A drive-by-wire steering angle wake-up following method, system, device, and storage medium

Abstract

A kind of drive-by-wire steering angle wake-up follow method, system, device and storage medium are when it is judged that the current steering wheel actual angle is different from steering wheel power-off angle in vehicle power-on self-test process, it indicates that steering wheel is influenced by external force, at this time, by wake-up and execution follow correction mode, follow correction mode is based on expected value, current steering wheel actual angle and current steering execution mechanism actual angle, obtains deviation state, then according to the execution strategy corresponding to deviation state, finally control the angle of steering wheel and steering execution mechanism is equal, complete the adjustment of drive-by-wire steering system, to avoid the influence caused by the deviation of steering wheel angle and steering execution mechanism actual angle, realize self-adjusting function, improve driving experience.

Description

Technical Field

[0001] This application relates to the field of steering system technology, specifically to a steer-by-wire angle wake-up and follow method, system, device, and storage medium. Background Technology

[0002] Currently, in steer-by-wire systems, there is no mechanical power transmission between the steering wheel and the steering actuator, eliminating the mechanical connection of the column's intermediate shaft. The steer-by-wire system is responsible for providing road feel simulation for the upper steering mechanism and the actual steering execution for the lower steering mechanism.

[0003] Because the physical limits of the steering wheel and steering actuator in the steer-by-wire system are released, it does not provide following capability when the power is off. If a certain external force is applied to the steering wheel, there may be a certain deviation between the steering wheel angle and the actual angle of the steering actuator due to the rotation of the steering wheel.

[0004] Under this condition, the angle relationship between the steering wheel and the steering actuator changes from the angle relationship based on the predetermined transmission ratio before power is off. This changes the driver's experience and feeling during vehicle start-up and may even pose a certain driving risk. Summary of the Invention

[0005] This application provides a steer-by-wire angle wake-up and follow method, system, device, and storage medium, which can solve the technical problem in the prior art where, when a certain external force is applied to the steering wheel in a steer-by-wire system without power, the rotation of the steering wheel causes a certain deviation between the steering wheel angle and the actual angle of the steering actuator, affecting the driving experience.

[0006] In a first aspect, embodiments of this application provide a method for waking up and following a steering angle control, which includes the following steps:

[0007] If the actual steering wheel angle is different from the steering wheel angle when the vehicle is powered on and under power during the power-on self-test, the follow correction mode will be activated and executed.

[0008] The following correction mode includes the following steps: based on the expected value, the current actual angle of the steering wheel and the current actual angle of the steering actuator, the deviation state is obtained; according to the execution strategy corresponding to the deviation state, the final angles of the steering wheel and the steering actuator are made equal.

[0009] In the embodiment, it can be determined whether the steering wheel angle deviates from the actual angle of the steering execution mechanism due to external force. When the deviation is determined, the follow-up correction mode is executed. The follow-up correction mode is analyzed in detail, and then the corresponding execution strategy is executed according to the deviation state, so that the angle of the steering wheel and the angle of the steering execution mechanism are equal, the adjustment of the steer-by-wire system is completed, the influence of the deviation between the angle of the steering wheel and the actual angle of the steering execution mechanism is avoided, the self-adjusting function is realized, and the driving experience is improved.

[0010] In some embodiments, the steer-by-wire angle wake-up follow-up method further comprises:

[0011] If the current steering wheel actual angle is the same as the steering wheel power-off angle during the vehicle power-on self-checking process, it indicates that the steer-by-wire system is normal, and the self-checking of the steer-by-wire system is ended. In the embodiment, how to execute the steps when the current steering wheel actual angle is the same as the steering wheel power-off angle in the normal case is introduced, that is, the wake-up follow-up correction mode is not executed.

[0012] In some embodiments, the follow-up correction mode further comprises the following steps: after the corresponding execution strategy is executed according to the deviation state, the follow-up correction mode is exited, and the self-checking of the steer-by-wire system is ended. In the embodiment, how to cooperate with the power-on self-checking process after the correction is completed is also introduced in detail, so that the vehicle can normally drive.

