A kind of drive-by-wire steering system control method, device, equipment and storage medium

Abstract

The application belongs to the technical field of automobiles, and particularly relates to a steer-by-wire system control method, device, equipment and storage medium. The control method is a control strategy for a vehicle equipped with a steer-by-wire system, which enables the steer-by-wire system to complete a steering angle synchronization operation and verification when a driver takes over from'vehicle control' to'manual control' during driving. The control device comprises a steer-by-wire system state monitoring module, a vehicle speed judgment module, a comparison module, a calculation module, a steering angle target judgment module, a steering angle synchronization control module, a road feeling simulator motor drive control module, a synchronization completion judgment module and a synchronization verification module. The application enables the steer-by-wire system to complete a steering angle synchronization operation and verification, avoids safety problems when the driver takes over, and ensures stable performance and safe reliability during state switching.

Description

Technical Field

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

[0002] In recent years, with the continuous advancement of automotive technology and increasingly higher levels of intelligence, steer-by-wire systems have eliminated the mechanical connection between the steering column and steering gear, completely decoupling chassis lateral control from spatial layout constraints. This enables functions such as dynamic variable gear ratios and silent steering, supporting advanced autonomous driving capabilities and enriching the driving experience. It represents an inevitable trend in the future development of intelligent steering systems. Furthermore, because steer-by-wire systems are free from the constraints of mechanical connections, they save space in the vehicle's layout and usage, achieving overall vehicle weight reduction. A steer-by-wire system consists of a road feel simulator and a steering actuator, which interact electronically. In "human control" mode, the driver manipulates the road feel simulator, and the steering actuator completes the specified steering command based on relevant input information. In "autonomous driving" mode, the steer-by-wire system is controlled by the autonomous driving controller or vehicle controller, and the road feel simulator remains stationary, allowing the driver to free their hands for other tasks in "vehicle control" mode. When a vehicle switches from autonomous driving mode to driver-controlled mode, the road feel simulator is stationary in autonomous driving mode, while the steering actuator may be in a steering state under vehicle control. This results in a desynchronization between the road feel simulator and the driver. When the driver needs to control the vehicle, the road feel simulator and the steering actuator must maintain a synchronized angle. Otherwise, in human-controlled mode, the vehicle will not follow the driver's intentions, potentially causing a safety accident. Summary of the Invention

[0003] This invention provides a control method, device, equipment, and storage medium for a steer-by-wire system. By employing a control strategy that allows the driver to take over control from "vehicle control" to "human control" during the driving process of a vehicle equipped with a steer-by-wire system, the steer-by-wire system can complete and verify the angle synchronization operation, thus avoiding safety issues when the driver takes over.

[0004] The technical solution of this invention is described below in conjunction with the accompanying drawings:

[0005] In a first aspect, embodiments of the present invention provide a control method for a steer-by-wire system, comprising the following steps:

[0006] Step 1: After receiving the driver takeover request enable signal, simultaneously check the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal, and the steering actuator status signal to ensure that the relevant systems are all in normal working and controllable condition.

[0007] Step 2: Determine vehicle speed. When the vehicle speed exceeds the preset target threshold range, request the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range.

[0008] Step 3: Assuming the takeover request is in a normal state, compare the steering angle information from the steering actuator and the road feel simulator, and calculate the difference and sign between them;

[0009] Step 4: Calculate the target turning angle and rotational speed to be executed by the road feel simulator;

[0010] Step 5: Determine the target values ​​of vehicle speed, target turning angle, and engine speed. Once the target values ​​of vehicle speed, target turning angle, and engine speed all meet the required thresholds, transmit a signal indicating that the requirements have been met.

[0011] Step 6: Control the motor of the road feel simulator;

[0012] Step 7: Execute the corresponding target value requirements to complete the synchronization operation between the road feel simulator and the steering actuator;

[0013] Step 8: After the synchronization operation of the steer-by-wire road feel simulator and steering actuator is completed during driving, the synchronization status is sent to the instrument panel and the driver is reminded that he can take over the vehicle. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and steering actuator remain synchronized and follow each other. At this time, the driver can take over the vehicle, and the automatic driving control part of the steering system slowly withdraws.

