Vehicle steer-by-wire system, method, apparatus, and computer program product

Abstract

The application discloses a vehicle steer-by-wire system, method, device and computer program product. The system comprises: a steering wheel system, which is used for acquiring a steering signal, generating a first steering control instruction according to the steering signal, and determining whether a steering control path of the steering wheel system is faulty to obtain a first determination result; an intelligent driving system, which is used for planning a vehicle driving track according to collected road environment information to generate a second steering control instruction, and determining whether a steering control path of the intelligent driving system is faulty to obtain a second determination result; and a steering angle execution motor system, which is used for performing steering control on a target vehicle according to the steering control instruction and the fault determination result. The application solves the technical problems that the vehicle steer-by-wire system provided by the prior art has poor reliability and cannot continue to perform a driving task when a single-point fault exists in the steer-by-wire system.

Description

Technical Field

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

[0002] Currently, in vehicles using steer-by-wire systems, the lack of a mechanical steering column leads to poor vehicle safety and reliability. Therefore, redundant backup designs are adopted for key components such as the steering motor, steering wheel angle, and command channel to increase the reliability of steer-by-wire control. When one steering control path fails, the steer-by-wire system can still execute safety strategies and respond to steering requests to pull over. However, the vehicle's operating time is limited. Once the other steering control path also fails, the vehicle will lose control and will be unable to continue driving.

[0003] As can be seen from the above analysis, there is currently no effective solution to the problems of poor reliability of the vehicle steer-by-wire system provided by the existing technology and the inability to continue driving tasks when there is a single point of failure in the steer-by-wire system. Summary of the Invention

[0004] This invention provides a vehicle steer-by-wire system, method, apparatus, and computer program product to at least solve the technical problems of poor reliability of existing vehicle steer-by-wire systems and the inability to continue driving tasks when a single point of failure exists in the steer-by-wire system.

[0005] According to one aspect of the present invention, a vehicle steer-by-wire control system is provided, comprising:

[0006] A steering wheel system is used to acquire steering signals and generate a first steering control command based on the steering signals, and to determine whether the steering control path of the steering wheel system has failed, thereby obtaining a first determination result, wherein the first determination result is used to determine whether the steering control path based on the steering wheel system has failed; an intelligent driving system is used to plan the vehicle's driving trajectory based on collected road environment information to generate a second steering control command, and to determine whether the steering control path of the intelligent driving system has failed, thereby obtaining a second determination result, wherein the second determination result is used to determine whether the steering control path based on the intelligent driving system has failed; a steering actuator motor system is used to perform steering control on the target vehicle based on the steering control command and the fault determination result, wherein the steering control command includes at least one of the following: a first steering control command and a second steering control command, and the fault determination result includes at least one of the following: a first determination result and a second determination result.

[0007] According to another aspect of the present invention, a vehicle steer-by-wire control method is provided, which is applied to the above-described vehicle steer-by-wire system, comprising:

[0008] The system acquires the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether a fault has occurred in the steering control path; and performs steering control on the target vehicle based on the steering control command and the fault determination result.

[0009] Optionally, the above-mentioned vehicle steer-by-wire control method further includes: determining whether the steering control path of the steering wheel system contains multiple steering control paths, and obtaining a third determination result; responding to the determination based on the third determination result that the steering control path of the steering wheel system contains multiple steering control paths, and performing steering control on the target vehicle according to the steering control command and the fault determination result.

[0010] Optionally, responding to the determination that the steering control path of the steering wheel system includes multiple steering control paths based on the third determination result, and performing steering control on the target vehicle according to the steering control command and the fault determination result, includes: responding to the fulfillment of a first condition, executing a first steering control command to perform steering control on the target vehicle through the multiple steering control paths, wherein the first condition is that no fault has occurred in the multiple steering control paths.

[0011] Optionally, responding to the determination that the steering control path of the steering wheel system based on the third determination result includes multiple steering control paths, and performing steering control on the target vehicle according to the steering control command and the fault determination result includes: responding to the satisfaction of the second condition, controlling the target vehicle to activate the intelligent driving system, executing the first steering control command to perform steering control on the target vehicle through the target steering control path, wherein the second condition includes: a single fault occurs in the multiple steering control paths, no fault occurs in the steering control path based on the intelligent driving system, and the target steering control path is the steering control path among the multiple steering control paths that has not experienced a fault.