[0013] In some embodiments, the deviation state is obtained based on the expected value, the current steering wheel actual angle and the current steering execution mechanism actual angle, and specifically comprises the following steps:

[0014] It is determined whether the difference between the current steering wheel actual angle and the current steering execution mechanism actual angle is greater than the expected value;

[0015] If yes, it indicates that the deviation state is a large deviation state; otherwise, the deviation state is a small deviation state.

[0016] In the embodiment, since the deviation angles corresponding to different deviation states are different, the steering wheel deviation may be too large at this time. In the process of adjusting and synchronizing the angles of the steering wheel and the steering execution mechanism, the steering wheel fluctuates too much, or the steering mechanism starts to vibrate violently. In order to avoid such a situation, the deviation state can be specifically distinguished.

[0017] In some embodiments, the execution strategy corresponding to the large deviation state is: taking the current steering execution mechanism actual angle as a target value, and then adjusting the steering wheel angle until the steering wheel angle is equal to the target value.

[0018] The execution strategy corresponding to the small deviation state is: taking the current steering wheel actual angle as a target value, and then adjusting the steering execution mechanism angle until the steering execution mechanism angle is equal to the target value.

[0019] In this embodiment, when the difference is less than the expected value, the adjustment process of the small deviation state adopts the mode that the steering execution mechanism follows the steering wheel angle to avoid steering wheel fluctuation. The steering execution mechanism angle is adjusted until the steering execution mechanism angle is equal to the target value. The change rate of the steering execution mechanism angle in this process can be calibrated, and the change is made according to the calibrated rate to avoid the shaking caused by rapid change of the steering execution mechanism and also avoid the rotation of the steering wheel.

[0020] When the difference is greater than the expected value, the adjustment process of the large deviation state adopts the mode that the steering wheel follows the steering execution mechanism B actual angle to avoid the violent start shaking of the steering mechanism and ensure a better driving experience. In this process, the steering execution mechanism moves with a large amplitude when the steering execution mechanism follows the steering wheel adjustment, and the driver has a more intuitive feeling, that is, the driver clearly feels that the wheels are moving, and the effect of adjusting without moving the vehicle body cannot be achieved, so the violent start shaking of the steering mechanism is avoided. In the process of adjusting the steering wheel angle until the steering wheel angle is equal to the target value, the rate of change of the steering wheel angle also cannot be too fast, which will cause the steering wheel to rotate too fast and cause certain damage or strain to the human hand placed on the steering wheel.

[0021] In some embodiments, when the execution strategy corresponding to the large deviation state is executed, the hand torque value of the steer-by-wire system needs to be acquired in real time;

[0022] If yes, the execution strategy corresponding to the large deviation state is switched to the execution strategy corresponding to the small deviation state; otherwise, the execution of the execution strategy corresponding to the large deviation state is continued, wherein the target value when the execution strategy corresponding to the small deviation state is switched is the real-time angle of the steering wheel currently being manipulated by the human hand.

[0023] In this embodiment, there is a situation that the human hand rotates the steering wheel. To solve this problem, the steering wheel is locked and cannot be manipulated again at the real-time angle of the steering wheel currently being manipulated by the human hand according to the angle of the steering wheel. That is, in the process of controlling the rotation of the steering wheel, the human rotates the steering wheel, and then the steering execution mechanism is adjusted to be consistent with the steering wheel by taking the actual angle of the steering wheel as a target, which can avoid the influence of the human hand manipulation.

[0024] In some embodiments, the steering wheel power-off angle is the steering wheel angle stored when the vehicle is powered off before the current vehicle is powered on.

[0025] Secondly, embodiments of this application provide a steer-by-wire angle wake-up and follow system, the steer-by-wire angle wake-up and follow system comprising:

[0026] The first module is used to obtain the current actual angle of the steering wheel, the current actual angle of the steering actuator, the steering wheel power-down angle, and the expected value.