[0014] Step 9: Based on the real-time feedback of the steering angle, torque, and speed signals from the road feel simulator and the steering actuator, perform a synchronization status check after takeover. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, send the status bit after the judgment is completed to the instrument. The instrument displays the information that the takeover was successfully completed.

[0015] Furthermore, in step three, the comparison of the steering actuator and the road feel simulator's steering angle information includes the steering angle, steering direction, rotation speed, rotation speed direction, the status of the steering angle, and the status of the rotation speed.

[0016] Furthermore, in step four, the target turning angle to be executed by the road feel simulator is calculated using the following formula:

[0017]

[0018] In the formula, θ 执行 θ represents the current steering angle of the steering actuator. 路感 This is for turning on the road feel simulator.

[0019] Furthermore, in step four, the rotational speed to be executed by the road feel simulator is calculated using the following formula:

[0020]

[0021] In the formula, K ω ω is the calibrable gain value; V is the vehicle speed; 路感 For the road feel simulator speed; ω 执行 The rotational speed of the steering actuator.

[0022] Furthermore, in step seven, the target values ​​refer to the target angle and the target rotation speed.

[0023] Furthermore, in step nine, the synchronization check involves comparing the angle and speed values ​​of the road feel simulator with those of the steering actuator. If the difference is within a defined threshold range, the two are considered synchronized.

[0024] The strategy principle is as follows:

[0025] |θ 路感 -θ 执行 |≤threshold 1;

[0026] |ω 路感 -ω 执行 |≤threshold2.

[0027] Secondly, embodiments of the present invention also provide a steer-by-wire system control device, comprising:

[0028] The steer-by-wire system status monitoring module is used to receive the driver takeover request enable signal and simultaneously judge the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal and the steering actuator status signal to ensure that the relevant systems are in a normal working and controllable state.

[0029] The vehicle speed determination module is used to determine the vehicle speed. When the vehicle speed exceeds the preset target threshold range, it requests the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range.

[0030] The comparison module is used to compare the steering angle information of the steering actuator and the road feel simulator, and calculate the difference and sign between them, provided that the takeover request is in a normal state.

[0031] The calculation module is used to calculate the target turning angle and rotational speed to be performed by the road feel simulator;

[0032] The corner target judgment module is used to judge the target values ​​of vehicle speed, target corner angle and speed. When the target values ​​of vehicle speed, target corner angle and speed all meet the required threshold, a signal that the requirements are met is transmitted.

[0033] The cornering synchronization control module is used to control the motor of the road feel simulator;

[0034] The road feel simulator motor drive control module is used to execute the corresponding target value requirements and complete the synchronous operation of the road feel simulator and the steering actuator;

[0035] The synchronization completion judgment module is used to send the synchronization completion status to the instrument panel and remind the driver that the vehicle can be taken over after the synchronization operation of the steer-by-wire road feel simulator and steering actuator is completed during driving. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and steering actuator remain synchronized and follow each other. At this time, the driver can take over the vehicle, and the control part of the automatic driving system on the steering system slowly withdraws.

[0036] The synchronization verification module is used to verify the synchronization status after takeover based on the real-time feedback signals of the road feel simulator and the steering actuator. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, the status bit of the completed judgment is sent to the instrument, and the instrument displays the information that the takeover was successfully completed.

[0037] Thirdly, embodiments of the present invention also provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a steer-by-wire system control method as described in any of the embodiments of the present invention.

[0038] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a steer-by-wire system control method as described in any of the embodiments of the present invention.

[0039] The beneficial effects of this invention are as follows:

[0040] 1) This invention designs a control strategy for when the driver takes over in autonomous driving mode, so that the vehicle control can be smoothly switched from "vehicle control" to "human control" mode, ensuring stable performance and safety during the state switching process.

[0041] 2) This invention designs a control strategy for vehicles equipped with a steer-by-wire system, allowing the driver to take over from "vehicle control" to "human control" during driving. This enables the steer-by-wire system to complete synchronous operation and verification of the steering angle, thus avoiding safety issues when the driver takes over. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the control logic for the steer-by-wire angle synchronization function during vehicle operation.

