the initialization waiting state and perform zero-point calibration of the steering angle. Under the condition that the steering angles of the two electronic control units are in the calibrated state, the first electronic control unit is controlled to enter the power-on synchronization state, and under the condition that the first electronic control unit is in the power-on synchronization state, the second electronic control unit is controlled to enter the working state.

[0061] It should be noted that, in the technical solution provided by the present application, when the rotation angle of any one of the first electric control component and the second electric control component is in an uncalibrated state, the rotation angle of the electric control component with the uncalibrated rotation angle is calibrated to zero, at this time, the electric control component with the calibrated rotation angle is in a waiting state, and when it is detected that the rotation angle calibration of the electric control component with the uncalibrated rotation angle is completed, the two electric control components are controlled to enter the next state respectively.

[0062] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0063] In step S2041, in response to the first electric control component entering the power-on synchronization state, the target rotation angle position of the second electric control component is obtained.

[0064] In step S2042, the first electric control component is controlled to perform power-on synchronization based on the target rotation angle position.

[0065] In the technical solution provided by the present application, after the first electric control component enters the power-on synchronization state, the first electric control component and the second electric control component are controlled to perform power-on alignment according to the target rotation angle position fed back by the second electric control component, so that the working states of the first electric control component and the second electric control component are kept consistent.

[0066] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0067] In step S2051, in response to the power-on synchronization state of the first electric control component being power-on synchronization success, the second electric control component is triggered to perform steering control according to the rotation angle signal request of the first electric control component.

[0068] In step S2052, in response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization, the first electric control component and the second electric control component are waited to perform power-on synchronization.

[0069] Still as Figure 3 shown, after the road feel simulator 301 and the steer-by-wire device 302 successfully perform power-on alignment, the road feel simulator 301 sends a rotation angle signal request to the steer-by-wire device 302, the steer-by-wire device 302 receives the rotation angle signal request and analyzes to obtain the required rotation angle of the vehicle, and the steer-by-wire device 302 controls the vehicle to steer according to the required rotation angle of the vehicle. When the road feel simulator 301 and the steer-by-wire device 302 fail to perform power-on alignment or the road feel simulator 301 is in the process of power-on alignment, the steer-by-wire device 302 is controlled to enter the working state, at this time, the steer-by-wire device 302 is in a state of waiting for steering control, and when it is detected that the road feel simulator 301 and the steer-by-wire device 302 successfully perform power-on alignment, the steer-by-wire device 302 controls the vehicle to steer based on the rotation angle signal request sent by the road feel simulator 301.

[0070] In an optional embodiment, the state control method for the steer-by-wire system further includes:

[0071] Step S206: In response to the power-on synchronization status of the first electronic control component being successful, control the first electronic control component to enter the working state.

[0072] Still as Figure 3 As shown, after the road feel simulator 301 and the steer-by-wire 302 are successfully powered on and synchronized, the road feel simulator 301 is controlled to enter any working state. In the technical solution provided by this invention, it should also be noted that during the vehicle's steering control process, after the vehicle is started, in any state of the road feel simulator 301 and the steer-by-wire 302 (including the angle calibration state, power-on synchronization state, working state, power assist delay state, and power assist deactivation state), the road feel simulator 301 and the steer-by-wire 302 provide real-time feedback on their own states. Furthermore, they track each other's states in real-time, and both verify the detected states of the other to accurately determine the other's state, and then enter the next state based on the other's state.

[0073] The technical solution provided by this invention accurately determines the current state of the first and second electronic control components by real-time tracking and verification of their current states, and then controls them to enter the next accurate state. This improves the accuracy of the state control of the first and second electronic control components, thereby improving the accuracy of vehicle steering control, enhancing the reliability of the steer-by-wire system, and improving vehicle safety.

[0074] In an optional embodiment, the state control method for the steer-by-wire system further includes:

[0075] Step S2071: Control the first and second electronic control components to provide real-time feedback on the current turning angle position and current status;

[0076] Step S2072: Display the current corner position and current status on the target display device.