[0027] The second module is used to wake up the follow correction mode when the actual current steering wheel angle is different from the steering wheel power-off angle during the vehicle's power-on self-test process.

[0028] The third module is used to execute the follow-up correction mode; the follow-up correction mode includes the following steps: based on the expected value, the current actual angle of the steering wheel and the current actual angle of the steering actuator, the deviation state is obtained; according to the execution strategy corresponding to the deviation state, the final angles of the steering wheel and the steering actuator are made equal.

[0029] Thirdly, embodiments of this application provide a steer-by-wire wake-up and follow device, the steer-by-wire wake-up and follow device including a processor, a memory, and a steer-by-wire wake-up and follow program stored in the memory and executable by the processor, wherein when the steer-by-wire wake-up and follow program is executed by the processor, the steps of the steer-by-wire wake-up and follow method are implemented.

[0030] Fourthly, embodiments of this application provide a storage medium storing a steer-by-wire wake-up and follow program, wherein when the steer-by-wire wake-up and follow program is executed by a processor, it implements the steps of the steer-by-wire wake-up and follow method.

[0031] The beneficial effects of the technical solutions provided in this application include:

[0032] When it is determined that the actual steering wheel angle is different from the steering wheel angle after power-on self-test, it indicates that the steering wheel is affected by external force. At this time, the follow correction mode is activated and executed. The follow correction mode determines the deviation state based on the expected value, the current actual steering wheel angle, and the current actual angle of the steering actuator. Then, according to the execution strategy corresponding to the deviation state, the steering wheel and steering actuator angles are finally controlled to be equal, completing the adjustment of the steer-by-wire system. This avoids the impact of the deviation between the steering wheel angle and the actual angle of the steering actuator, realizes the self-adjustment function, and improves the driving experience. Attached Figure Description

[0033] Figure 1 This is the adjustment process for the small deviation state when the difference in the steer-by-wire wake-up and follow method of this application is less than the expected value;

[0034] Figure 2The adjustment process of the large deviation state when the difference is greater than the expected value in the angle wake-up following method of the steer-by-wire system of the present application;

[0035] Figure 3 The adjustment change schematic diagram of the steering wheel in the hand adjustment process provided by the present application;

[0036] Figure 4 The specific flowchart of the following correction mode provided by the present application;

[0037] Figure 5 The flowchart of the wake-up following correction mode of the steer-by-wire system involved in the embodiment of the present application. DETAILED DESCRIPTION

[0038] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] First, some technical terms in the present application are explained and described in order to facilitate the understanding of the present application by those skilled in the art.

[0040] Vehicle power-on: the vehicle power-on state means that the power of the vehicle has been turned on, so that all electrical systems on the vehicle can work normally, but the engine has not started. Similarly, the vehicle power-off is opposite. The vehicle power-on self-check process in the following mainly refers to the self-check of the ECU power-on of the vehicle to check the state of each component of the vehicle.

[0041] The expected value is the calibrated value corresponding to the difference between the actual angle of the steering wheel and the actual angle of the steering execution mechanism.

[0042] It should be understood for the present application that: since the physical limit of the steering wheel and the steering execution mechanism in the steer-by-wire system is removed, the following capability is not provided in the unpowered working condition. If a certain external force is applied to the steering wheel, there will be a working condition in which the angle of the steering wheel and the actual angle of the steering execution mechanism will deviate due to the rotation of the steering wheel.

[0043] In this working condition, the angle relationship between the steering wheel and the steering execution mechanism changes from the angle relationship based on the predetermined transmission ratio before power-off, which causes a certain impact on the experience and feeling of the driver during the vehicle starting process, and even there is a certain driving risk.

[0044] The above situation occurs before the vehicle starts, and there is no situation during driving. For the control of the steer-by-wire system during driving, refer to the description in the related art, for example, the control method of the steering wheel and the steering execution mechanism in CN 104918836 A Vehicle Travel Control Device and Vehicle Travel Control Method.

[0045] For the purpose, technical solutions and advantages of the present application, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0046] In a first aspect, the embodiments of the present application provide a steer-by-wire angle wake-up following method.