[0044] Figure 2 A schematic diagram of the control logic for synchronization verification after takeover;

[0045] Figure 3 This is a schematic diagram of a control device for a steer-by-wire system according to the present invention;

[0046] Figure 4 This is a schematic diagram of the structure of an electronic device. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] Example 1

[0050] Figure 1 and Figure 2 This is a flowchart of a steer-by-wire system control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the control of steer-by-wire systems. The method can be executed by a steer-by-wire system control device according to an embodiment of the present invention. This device can be implemented in software and / or hardware, such as... Figure 1 , Figure 2 As shown, the method specifically includes the following steps:

[0051] Step 1: After receiving the driver takeover request enable signal, simultaneously check the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal, and the steering actuator status signal to ensure that the relevant systems are all in normal working and controllable condition.

[0052] Step 2: Determine vehicle speed. When the vehicle speed exceeds the preset target threshold range, request the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range.

[0053] Step 3: Assuming the takeover request is in a normal state, compare the steering angle information from the steering actuator and the road feel simulator, and calculate the difference and sign between them;

[0054] The purpose of comparing the steering angle information of the steering actuator and the road feel simulator, including the steering angle, steering direction, speed, speed direction, steering angle status bit, and speed status bit, is to confirm that the signal status of the road feel simulator and the steering actuator is normal.

[0055] Since the direction of the turn can be positive or negative, it is generally defined as positive on the left and negative on the right. The "sign" refers to the positive or negative of the turn. This is used to determine whether the turn position of the road feel simulator and the steering actuator is in a "left turn" or "right turn" state.

[0056] Step 4: Calculate the target turning angle and rotational speed to be executed by the road feel simulator;

[0057] The target turning angle to be executed by the road feel simulator is calculated using the following formula:

[0058]

[0059] In the formula, θ 执行 θ represents the current steering angle of the steering actuator. 路感 This is for turning on the road feel simulator.

[0060] The rotational speed to be executed by the road feel simulator is calculated using the following formula:

[0061]

[0062] In the formula, K ω ω is the calibrable gain value; V is the vehicle speed; 路感 For the road feel simulator speed; ω 执行 The rotational speed of the steering actuator.

[0063] Step 5: Determine the target values ​​of vehicle speed, target turning angle, and engine speed. Once the target values ​​of vehicle speed, target turning angle, and engine speed all meet the required thresholds, transmit a signal indicating that the requirements have been met.

[0064] Step 6: Control the motor of the road feel simulator;

[0065] Step 7: Execute the corresponding target value requirements to complete the synchronization operation between the road feel simulator and the steering actuator;

[0066] The target values ​​refer to the target steering angle and target rotational speed. During steering angle synchronization, the road feel simulator needs to track the steering actuator's steering angle and angular velocity states. Synchronization is then completed according to the target rotational speed and steering angle.

[0067] Step 8: After the synchronization operation of the steer-by-wire road feel simulator and steering actuator is completed during driving, the synchronization status is sent to the instrument panel and the driver is reminded that he can take over the vehicle. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and steering actuator remain synchronized and follow each other. At this time, the driver can take over the vehicle, and the automatic driving control part of the steering system slowly withdraws.

[0068] Step 9: Based on the real-time feedback of the steering angle, torque, and speed signals from the road feel simulator and the steering actuator, perform a synchronization status check after takeover. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, send the status bit after the judgment is completed to the instrument. The instrument displays the information that the takeover was successfully completed.

[0069] Synchronization verification involves comparing the steering angle and speed values ​​of the road feel simulator with those of the steering actuator. If the difference is within a defined threshold range, the two are considered synchronized. The strategy principle is as follows:

[0070] |θ 路感 -θ 执行 |≤threshold 1;

[0071] |ω 路感 -ω 执行 |≤threshold2.

[0072] In summary, this invention designs a control strategy for when the driver takes over in autonomous driving mode, enabling a smooth transition of vehicle control from "vehicle control" to "human control" mode, ensuring stable performance and safety during the state transition process.