[0012] Optionally, the response to determine the steering control path of the steering wheel system based on the third determination result includes multiple steering control paths, and the vehicle steer-by-wire control method further includes: in response to satisfying the third condition, controlling the target vehicle to enter the limp mode, wherein the third condition includes: all multiple steering control paths have failed, and the steering control path based on the intelligent driving system has failed.

[0013] Optionally, in response to determining the steering control path of the steering wheel system as a multi-path steering control based on the third determination result, the above-mentioned vehicle steer-by-wire control method further includes: in response to satisfying a fourth condition, executing a safe operation strategy to safely control the target vehicle, wherein the fourth condition includes: all multi-path steering control failures.

[0014] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the steering control of the target vehicle according to the steering control command and the fault determination result includes: in response to satisfying the fifth condition, controlling the target vehicle to activate the intelligent driving system and executing the first steering control command to perform steering control of the target vehicle through the single-path steering control path, wherein the fifth condition includes: no single-path fault has occurred in the single-path steering control path and no fault has occurred in the steering control path based on the intelligent driving system.

[0015] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control method further includes: in response to satisfying the sixth condition, controlling the target vehicle to enter the limp mode, wherein the sixth condition includes: the single-path steering control path has not failed, or the steering control path based on the intelligent driving system has failed.

[0016] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control method further includes: in response to satisfying the seventh condition, executing a safe operation strategy to perform safe operation control on the target vehicle, wherein the seventh condition includes: a single-path failure occurs in the single-path steering control path.

[0017] According to another aspect of the present invention, a vehicle steer-by-wire control device is also provided, comprising:

[0018] The acquisition module is used to acquire the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether a fault has occurred in the steering control path; the first control module is used to perform steering control on the target vehicle according to the steering control command and the fault determination result.

[0019] Optionally, the above-mentioned vehicle steer-by-wire control device further includes: a determination module, used to determine whether the steering control path of the steering wheel system contains multiple steering control paths, and obtain a third determination result; responding to the determination based on the third determination result that the steering control path of the steering wheel system contains multiple steering control paths, and performing steering control on the target vehicle according to the steering control command and the fault determination result.

[0020] Optionally, the above-mentioned determination module is further configured to: respond to determining based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to satisfying the first condition, executing the first steering control command to perform steering control on the target vehicle through the multiple steering control paths, wherein the first condition is that no fault has occurred in the multiple steering control paths.

[0021] Optionally, the aforementioned determination module is further configured to: respond to the determination based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to the fulfillment of the second condition, controlling the target vehicle to activate the intelligent driving system, executing the first steering control command to perform steering control on the target vehicle through the target steering control path, wherein the second condition includes: a single fault occurs in the multiple steering control paths, no fault occurs in the steering control path based on the intelligent driving system, and the target steering control path is the steering control path among the multiple steering control paths that has not experienced a fault.

[0022] Optionally, the response to the steering control path of the steering wheel system determined based on the third determination result includes multiple steering control paths, and the vehicle steer-by-wire control device further includes: a second control module, used to control the target vehicle to enter limp mode in response to the satisfaction of a third condition, wherein the third condition includes: multiple steering control paths have failed, and the steering control path based on the intelligent driving system has failed.

[0023] Optionally, in response to determining the steering control path of the steering wheel system as a multi-path steering control based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a first execution module, used to execute a safe operation strategy to perform safe operation control on the target vehicle in response to satisfying a fourth condition, wherein the fourth condition includes: all multiple steering control paths have failed.

[0024] Optionally, the aforementioned determination module is further configured to: respond to determining that the steering control path of the steering wheel system is a single-path steering control path based on the third determination result, and to perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to satisfying the fifth condition, controlling the target vehicle to activate the intelligent driving system, and executing the first steering control command to perform steering control on the target vehicle through the single-path steering control path, wherein the fifth condition includes: no single-path fault has occurred in the single-path steering control path, and no fault has occurred in the steering control path based on the intelligent driving system.

[0025] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a third control module, used to control the target vehicle to enter limp mode in response to satisfying a sixth condition, wherein the sixth condition includes: the single-path steering control path has not failed, or the steering control path based on the intelligent driving system has failed.