[0077] In the technical solutions provided by steps S2071 to S2072 above, the target display device may include, but is not limited to: vehicle display screen, dashboard, and external display device (mobile phone, tablet computer, smart wearable device, etc.) that communicates with the vehicle.

[0078] Still as Figure 3As shown, in the technical solution provided by the present application, in the state control process of the road feel simulator 301 and the steer-by-wire steering device 302, when the vehicle ignition is off, the road feel simulator 301 and the steer-by-wire steering device 302 are immediately turned off; when the power supply of any electric control component (such as the road feel simulator 301) is turned off, the other electric control component (the steer-by-wire steering device 302) is controlled to enter a waiting state; after the vehicle ignition is started, in any state of the road feel simulator 301 and the steer-by-wire steering device 302, when any control instruction of high priority is detected in real time, the control instruction is executed, and specifically, for example, when the control instruction of recalibrating the steering angle is detected in the state that the steering angle of the road feel simulator 301 is calibrated, the current calibration state of the steering angle of the road feel simulator 301 is released, and the zero point of the steering angle is recalibrated, at this time, the steer-by-wire steering device 302 is in a waiting state.

[0079] In the technical solution provided by the present application, it also needs to be explained that, under normal circumstances, after the first electric control component enters the power-on synchronous alignment state and the second electric control component enters the working state, after the vehicle ignition is turned off (the whole vehicle is powered off), the assist delay state and the assist exit state of the first electric control component and the second electric control component can be enabled. After the electric control component assist exits, the running data (such as the current state and the current steering angle position of each electric control component) of the steer-by-wire steering system can be stored based on the user's own needs.

[0080] The technical effects that can be achieved by the state control method of the steer-by-wire steering system provided by the present application are as follows:

[0081] (1) Two electric control components capable of state interaction are arranged in the steer-by-wire steering system, the steering angle calibration and the power-on synchronous alignment of the two electric control components are performed, and the current states of the two electric control components are verified in real time, so that the two electric control components can accurately enter the next state, the accuracy of the state control method of the steer-by-wire steering system is improved, under this condition, the vehicle is accurately controlled to turn based on the steering angle request signal, and the reliability of the steer-by-wire steering system and the safety of the whole vehicle are improved;

[0082] (2) In the vehicle steering control process, the states and the steering angle positions of the electric control components of the steer-by-wire steering system are fed back to the user in real time through the display device, so that the user can know the state control process and the steering control process of the electric control components in real time, and the user experience is improved;

[0083] (3) A fault handling mechanism is arranged, in the state control process of the steer-by-wire steering system, the fault information of the electric control components is detected and fed back in real time, so that the faults can be handled in time, and the state control efficiency of the steer-by-wire steering system and the steering control efficiency of the vehicle are improved.

[0084] In the present embodiment, a state control apparatus of a steer-by-wire system is also provided, which is configured to implement the above-described embodiments and preferred implementations, and will not be described again. As used below, a "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0085] Figure 4 is a structural block diagram of a state control apparatus of a steer-by-wire system according to an embodiment of the present application, as shown in Figure 4 , the apparatus comprises:

[0086] a calibration module 401 configured to calibrate a steering angle of a first electric control component and a second electric control component of the steer-by-wire system after an ignition of a vehicle is started, wherein the first electric control component is configured to simulate a road feel during steering of the vehicle, and the second electric control component is configured to control steering of the vehicle, and the first electric control component and the second electric control component interact in real time;

[0087] an acquisition module 402 configured to acquire initial states of the first electric control component and the second electric control component under a condition that the steering angles of the first electric control component and the second electric control component are in a calibrated state;

[0088] a control module 403 configured to control the first electric control component and the second electric control component to enter a target state based on the initial states.

[0089] Optionally, the apparatus is further configured to: the states of the first electric control component and the second electric control component comprise: a power-on synchronization state and a working state, wherein the power-on synchronization state comprises: power-on synchronization success, power-on synchronization failure, and power-on synchronization in progress, and the working state comprises: a manual driving state and an automatic driving state.