[0073] Example 2

[0074] Figure 3 A steer-by-wire system control device provided in Embodiment 3 of the present invention includes:

[0075] The steer-by-wire system status monitoring module is used to receive the driver takeover request enable signal and simultaneously judge the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal and the steering actuator status signal to ensure that the relevant systems are in a normal working and controllable state.

[0076] The vehicle speed determination module is used to determine the vehicle speed. When the vehicle speed exceeds the preset target threshold range, it requests the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range.

[0077] The comparison module is used to compare the steering angle information of the steering actuator and the road feel simulator, and calculate the difference and sign between them, provided that the takeover request is in a normal state.

[0078] The calculation module is used to calculate the target turning angle and rotational speed to be performed by the road feel simulator;

[0079] The corner target judgment module is used to judge the target values ​​of vehicle speed, target corner angle and speed. When the target values ​​of vehicle speed, target corner angle and speed all meet the required threshold, a signal that the requirements are met is transmitted.

[0080] The cornering synchronization control module is used to control the motor of the road feel simulator;

[0081] The road feel simulator motor drive control module is used to execute the corresponding target value requirements and complete the synchronous operation of the road feel simulator and the steering actuator;

[0082] The synchronization completion judgment module is used to send the synchronization completion status to the instrument panel and remind the driver that the vehicle can be taken over after the synchronization operation of the steer-by-wire road feel simulator and steering actuator is completed during driving. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and steering actuator remain synchronized and follow each other. At this time, the driver can take over the vehicle, and the control part of the automatic driving system on the steering system slowly withdraws.

[0083] The synchronization verification module is used to verify the synchronization status after takeover based on the real-time feedback signals of the road feel simulator and the steering actuator. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, the status bit of the completed judgment is sent to the instrument, and the instrument displays the information that the takeover was successfully completed.

[0084] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0085] Example 3

[0086] Figure 4 This is a schematic diagram of the structure of a computer device according to Embodiment 4 of the present invention. Figure 4 A block diagram of an exemplary computer device 12 suitable for implementing embodiments of the present invention is shown. Figure 4 The computer device 12 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0087] like Figure 4 As shown, the computer device 12 is represented in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and a bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0088] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0089] Computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0090] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (…). Figure 4 Not shown; usually referred to as a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0091] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28. Such program modules 42 include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0092] The computer device 12 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with the computer device 12, and / or with any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed via the input / output (I / O) interface 22. Furthermore, in this embodiment, the display 24 of the computer device 12 is not an independent entity, but is embedded in a mirror, so that when the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface visually blend together. Moreover, the computer device 12 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0093] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing a steer-by-wire system control method provided in the embodiments of the present invention.

[0094] Example 4

[0095] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a steer-by-wire system control method as provided in all embodiments of the present application.

[0096] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0097] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including—but not limited to—electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of transmitting, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0098] The program code contained on a computer-readable medium may be transmitted using any suitable medium, including—but not limited to—wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0099] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0100] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

[0101] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the scope of protection of the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, any person skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention within the scope of the technology disclosed in the present invention. These simple modifications are all within the scope of protection of the present invention.

[0102] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0103] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A control method for a steer-by-wire system, characterized in that, Includes the following steps: Step 1: After receiving the driver takeover request enable signal, simultaneously check the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal, and the steering actuator status signal to ensure that the relevant systems are all in normal working and controllable condition. Step 2: Determine vehicle speed. When the vehicle speed exceeds the preset target threshold range, request the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range. Step 3: Assuming the takeover request is in a normal state, compare the steering angle information from the steering actuator and the road feel simulator, and calculate the difference and sign between them; Step 4: Calculate the target turning angle and rotational speed to be executed by the road feel simulator; Step 5: Determine the target values ​​of vehicle speed, target turning angle, and engine speed. Once the target values ​​of vehicle speed, target turning angle, and engine speed all meet the required thresholds, transmit a signal indicating that the requirements have been met. Step 6: Control the motor of the road feel simulator; Step 7: Execute the corresponding target value requirements to complete the synchronization operation between the road feel simulator and the steering actuator; Step 8: After the synchronization operation of the steer-by-wire road feel simulator and the steering actuator is completed during driving, the synchronization status is sent to the instrument panel and the driver is reminded that he can take over the vehicle. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and the steering actuator remain synchronized and follow each other. At this point, the driver is able to take over the vehicle, and the automatic driving system slowly disengages from the steering system. Step 9: Based on the real-time feedback of the steering angle, torque, and speed signals from the road feel simulator and the steering actuator, perform a synchronization status check after takeover. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, send the status bit after the judgment is completed to the instrument. The instrument displays the information that the takeover was successfully completed.