[0026] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a second execution module, used to execute a safe operation strategy to perform safe operation control on the target vehicle in response to the satisfaction of the seventh condition, wherein the seventh condition includes: a single-path failure occurs in the single-path steering control path.

[0027] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the vehicle steer-by-wire control method described in any of the foregoing.

[0028] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform any of the aforementioned vehicle steer-by-wire control methods.

[0029] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the vehicle steer-by-wire control method described in any of the foregoing embodiments.

[0030] In this embodiment of the invention, the steering control command of the target vehicle and the fault determination result of the steering control path are first obtained. The fault determination result is used to determine whether a fault has occurred in the steering control path. Then, the steering control of the target vehicle is performed according to the steering control command and the fault determination result. By setting up multi-line steerable paths based on the steering wheel system and the intelligent driving system, and determining whether there is a fault in a single or multiple steerable paths according to the fault determination result, the flexibility of the steerable steerable system is improved. This achieves the technical effect of switching to another normal steerable steerable steerable path to continue the driving task when a single steerable steerable steerable path fails, and controlling the vehicle to enter limp mode to ensure vehicle safety when multiple steerable steerable steerable paths fail. This solves the technical problems of poor reliability of the steerable steerable system provided by the prior art and the inability to continue the driving task when there is a single point of failure in the steerable steerable system. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0032] Figure 1 This is a hardware structure block diagram of an optional vehicle terminal for a vehicle steer-by-wire control method according to an embodiment of the present invention.

[0033] Figure 2 This is a schematic diagram of a vehicle steer-by-wire control system according to an embodiment of the present invention;

[0034] Figure 3 This is a flowchart of a vehicle steer-by-wire control method according to an embodiment of the present invention;

[0035] Figure 4 This is a flowchart of a vehicle steer-by-wire control process according to an embodiment of the present invention;

[0036] Figure 5 This is a structural block diagram of a vehicle steer-by-wire control device according to an embodiment of the present invention. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] According to an embodiment of the present invention, a method embodiment of a vehicle steer-by-wire control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] Figure 1 This is a hardware structure block diagram of an optional vehicle terminal for a vehicle steer-by-wire control method according to an embodiment of the present invention, such as... Figure 1As shown, a vehicle terminal (or a mobile device that communicates with a vehicle) may include one or more processors 102 (processor 102 may include, but is not limited to, a microprocessor (MCU) or a field-programmable gate array (FPGA) processing device), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display device 110, an input / output device 108 (i.e., an I / O device), a Universal Serial Bus (USB) port (which may be included as one of the ports of a 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 will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the vehicle terminal described above. For example, the vehicle terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0041] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits may be embodied, in whole or in part, as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other component within the vehicle terminal (or mobile device).

[0042] 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 vehicle steer-by-wire control method 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 aforementioned vehicle steer-by-wire control method. 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 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.

[0043] 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 vehicle terminal's communication provider. 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.

[0044] Under the above operating environment, the embodiments of the present invention provide as follows: Figure 2 The vehicle steer-by-wire control system shown is Figure 2 This is a schematic diagram of a vehicle steer-by-wire control system according to an embodiment of the present invention, as shown below. Figure 2 As shown, the vehicle's steer-by-wire control system includes:

[0045] Steering wheel system 201 is used to acquire steering signals and generate a first steering control command based on the steering signals, and to determine whether the steering control path of the steering wheel system has failed, thereby obtaining a first determination result, wherein the first determination result is used to determine whether the steering control path based on the steering wheel system has failed; intelligent driving system 202 is used to plan the vehicle driving trajectory based on the collected road environment information to generate a second steering control command, and to determine whether the steering control path of the intelligent driving system has failed, thereby obtaining a second determination result, wherein the second determination result is used to determine whether the steering control path based on the intelligent driving system has failed; steering motor system 203 is used to perform steering control on the target vehicle based on the steering control command and the fault determination result, wherein the steering control command includes at least one of the following: a first steering control command and a second steering control command, and the fault determination result includes at least one of the following: a first determination result and a second determination result.