[0047] In an embodiment, the wake-up following method comprises the following steps: Figure 4 and Figure 5 , Figure 5 The figure is a flowchart of the wake-up following correction mode of the steer-by-wire system of the present application. Figure 4 The figure is a flowchart of the specific process of the following correction mode.

[0048] A steer-by-wire angle wake-up following method comprises the following steps:

[0049] Step 100, obtaining the current steering wheel actual angle, the steering wheel power-off angle, the expected value, and the current steering execution mechanism actual angle

[0050] Step 101, determining whether the current steering wheel actual angle is different from the steering wheel power-off angle during the vehicle power-on self-checking process.

[0051] Step 102, if the current steering wheel actual angle is different from the steering wheel power-off angle during the vehicle power-on self-checking process, wake up and execute the following correction mode; the following correction mode comprises the following steps: obtaining the deviation state based on the expected value, the current steering wheel actual angle, and the current steering execution mechanism actual angle; and according to the execution strategy corresponding to the deviation state, making the final angles of the steering wheel and the steering execution mechanism equal.

[0052] Step 103, if the current steering wheel actual angle is the same as the steering wheel power-off angle during the vehicle power-on self-checking process, it indicates that the steer-by-wire system is normal, and the following correction mode is not woken up, and the self-checking of the steer-by-wire system is ended.

[0053] The method can determine whether the steering wheel angle deviates from the steering execution mechanism actual angle due to external force; the following correction mode is executed when the deviation is determined; the following correction mode analyzes the deviation state, and then according to the execution strategy corresponding to the deviation state, the angles of the steering wheel and the steering execution mechanism are finally made equal, the adjustment of the steer-by-wire system is completed, the influence of the deviation of the steering wheel angle from the steering execution mechanism actual angle is avoided, the self-adjustment function is realized, and the driving experience is improved.

[0054] The above also fully introduces how to cooperate with the power-on self-test process after correction is completed, so that the vehicle can be driven normally.

[0055] In some preferred embodiments, how to exit the follow-up correction mode after the follow-up correction mode is completed is set as follows: if the corresponding execution strategy is executed according to the deviation state, the follow-up correction mode is exited and the self-check of the steer-by-wire system is ended. After the self-check of the steer-by-wire system is ended, the normal control method of the steer-by-wire system is followed. Of course, after the follow-up correction mode is exited, the text indicating that the correction is completed can be displayed on the instrument of the vehicle, or the prompt can be given in the form of voice.

[0056] In some preferred embodiments, since the deviation angles corresponding to different deviation states are different, there may be a large deviation of the steering wheel, and in the process of adjusting the angles of the steering wheel and the steering execution mechanism synchronously, the fluctuation of the steering wheel is too large, or the steering mechanism is started and dithers violently. To avoid such a situation, the follow-up correction mode has the following description:

[0057] Based on the expected value, the actual angle of the steering wheel and the actual angle of the steering execution mechanism, the deviation state is obtained, which includes the following steps:

[0058] It is judged whether the difference between the actual angle of the steering wheel and the actual angle of the steering execution mechanism is greater than the expected value;

[0059] If yes, it indicates that the deviation state is a large deviation state; otherwise, the deviation state is a small deviation state.

[0060] The execution strategy corresponding to the large deviation state is that the actual angle of the steering execution mechanism is taken as a target value, and then the angle of the steering wheel is adjusted until the angle of the steering wheel is equal to the target value.

[0061] The execution strategy corresponding to the small deviation state is that the actual angle of the steering wheel is taken as a target value, and then the angle of the steering execution mechanism is adjusted until the angle of the steering execution mechanism is equal to the target value.