2. The control method for a steer-by-wire system according to claim 1, characterized in that, In step three, the steering information of the steering actuator and the road feel simulator is compared, including the steering angle, steering direction, rotation speed, rotation speed direction, the status of the steering angle, and the status of the rotation speed.

3. The control method for a steer-by-wire system according to claim 1, characterized in that, In step four, the target turning angle to be executed by the road feel simulator is calculated using the following formula: In the formula, θ 执行 θ represents the current steering angle of the steering actuator. 路感 This is for turning on the road feel simulator.

4. The control method for a steer-by-wire system according to claim 1, characterized in that, In step four, the rotational speed to be executed by the road feel simulator is calculated using the following formula: In the formula, K ω ω is the calibrable gain value; V is the vehicle speed; 路感 For the road feel simulator speed; ω 执行 The rotational speed of the steering actuator.

5. The control method for a steer-by-wire system according to claim 1, characterized in that, In step seven, the target values ​​refer to the target angle and the target rotation speed.

6. The control method for a steer-by-wire system according to claim 1, characterized in that, In step nine, the synchronization check compares the angle and speed values ​​of the road feel simulator with those of the steering actuator. If the difference is within a defined threshold range, the two are considered to be synchronized. The strategy principle is as follows: |θ 路感 -θ 执行 |≤ threshold1; |ω 路感 -ω 执行 |≤threshold2.

7. A control device for a steer-by-wire system, characterized in that, include: The steer-by-wire system status monitoring module is used to receive the driver takeover request enable signal and simultaneously judge the vehicle controller signal, the automatic driving controller signal, the road feel simulator status signal and the steering actuator status signal to ensure that the relevant systems are in a normal working and controllable state. The vehicle speed determination module is used to determine the vehicle speed. When the vehicle speed exceeds the preset target threshold range, it requests the vehicle controller or autonomous driving controller to reduce the vehicle speed to the threshold range. The comparison module is used to compare the steering angle information of the steering actuator and the road feel simulator, and calculate the difference and sign between them, provided that the takeover request is in a normal state. The calculation module is used to calculate the target turning angle and rotational speed to be performed by the road feel simulator; The corner target judgment module is used to judge the target values ​​of vehicle speed, target corner angle and speed. When the target values ​​of vehicle speed, target corner angle and speed all meet the required threshold, a signal that the requirements are met is transmitted. The cornering synchronization control module is used to control the motor of the road feel simulator; The road feel simulator motor drive control module is used to execute the corresponding target value requirements and complete the synchronous operation of the road feel simulator and the steering actuator; The synchronization completion judgment module is used to send the synchronization completion status bit to the instrument and remind the driver that the vehicle can be taken over after the synchronization operation of the steer-by-wire road feel simulator and steering actuator is completed during driving. At this time, the vehicle is still in the "vehicle control" state, and the road feel simulator and steering actuator remain synchronized and follow each other. At this point, the driver is able to take over the vehicle, and the automatic driving system slowly disengages from the steering system. The synchronization verification module is used to verify the synchronization status after takeover based on the real-time feedback signals of the road feel simulator and the steering actuator. After confirming that there are no abnormalities in the output signals of the road feel simulator and the steering actuator, the status bit of the completed judgment is sent to the instrument, and the instrument displays the information that the takeover was successfully completed.

8. A terminal, characterized in that, include: One or more processors; Memory for storing the one or more processor-executable instructions; Wherein, the one or more processors are configured as follows: Perform a steer-by-wire system control method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the terminal's processor, the terminal is able to execute a steer-by-wire system control method as described in any one of claims 1 to 6.

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