[0046] The aforementioned steering signal can be used to characterize the steering intention of the vehicle driver. The steering wheel system 201 can acquire the steering intention of the target vehicle driver and generate a first steering control command based on the steering intention. The first steering control command can include the steering angle desired by the vehicle driver. The steering wheel system 201 can determine whether it has malfunctioned in order to obtain a first determination result.

[0047] The steering motor system 203 can receive the first steering control command sent by the steering wheel system 201 and the second steering control command sent by the intelligent driving system 202 at the same time. The steering motor system 203 can determine whether the first steering control command and the second steering control command are correct.

[0048] It should be noted that the steering motor system 203 can arbitrate the selection of the first steering control command and the second steering control command. Specifically, when the steering motor system 203 determines that the first steering control command is incorrect, it can respond to the second steering control command sent by the intelligent driving system 202.

[0049] When the steering motor system 203 determines that a certain steering control command is correct and there is no fault in a certain steering control path, the steering motor 204 (including the road feel feedback motor 2041, the steering drive motor 2042, and the gear and rack transmission mechanism 2043) can be driven to drive the target vehicle to steer.

[0050] In addition, both the steering wheel system 201 and the intelligent driving system 202 can autonomously detect whether the steering control commands they generate are correct and send the detection results to the steering angle actuator motor system 203.

[0051] In the technical solution provided by this invention, such as Figure 2 As shown, the steering control path based on the steering wheel system 201 can have two redundant paths (a and b), while the steering control path based on the intelligent driving system 202 is a single steering control path.

[0052] Based on the above-described vehicle steer-by-wire control system, embodiments of the present invention provide, as follows: Figure 3 The vehicle steer-by-wire control method shown is as follows: Figure 3 As shown, the method includes the following implementation steps:

[0053] Step S301: Obtain the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether a fault has occurred in the steering control path.

[0054] Step S302: Based on the steering control command and the fault determination result, perform steering control on the target vehicle.

[0055] like Figure 2 As shown, the steering control command may include at least one of a first steering control command and a second steering control command. The first steering control command may be a vehicle steering control command sent by the steering wheel system 201 to the steering angle actuator 203, and the second steering control command may be a vehicle steering control command sent by the intelligent driving system 202 to the steering angle actuator 203.

[0056] The above-mentioned fault determination result may include at least one of the first determination result and the second determination result. The first determination result can be used to determine whether a single or multiple steering control path based on the steering wheel system 201 has failed, and the second determination result can be used to determine whether a steering control path based on the intelligent driving system 202 has failed.

[0057] In addition, the first determination result can also be used to determine whether the first steering control command detected autonomously by the steering wheel system 201 is correct, and the second determination result can also be used to determine whether the second steering control command detected autonomously by the intelligent driving system 202 is correct.

[0058] In this embodiment of the invention, the steering control command of the target vehicle and the fault determination result of the steering control path are first obtained. The fault determination result is used to determine whether a fault has occurred in the steering control path. Then, the steering control of the target vehicle is performed according to the steering control command and the fault determination result. By setting up multi-line steerable paths based on the steering wheel system and the intelligent driving system, and determining whether there is a fault in a single or multiple steerable paths according to the fault determination result, the flexibility of the steerable steerable system is improved. This achieves the technical effect of switching to another normal steerable steerable steerable path to continue the driving task when a single steerable steerable steerable path fails, and controlling the vehicle to enter limp mode to ensure vehicle safety when multiple steerable steerable steerable paths fail. This solves the technical problems of poor reliability of the steerable steerable system provided by the prior art and the inability to continue the driving task when there is a single point of failure in the steerable steerable system.

[0059] The methods described in the embodiments of the present invention will be further described below.

[0060] In an optional embodiment, the above-described vehicle steer-by-wire control method further includes:

[0061] Step S303: Determine whether the steering control path of the steering wheel system contains multiple steering control paths, and obtain the third determination result;

[0062] Step S304: Based on the third determination result, the steering control path of the steering wheel system is determined to include multiple steering control paths. According to the steering control command and the fault determination result, the steering control of the target vehicle is performed.

[0063] The following combination Figure 4 The above methods will be further explained.

[0064] like Figure 4 As shown, when the manual driving steer-by-wire system of the target vehicle is started, it is first determined whether there are two steering control paths in the steering wheel system 201 to obtain a third determination result. Then, based on the third determination result, the steering control command and the fault determination result, the steering control of the target vehicle is performed.