[0062] For the above two states, reference can be made to the description of Figure 1 and Figure 2 , wherein Figure 1 is the adjustment process of the small deviation state when the difference is less than the expected value, which takes the steering execution mechanism B to follow the angle of the steering wheel A, to avoid the fluctuation of the steering wheel. In this process, the angle of the steering execution mechanism is adjusted until the angle of the steering execution mechanism is equal to the target value. The change rate of the angle of the steering execution mechanism in this process can be calibrated, and the change is made according to the calibrated rate to avoid the dithering caused by the rapid change of the steering execution mechanism, and also to avoid the rotation of the steering wheel.

[0063] Appendix Figure 2 For the case that the difference is greater than the expected value, the adjustment process of the large deviation state is to follow the actual angle of the steering actuator B to avoid the violent start of the steering mechanism and ensure a better driving experience. In this process, the steering actuator B follows the adjustment of the steering wheel A, and the steering actuator moves with a large amplitude, which is more intuitive for the driver to feel, i.e. the driver will clearly feel that the wheels are moving, and it is not possible to achieve the effect of adjusting the vehicle body without moving. Therefore, the violent start of the steering mechanism is avoided. At the same time, during the process of adjusting the steering wheel angle until the steering wheel angle equals the target value, the rate of change of the steering wheel angle cannot be too fast, which will cause the steering wheel to rotate too fast and cause injury or strain to the human hand placed on the steering wheel. Therefore, the rate of change can be calibrated, and the change is made according to the calibrated rate to achieve a safe adjustment purpose.

[0064] The above achieves angle closed-loop control, which is to control the steering wheel or steering actuator to reach the corresponding target.

[0065] Further, in the above adjustment process, there is also the case that the hand rotates the steering wheel. How to proceed in this case is as follows:

[0066] When the large deviation state corresponding execution strategy is executed, the hand torque value of the steer-by-wire system needs to be obtained in real time; then it is judged whether the hand torque value exceeds the critical value;

[0067] If yes, the large deviation state corresponding execution strategy is switched to the small deviation state corresponding execution strategy; otherwise, the large deviation state corresponding execution strategy is continued to be executed. The target value when switching to the small deviation state corresponding execution strategy is the real-time angle of the steering wheel currently being adjusted by the hand. At this time, the real-time angle of the steering wheel currently being adjusted by the hand is locked and cannot be adjusted again.

[0068] That is, in the process of controlling the rotation of the steering wheel, the hand rotates the steering wheel, and then the actual angle of the steering wheel is taken as the target to adjust the steering actuator so that the two eventually coincide, which can avoid the influence of the hand adjustment. The hand torque value can refer to the description in CN202310532716.5 hand torque control method, control system and steer-by-wire system, which is not explained in detail here.

[0069] The above process can refer to Appendix Figure 3 Figure 4The adjustment change of the direction judging disc in the adjustment process is shown in the figure, wherein the initial state of the direction disc A follows the steering actuator B, but the angle of the direction disc when receiving the hand fluctuation is C, which is the intermediate state. At this time, the angle C is the target value, and the angle of the steering actuator B is controlled to be the same as the angle C until the final state.

[0070] In some preferred embodiments, the steering wheel lower power angle is the steering wheel angle stored when the vehicle is powered off before the current time. The ECU stores the steering wheel position before power off, and performs angle self-checking when powered on. A clear judgment index is given.

[0071] Through the above description, the development of the steer-by-wire control logic can solve the problem of the deviation between the steering wheel angle and the actuator angle when the steering wheel angle is rotated after the steer-by-wire system is powered off. At the same time, it can avoid the bad driving experience caused by the angle deviation of the steer-by-wire system during power on and power off, avoid the violent start shaking of the steering mechanism, and avoid the panic or harm to the driver when the steering angle is too large.

[0072] In a second aspect, the embodiments of the present application also provide a steer-by-wire angle wake-up following system, which comprises:

[0073] A first module for obtaining the current steering wheel actual angle, the current steering actuator actual angle, the steering wheel power-off angle and the expected value;

[0074] A second module for the wake-up following correction mode when the current steering wheel actual angle is different from the steering wheel power-off angle during the vehicle power-on self-checking process;

[0075] A third module for executing the following correction mode, which comprises the following steps: obtaining the deviation state based on the expected value, the current steering wheel actual angle and the current steering actuator actual angle; and making the final angles of the steering wheel and the steering actuator equal according to the execution strategy corresponding to the deviation state.