[0090] Optionally, the acquisition module 402 is further configured to: under the condition that the steering angles of the first electric control component and the second electric control component are in the calibrated state, acquire the initial state of the first electric control component by a first query mode, and acquire the initial state of the second electric control component by a second query mode; wherein the first query mode is completed by the first electric control component sending a first query instruction to the second electric control component and the first electric control component analyzing a first response instruction returned by the second electric control component, and the second query mode is completed by the second electric control component sending a second query instruction to the first electric control component and the second electric control component analyzing a second response instruction returned by the first electric control component.

[0091] Optionally, the control module 403 is further configured to: control the first electric control component to enter a power-on synchronization state when the rotation angles of the first electric control component and the second electric control component are in the calibrated state; and control the second electric control component to enter a working state in response to the first electric control component entering the power-on synchronization state.

[0092] Optionally, Figure 5 is a structural block diagram of another optional state control device of a steer-by-wire system according to an embodiment of the present application, as shown in the figure, the device comprises all the modules shown in the figure, and further comprises a synchronization module 404 configured to: obtain a target rotation angle position of the second electric control component in response to the first electric control component entering the power-on synchronization state; and perform power-on synchronization on the first electric control component based on the target rotation angle position. Figure 5 Figure 4 Optionally,

[0093] Optionally, Figure 6 is a structural block diagram of another optional state control device of a steer-by-wire system according to an embodiment of the present application, as shown in the figure, the device comprises all the modules shown in the figure, and further comprises a steering module 405 configured to: trigger the second electric control component to perform steering control according to a rotation angle signal of the first electric control component in response to the power-on synchronization state of the first electric control component being power-on synchronization success; and wait for the first electric control component and the second electric control component to perform power-on synchronization in response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization in progress. Figure 6 Figure 5 Optionally,

[0094] Optionally, Figure 7 is a structural block diagram of another optional state control device of a steer-by-wire system according to an embodiment of the present application, as shown in the figure, the device comprises all the modules shown in the figure, and further comprises a second control module 406 configured to: control the first electric control component to enter a working state in response to the power-on synchronization state of the first electric control component being power-on synchronization success. Figure 7 Figure 6 Optionally,

[0095] Optionally, Figure 8 is a structural block diagram of another optional state control device of a steer-by-wire system according to an embodiment of the present application, as shown in the figure, the device comprises all the modules shown in the figure, and further comprises a display module 407 configured to: control the first electric control component and the second electric control component to feed back current rotation angle positions and current states in real time; and display the current rotation angle positions and the current states on a target display device. Figure 8 Figure 7

[0096] ​​​​​It should be noted that the above modules can be implemented by software or hardware, and the hardware can be implemented in the following manner, but is not limited thereto: all the modules are located in the same processor; or the modules are located in different processors in any combination.

[0097] According to another aspect of the embodiments of the present application, a storage medium is also provided, which comprises a stored program, wherein the program controls a device in which the storage medium is located to perform the state control method of the steer-by-wire system according to any one of the preceding aspects when the program is executed.

[0098] Optionally, in the present embodiment, the storage medium can be configured to store a computer program for performing the following steps:

[0099] Step S1, calibrating the angles of a first electric control component and a second electric control component of the steer-by-wire system after the vehicle is started, wherein the first electric control component is used to simulate the road sense during vehicle steering, the second electric control component is used to control vehicle steering, and the first electric control component and the second electric control component interact in real time;

[0100] Step S2, obtaining initial states of the first electric control component and the second electric control component under the condition that the angles of the first electric control component and the second electric control component are in the calibrated states;

[0101] Step S3, controlling the first electric control component and the second electric control component to enter target states based on the initial states.

[0102] Optionally, in the present embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various storage media that can store computer programs.

[0103] According to another aspect of the embodiments of the present application, a vehicle is also provided, which comprises an on-board storage and an on-board processor, the on-board storage stores a computer program, and the on-board processor is configured to execute the computer program to perform the state control method of the steer-by-wire system according to any one of the preceding aspects.