[0065] In an optional embodiment, in step S302, responding to the determination based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and performing steering control on the target vehicle according to the steering control command and the fault determination result, includes:

[0066] Step S321: In response to the fulfillment of the first condition, execute the first steering control command to perform steering control on the target vehicle through multiple steering control paths, wherein the first condition is that none of the multiple steering control paths have failed.

[0067] like Figure 4 As shown, when the third determination result determines that there are two steering control paths in the steering wheel system, and determines that both steering control paths are fault-free, and the steering wheel system or the steering angle actuator system determines that the first steering control command is correct, it indicates that the manual driving steer-by-wire system is operating normally. That is, the steer-by-wire system executes the first steering control command and controls the target vehicle to steer through the multi-steering control paths based on the steering wheel system.

[0068] In an optional embodiment, in step S302, responding to the determination based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and performing steering control on the target vehicle according to the steering control command and the fault determination result, includes:

[0069] Step S322: In response to the second condition being met, control the target vehicle to activate the intelligent driving system and execute the first steering control command to control the target vehicle through the target steering control path. The second condition includes: a single-path failure occurs in the multi-path steering control system, and no failure occurs in the steering control path based on the intelligent driving system. The target steering control path is the steering control path among the multi-path steering control paths that has not experienced a failure.

[0070] like Figure 4 As shown, when the third determination result determines that there are two steering control paths in the steering wheel system, and determines that one of the two steering control paths is faulty, the intelligent driving system is activated, and it is determined whether the steering control path based on the intelligent driving system is faulty. Further, when it is determined that the steering control path based on the intelligent driving system is not faulty and is within the controllable range of the intelligent driving system, the steer-by-wire system executes the first steering control command and controls the target vehicle to steer through the fault-free single steering control path based on the steering wheel system.

[0071] In an optional embodiment, the response determines that the steering control path of the steering wheel system includes multiple steering control paths based on a third determination result, and the above-described vehicle steer-by-wire control method further includes:

[0072] Step S323: In response to the fulfillment of the third condition, control the target vehicle to enter limp mode, wherein the third condition includes: multiple steering control paths have failed, and the steering control path based on the intelligent driving system has failed.

[0073] like Figure 4 As shown, when the third determination result determines that there are two steering control paths in the steering wheel system, and determines that one of the two steering control paths has a fault, the intelligent driving system is activated, and it is determined whether the steering control path based on the intelligent driving system has a fault. Furthermore, when it is determined that the steering control path based on the intelligent driving system has a fault, or when it is determined that the steering control path based on the intelligent driving system has not a fault but is not within the controllable range of the intelligent driving system, the target vehicle is controlled to enter a low-speed limp mode, or the driving safety of the target vehicle is ensured by limiting speed (or prohibiting operation).

[0074] In an optional embodiment, the response determines that the steering control path of the steering wheel system is a multi-path steering control path based on a third determination result. The above-described vehicle steer-by-wire control method further includes:

[0075] Step S324: In response to the fulfillment of the fourth condition, a safe operation strategy is executed to perform safe operation control on the target vehicle, wherein the fourth condition includes: all multiple steering control paths have failed.

[0076] like Figure 4 As shown, when the third determination result determines that there are two steering control paths in the steering wheel system, and determines that both steering control paths are faulty, the target vehicle is prohibited from starting the steer-by-wire system, or when the intelligent driving system is not faulty, the intelligent driving system takes over the control of the target vehicle to enter limp mode, or ensures the driving safety of the target vehicle by limiting speed (or prohibiting operation).

[0077] In an optional embodiment, in step S302, responding to the determination that the steering control path of the steering wheel system is a single-path steering control path based on the third determination result, and performing steering control on the target vehicle according to the steering control command and the fault determination result, includes:

[0078] Step S325: In response to the satisfaction of the fifth condition, control the target vehicle to activate the intelligent driving system and execute the first steering control command to control the steering of the target vehicle through a single-path steering control path. The fifth condition includes: no single-path fault occurred in the single-path steering control path and no fault occurred in the steering control path based on the intelligent driving system.