[0076] In the above steer-by-wire angle wake-up following system, the functions of each module correspond to the steps in the above steer-by-wire angle wake-up following method embodiments, and the functions and implementation processes will not be described here.

[0077] In a third aspect, the embodiments of the present application provide a steer-by-wire angle wake-up following device, which can be a vehicle-mounted computer, a car chip, an ECU server or other devices with data processing functions.

[0078] In the embodiments of the present application, the steer-by-wire angle wake-up following device can include a processor, a memory, a communication interface and a communication bus.

[0079] The communication bus can be any type of bus, for example, a processor bus, a memory bus, a communication bus, etc., for interconnecting the processor, the memory, and the communication interface.

[0080] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., for interconnecting the devices inside the steer-by-wire angle wake-up following device, and an interface for interconnecting the steer-by-wire angle wake-up following device with other devices (for example, other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, etc.; the user device can be a display screen (Display), a keyboard (Keyboard), etc.

[0081] The memory can be various types of storage media, for example, a random access memory (RAM), a read-only memory (ROM), a non-volatile RAM (NVRAM), a flash memory, an optical storage, a hard disk, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), etc.

[0082] The processor can be a general-purpose processor, which can invoke a steer-by-wire angle wake-up following program stored in the memory and execute the steer-by-wire angle wake-up following method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the steer-by-wire angle wake-up following program when invoked can refer to the various embodiments of the steer-by-wire angle wake-up following method of the present application, which will not be described here again.

[0083] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium.

[0084] The computer readable storage medium of the present application stores a steer-by-wire angle wake-up following program, wherein the steer-by-wire angle wake-up following program is executed by the processor to implement the steps of the steer-by-wire angle wake-up following method as described above.

[0085] The method implemented by the steer-by-wire angle wake-up following program when executed can refer to the various embodiments of the steer-by-wire angle wake-up following method of the present application, which will not be described here again.

[0086] It should be noted that the serial numbers of the above embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0087] The terms "include," "includes" or "including," and any variations thereof, within the DETAILED DESCRIPTION of the Invention and the claims of the application and the drawings shall not be construed as excluding or otherwise not including other elements or steps. For example, a process, method, system, product or apparatus that comprises a list of steps or elements is not limited to those steps or elements but can include additional steps or elements not expressly listed or inherent to such process, method, system, product or apparatus. The use of the terms "first," "second" and "third," etc. does not limit the number of terms or the order of the terms but are used to distinguish one element from another.

[0088] In the description of embodiments of the application, "example" or "exemplary" is used to mean "serving as an example, instance, or illustration," not necessarily to imply or require that anything has been or is being patented, licensed, or assigned. Nothing that has been or is being patented, licensed or assigned hereby, or that can herein after patent, license or assign, can be relied upon as a sufficient condition of purpose to practice embodiments of the application.

[0089] In the description of embodiments of the application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text merely describes an association relationship of associated objects and can represent three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone. In addition, in the description of embodiments of the application, "multiple" means two or more than two.