[0104] Optionally, in the present embodiment, the on-board processor can be configured to execute the following steps by the computer program:

[0105] Step S1, calibrating the angles of a first electric control component and a second electric control component of the steer-by-wire system after the vehicle is started, wherein the first electric control component is used to simulate the road sense during vehicle steering, the second electric control component is used to control vehicle steering, and the first electric control component and the second electric control component interact in real time;

[0106] Step S2, under the condition that the rotation angles of the first electric control component and the second electric control component are in the calibrated state, obtaining initial states of the first electric control component and the second electric control component;

[0107] Step S3, based on the initial states, controlling the first electric control component and the second electric control component to enter target states.

[0108] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners thereof, and the embodiment will not be described here again.

[0109] The above embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0110] In the above embodiments of the application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0111] In the several embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the device embodiment described above is only illustrative, and for example, the division of units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, unit or module, and can be electrical or other forms.

[0112] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0113] In addition, each functional unit in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0114] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0115] The above only describes the preferred embodiments of the present application. It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A state control method of a steer-by-wire system, characterized by, The method comprises: Calibrating the steering angles of a first electric control component and a second electric control component of a steer-by-wire system after the vehicle is started, wherein the first electric control component is used to simulate road feel when the vehicle is steering, and the second electric control component is used to control the steering of the vehicle, and the first electric control component and the second electric control component interact in real time; Under the condition that the steering angles of the first electric control component and the second electric control component are in a calibrated state, obtaining an initial state of the first electric control component through a first query method, and obtaining an initial state of the second electric control component through a second query method, wherein the first query method is completed by sending a first query instruction from the first electric control component to the second electric control component and analyzing a first response instruction returned by the second electric control component, and the second query method is completed by sending a second query instruction from the second electric control component to the first electric control component and analyzing a second response instruction returned by the first electric control component; Based on the initial state, controlling the first electric control component and the second electric control component to enter a target state.

2. The state control method according to claim 1, characterized by, The states of the first electric control component and the second electric control component include a power-on synchronization state and a working state, wherein the power-on synchronization state includes power-on synchronization success, power-on synchronization failure, and power-on synchronization in progress, and the working state includes manual driving state and automatic driving state.

3. The state control method according to claim 2, characterized by, Based on the initial state, controlling the first electric control component and the second electric control component to enter the target state comprises: Under the condition that the steering angles of the first electric control component and the second electric control component are in a calibrated state, controlling the first electric control component to enter the power-on synchronization state; In response to the first electric control component entering the power-on synchronization state, controlling the second electric control component to enter a working state.

4. The state control method according to claim 3, characterized by, The method further comprises: In response to the first electric control component entering the power-on synchronization state, obtaining a target steering angle position of the second electric control component; Based on the target steering angle position, performing power-on synchronization of the first electric control component.

5. The state control method according to claim 3, characterized by, The method further comprises: In response to the power-on synchronization state of the first electric control component being power-on synchronization success, requesting to trigger the second electric control component to perform steering control according to a steering angle signal of the first electric control component; In response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization in progress, waiting for the first electric control component and the second electric control component to perform power-on synchronization.

6. The state control method according to claim 2, characterized by, The method further comprises: In response to the power-on synchronization state of the first electric control component being power-on synchronization success, controlling the first electric control component to enter a working state.

7. The state control method according to claim 1, characterized by, The method further comprises: Controlling the first electric control component and the second electric control component to feed back a current steering angle position and a current state in real time; Displaying the current steering angle position and the current state on a target display device.

8. A storage medium, characterized by The storage medium comprises a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform the state control method of the steer-by-wire system according to any one of claims 1 to 7.

9. A vehicle characterized by comprising: The system comprises an in-vehicle memory and an in-vehicle processor, the in-vehicle memory stores a computer program, and the in-vehicle processor is configured to run the computer program to execute the state control method of the steer-by-wire system according to any one of claims 1 to 7.

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