[0079] like Figure 4As shown, when the third determination result determines that the steering wheel system has a single-path steering control path and that the single-path steering control path is not faulty, the intelligent driving system is activated, and it is determined whether the steering control path based on the intelligent driving system is faulty. Further, when it is determined that the steering control path based on the intelligent driving system is not faulty and is within the controllable range of the intelligent driving system, the steer-by-wire system executes the first steering control command and controls the target vehicle to steer through the fault-free single-path steering control path based on the steering wheel system.

[0080] In an optional embodiment, the response determines that the steering control path of the steering wheel system is a single-path steering control path based on a third determination result. The above-described vehicle steer-by-wire control method further includes:

[0081] Step S326: In response to the satisfaction of the sixth condition, control the target vehicle to enter limp mode, wherein the sixth condition includes: no fault occurred in the single-path steering control path, or a fault occurred in the steering control path based on the intelligent driving system.

[0082] like Figure 4 As shown, when the third determination result determines that the steering wheel system has a single steering control path and that the single steering control path has not failed, the intelligent driving system is activated, and it is determined whether the steering control path based on the intelligent driving system has failed. Furthermore, when it is determined that the steering control path based on the intelligent driving system has not failed and is not within the controllable range of the intelligent driving system, the target vehicle is controlled to enter a low-speed limp mode, or the driving safety of the target vehicle is ensured by limiting speed (or prohibiting operation).

[0083] In an optional embodiment, the response determines that the steering control path of the steering wheel system is a single-path steering control path based on a third determination result. The above-described vehicle steer-by-wire control method further includes:

[0084] Step S327: In response to the satisfaction of the seventh condition, a safe operation strategy is executed to control the safe operation of the target vehicle, wherein the seventh condition includes: a single-path failure occurs in the single-path steering control path.

[0085] like Figure 4 As shown, when the third determination result determines that the steering wheel system has a single steering control path and that the single steering control path has malfunctioned, the target vehicle is prohibited from starting the steer-by-wire system. Alternatively, if the intelligent driving system does not malfunction, the intelligent driving system will take over control of the target vehicle and put it into limp mode. Or, the driving safety of the target vehicle will be ensured by limiting speed (or prohibiting operation).

[0086] In this embodiment of the invention, the steering control command of the target vehicle and the fault determination result of the steering control path are first obtained. The fault determination result is used to determine whether a fault has occurred in the steering control path. Then, the steering control of the target vehicle is performed according to the steering control command and the fault determination result. By setting up multi-line steerable paths based on the steering wheel system and the intelligent driving system, and determining whether there is a fault in a single or multiple steerable paths according to the fault determination result, the flexibility of the steerable steerable system is improved. This achieves the technical effect of switching to another normal steerable steerable steerable path to continue the driving task when a single steerable steerable steerable path fails, and controlling the vehicle to enter limp mode to ensure vehicle safety when multiple steerable steerable steerable paths fail. This solves the technical problems of poor reliability of the steerable steerable system provided by the prior art and the inability to continue the driving task when there is a single point of failure in the steerable steerable system.

[0087] In this embodiment, a vehicle steer-by-wire control device is also provided. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, a "module" is a combination of software and / or hardware that can perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0088] Figure 5 This is a structural block diagram of a vehicle steer-by-wire control device according to an embodiment of the present invention, such as... Figure 5 As shown, the device includes:

[0089] The acquisition module 501 is used to acquire the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether the steering control path has a fault; the first control module 502 is used to perform steering control on the target vehicle according to the steering control command and the fault determination result.

[0090] Optionally, the above-mentioned vehicle steer-by-wire control device further includes: a determination module 503, used to determine whether the steering control path of the steering wheel system contains multiple steering control paths, and obtain a third determination result; in response to determining that the steering control path of the steering wheel system contains multiple steering control paths based on the third determination result, and to perform steering control on the target vehicle according to the steering control command and the fault determination result.

[0091] Optionally, the determination module 503 is further configured to: respond to determining based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to satisfying a first condition, executing a first steering control command to perform steering control on the target vehicle through the multiple steering control paths, wherein the first condition is that no fault has occurred in the multiple steering control paths.