[0090] In some of the processes described in the embodiments of the application, there are a plurality of operations or steps that occur in a particular order, but it should be understood that these operations or steps can be performed in an order other than that in which they appear in the embodiments of the application or in parallel, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0091] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0092] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for waking up and following a steering wheel with a steer-by-wire angle, characterized in that, It includes the following steps: If the actual steering wheel angle is different from the steering wheel angle when the vehicle is powered on and under power during the power-on self-test, the follow correction mode will be activated and executed. The following correction mode includes the following steps: deriving the deviation state based on the expected value, the current actual steering wheel angle, and the current actual steering actuator angle; and using the execution strategy corresponding to the deviation state to make the final angles of the steering wheel and the steering actuator equal; the expected value is the calibrated value corresponding to the difference between the current actual steering wheel angle and the current actual steering actuator angle. The deviation status is determined based on the expected value, the current actual steering wheel angle, and the current actual angle of the steering actuator. This process includes the following steps: Determine whether the difference between the current actual steering wheel angle and the current actual steering actuator angle is greater than the expected value; If yes, it indicates a large deviation; otherwise, it indicates a small deviation. The execution strategy for the large deviation is to take the current actual angle of the steering actuator as the target value and then adjust the steering wheel angle until the steering wheel angle equals the target value. The execution strategy for the small deviation is to take the current actual angle of the steering wheel as the target value and then adjust the steering actuator angle until the steering actuator angle equals the target value. When executing the strategy corresponding to the large deviation state, it is necessary to obtain the hand torque value of the steer-by-wire system in real time; then determine whether the hand torque value exceeds the critical value; if so, switch the execution strategy corresponding to the large deviation state to the execution strategy corresponding to the small deviation state; otherwise, continue to execute the execution strategy corresponding to the large deviation state.

2. The steer-by-wire angle wake-up and follow method as described in claim 1, characterized in that, The steer-by-wire angle wake-up and follow method also includes: If the actual steering wheel angle during the vehicle's power-on self-test is the same as the steering wheel angle after power-off, it indicates that the steer-by-wire system is normal and the steer-by-wire system self-test ends.

3. The steer-by-wire angle wake-up and follow method as described in claim 1, characterized in that, The following correction mode also includes the following steps: after executing the corresponding execution strategy according to the deviation state, exit the following correction mode and end the self-test of the steer-by-wire system.

4. The steer-by-wire angle wake-up and follow method as described in claim 1, characterized in that: The steering wheel power-off angle is the steering wheel angle stored when powering off before the current vehicle is powered on.

5. A steer-by-wire angle wake-up following system, characterized in that, The drive-by-wire steering angle wake-up follow system includes: The first module is used to obtain the current actual steering wheel angle, the current actual steering actuator angle, the steering wheel power-down angle, and the expected value; the expected value is the calibrated value corresponding to the difference between the current actual steering wheel angle and the current actual steering actuator angle. The second module is used to wake up the follow correction mode when the actual current steering wheel angle is different from the steering wheel power-off angle during the vehicle's power-on self-test process. The third module is used to execute the follow-up correction mode; the follow-up correction mode includes the following steps: deriving the deviation state based on the expected value, the current actual steering wheel angle, and the current actual steering actuator angle; and using the execution strategy corresponding to the deviation state to make the final angles of the steering wheel and steering actuator equal. The specific steps for deriving the deviation state based on the expected value, the current actual steering wheel angle, and the current actual steering actuator angle are as follows: Determine whether the difference between the current actual steering wheel angle and the current actual steering actuator angle is greater than the expected value; If yes, it indicates a large deviation; otherwise, it indicates a small deviation. The execution strategy for the large deviation is to take the current actual angle of the steering actuator as the target value and then adjust the steering wheel angle until the steering wheel angle equals the target value. The execution strategy for the small deviation is to take the current actual angle of the steering wheel as the target value and then adjust the steering actuator angle until the steering actuator angle equals the target value. When executing the strategy corresponding to the large deviation state, it is necessary to obtain the hand torque value of the steer-by-wire system in real time; then determine whether the hand torque value exceeds the critical value; if so, switch the execution strategy corresponding to the large deviation state to the execution strategy corresponding to the small deviation state; otherwise, continue to execute the execution strategy corresponding to the large deviation state.

6. A drive-by-wire steering angle wake-up and follow device, characterized in that, The steer-by-wire wake-up and follow device includes a processor, a memory, and a steer-by-wire wake-up and follow program stored in the memory and executable by the processor, wherein when the steer-by-wire wake-up and follow program is executed by the processor, it implements the steps of the steer-by-wire wake-up and follow method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a steer-by-wire wake-up and follow program, wherein when the steer-by-wire wake-up and follow program is executed by the processor, it implements the steps of the steer-by-wire wake-up and follow method as described in any one of claims 1 to 4.

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