[0092] Optionally, the determination module 503 is further configured to: respond to the determination based on the third determination result that the steering control path of the steering wheel system includes multiple steering control paths, and perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to the fulfillment of the second condition, controlling the target vehicle to activate the intelligent driving system, and executing the first steering control command to perform steering control on the target vehicle through the target steering control path, wherein the second condition includes: a single fault occurs in the multiple steering control paths, no fault occurs in the steering control path based on the intelligent driving system, and the target steering control path is the steering control path among the multiple steering control paths that has not experienced a fault.

[0093] Optionally, in response to the determination of the steering control path of the steering wheel system based on the third determination result, which includes multiple steering control paths, the vehicle steer-by-wire control device further includes: a second control module 504, used to control the target vehicle to enter limp mode in response to the satisfaction of a third condition, wherein the third condition includes: multiple steering control paths have failed, and the steering control path based on the intelligent driving system has failed.

[0094] Optionally, in response to determining the steering control path of the steering wheel system as a multi-path steering control based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a first execution module 505, used to execute a safe operation strategy to perform safe operation control on the target vehicle in response to satisfying a fourth condition, wherein the fourth condition includes: all multiple steering control paths have failed.

[0095] Optionally, the determination module 503 is further configured to: respond to determining that the steering control path of the steering wheel system is a single-path steering control path based on the third determination result, and to perform steering control on the target vehicle according to the steering control command and the fault determination result, including: responding to satisfying the fifth condition, controlling the target vehicle to activate the intelligent driving system, and executing the first steering control command to perform steering control on the target vehicle through the single-path steering control path, wherein the fifth condition includes: no single-path fault has occurred in the single-path steering control path, and no fault has occurred in the steering control path based on the intelligent driving system.

[0096] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a third control module 506, used to control the target vehicle to enter limp mode in response to satisfying a sixth condition, wherein the sixth condition includes: the single-path steering control path has not failed, or the steering control path based on the intelligent driving system has failed.

[0097] Optionally, in response to determining the steering control path of the steering wheel system as a single-path steering control path based on the third determination result, the above-mentioned vehicle steer-by-wire control device further includes: a second execution module 507, used to execute a safe operation strategy to perform safe operation control on the target vehicle in response to the satisfaction of the seventh condition, wherein the seventh condition includes: a single-path failure occurs in the single-path steering control path.

[0098] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0099] According to another aspect of the present invention, a computer program product is also provided, including a computer program that, when executed by a processor, implements the vehicle steer-by-wire control method described in any of the foregoing.

[0100] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform any of the aforementioned vehicle steer-by-wire control methods.

[0101] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0102] Step S1: Obtain the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether a fault has occurred in the steering control path.

[0103] Step S2: Based on the steering control command and the fault determination result, perform steering control on the target vehicle.

[0104] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0105] According to another aspect of the present invention, a vehicle is also provided, including an on-board memory and an on-board processor, wherein the on-board memory stores a computer program and the on-board processor is configured to run the computer program to execute the vehicle steer-by-wire control method described in any of the foregoing embodiments.

[0106] Optionally, in this embodiment, the on-board processor can be configured to perform the following steps via a computer program:

[0107] Step S1: Obtain the steering control command of the target vehicle and the fault determination result of the steering control path, wherein the fault determination result is used to determine whether a fault has occurred in the steering control path.

[0108] Step S2: Based on the steering control command and the fault determination result, perform steering control on the target vehicle.

[0109] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and their optional implementations, which will not be repeated here.

[0110] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0111] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0112] In the several embodiments provided by this invention, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection can be through some interfaces; the indirect coupling or communication connection of units or modules can be electrical or other forms.

[0113] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0116] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle steer-by-wire control method applied to a vehicle steer-by-wire system, characterized by, The vehicle steer-by-wire system comprises a steering wheel system configured to obtain a steering signal and generate a first steering control instruction according to the steering signal, and determine whether a steering control path of the steering wheel system fails to obtain a first determination result, wherein the first determination result is used to determine whether the steering control path based on the steering wheel system fails; an intelligent driving system configured to plan a vehicle driving trajectory according to collected road environment information to generate a second steering control instruction, and determine whether a steering control path of the intelligent driving system fails to obtain a second determination result, wherein the second determination result is used to determine whether the steering control path based on the intelligent driving system fails; and a steering angle execution motor system configured to control steering of a target vehicle according to a steering control instruction and a failure determination result, wherein the steering control instruction comprises at least one of the first steering control instruction and the second steering control instruction, and the failure determination result comprises at least one of the first determination result and the second determination result; and the vehicle steer-by-wire control method comprises: obtaining a steering control instruction of a target vehicle and a failure determination result of a steering control path, wherein the failure determination result is used to determine whether the steering control path fails; controlling steering of the target vehicle according to the steering control instruction and the failure determination result; The vehicle steer-by-wire control method further comprises: determining whether the steering control path of the steering wheel system comprises a multi-path steering control path to obtain a third determination result; and in response to determining that the steering control path of the steering wheel system comprises a multi-path steering control path based on the third determination result, controlling steering of the target vehicle according to the steering control instruction and the failure determination result. In response to determining that the steering control path of the steering wheel system comprises a multi-path steering control path based on the third determination result, controlling steering of the target vehicle according to the steering control instruction and the failure determination result comprises: in response to satisfying a first condition, executing the first steering control instruction to control steering of the target vehicle through the multi-path steering control path, wherein the first condition is that the multi-path steering control path does not fail; and in response to satisfying a second condition, controlling the target vehicle to start the intelligent driving system and executing the first steering control instruction to control steering of the target vehicle through a target steering control path, wherein the second condition comprises: the multi-path steering control path fails in a single path, the steering control path based on the intelligent driving system does not fail, and the target steering control path is a steering control path of the multi-path steering control path that does not fail. The steering control path of the steering wheel system is determined to be a multi-path steering control path based on the third determination result, and the vehicle steer-by-wire control method further includes:

2. The vehicle steer-by-wire control method according to claim 1, characterized by, The steering control path of the steering wheel system is determined to be a multi-path steering control path based on the third determination result, and the vehicle steer-by-wire control method further includes: A safe operation strategy is executed to perform safe operation control on the target vehicle in response to a fourth condition being met, wherein the fourth condition includes that the multi-path steering control path has all failed.

3. The vehicle steer-by-wire control method according to claim 1, characterized by, The steering control path of the steering wheel system is determined to be a single-path steering control path based on the third determination result, and performing steering control on the target vehicle according to the steering control instruction and the fault determination result includes: The target vehicle is controlled to start the intelligent driving system and execute the first steering control instruction to perform steering control on the target vehicle through the single-path steering control path in response to a fifth condition being met, wherein the fifth condition includes that the single-path steering control path has not failed in a single-path manner and the steering control path based on the intelligent driving system has not failed.

4. The vehicle steer-by-wire control method according to claim 1, characterized by, The steering control path of the steering wheel system is determined to be a single-path steering control path based on the third determination result, and the vehicle steer-by-wire control method further includes: The target vehicle is controlled to enter a limp-home mode in response to a sixth condition being met, wherein the sixth condition includes that the single-path steering control path has not failed and the steering control path based on the intelligent driving system has failed.

5. The vehicle steer-by-wire control method according to claim 1, characterized by, The steering control path of the steering wheel system is determined to be a single-path steering control path based on the third determination result, and the vehicle steer-by-wire control method further includes: A safe operation strategy is executed to perform safe operation control on the target vehicle in response to a seventh condition being met, wherein the seventh condition includes that the single-path steering control path has failed in a single-path manner.

6. A vehicle steer-by-wire control device for implementing the vehicle steer-by-wire control method of any one of claims 1 to 5, the vehicle steer-by-wire control device comprising: an acquisition module configured to acquire a steering control instruction of a target vehicle and a fault determination result of a steering control path, wherein the fault determination result is used to determine whether the steering control path has failed; a control module configured to perform steering control on the target vehicle according to the steering control instruction and the fault determination result.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by a processor to implement the vehicle steer-by-wire control method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored executable program, wherein the executable program controls the device where the computer readable storage medium is located to perform the vehicle steer-by-wire control method of any one of claims 1 to 5 when the executable program is executed.

9. A vehicle characterized by comprising: The vehicle includes an in-vehicle memory in which a computer program is stored, and an in-vehicle processor configured to execute the computer program to perform the vehicle steer-by-wire control method of any one of claims 1 to 5.

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