Control method, control system and vehicle for a steer-by-wire steering system

Abstract

The application discloses a control method and system of a steer-by-wire system and a vehicle, and relates to the technical field of vehicle steering. The control method comprises continuously monitoring the start-stop state of the vehicle, wherein the start-stop state comprises a starting state and an engine-off state. When the vehicle is in the engine-off state, the change of vehicle condition information is obtained, and it is determined whether the change of vehicle condition information meets a preset condition. When the change of vehicle condition information meets the preset condition, the limiting function is activated. When the limiting function is in the activated state and the steering wheel is detected to rotate, the motor is controlled to apply a reverse torque to the column, which is opposite to the rotating direction of the steering wheel, so as to stop the steering wheel. The application can limit the rotation of the steering wheel after the vehicle is turned off, reduces the possibility of collision between the steering wheel and the limiting structure, and facilitates the driver to quickly identify the initial position of the steering wheel when restarting the vehicle.

Description

TECHNICAL FIELD

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

[0002] The steer-by-wire system realizes the motion decoupling between the steering wheel and the steering wheel by canceling the intermediate shaft between the steering wheel and the steering gear, effectively filters the road interference through mechanical decoupling, so that the driver can enjoy more accurate and comfortable steering feel and road feel. However, since the mechanical connection between the steering wheel and the steering gear is canceled, the steering wheel will be in a free state after the vehicle is turned off. When the steering wheel is subjected to external force, the steering wheel will rotate uncontrollably, which is easy to cause the steering wheel to collide with the limiting structure for limiting the rotation number of the steering wheel, thereby increasing the risk of component damage. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a control method of a steer-by-wire system, which can limit the rotation of the steering wheel after the vehicle is turned off, thereby reducing the possibility of collision between the steering wheel and the limiting structure, and facilitating the driver to quickly identify the initial position of the steering wheel when restarting the vehicle.

[0004] The present application also provides a control system and a vehicle for executing the above control method of the steer-by-wire system.

[0005] According to the control method of the steer-by-wire system of the first aspect of the present application, the control method is applied to a vehicle having the steer-by-wire system, the steer-by-wire system has a limiting function capable of limiting the steering wheel, the vehicle includes a steering wheel, a column and a motor, the steering wheel is connected with the column, and the motor is configured to be capable of applying torque to the column. The control method comprises:

[0006] Continuously monitoring the start-stop state of the vehicle, the start-stop state including a start state and an off state;

[0007] When the vehicle is in the off state, obtaining the change of vehicle condition information of the vehicle, and determining whether the change of vehicle condition information meets a preset condition;

[0008] When the change of vehicle condition information meets the preset condition, activating the limiting function;

[0009] When the limiting function is in the activated state and the rotation of the steering wheel is detected, controlling the motor to apply a reverse torque to the column, the reverse torque being opposite to the rotation direction of the steering wheel, so as to stop the steering wheel.

[0010] The control method of the steer-by-wire steering system has at least the following beneficial effects:

[0011] The embodiment of the application continuously monitors the start-stop state of the vehicle, the start-stop state including a starting state and an engine-off state; when the vehicle is in the engine-off state, the change of vehicle condition information of the vehicle is obtained, and it is determined whether the change of vehicle condition information meets a preset condition; when the change of vehicle condition information meets the preset condition, the limiting function is activated; when the limiting function is in the activated state and the steering wheel is detected to rotate, the motor is controlled to apply a reverse torque to the column, the reverse torque being opposite to the rotating direction of the steering wheel, so as to stop the steering wheel. By limiting the rotation of the steering wheel after the vehicle is turned off, the possibility of collision between the steering wheel and the limiting structure is reduced, thereby reducing the risk of component damage and improving the reliability and safety of the steer-by-wire steering system. In addition, reducing the rotation of the steering wheel after the vehicle is turned off can enable the driver to quickly identify the initial position of the steering wheel when restarting the vehicle, thereby reducing the time for the driver to adjust the steering wheel and providing a better driving experience for the driver.

[0012] According to some embodiments of the application, the change of vehicle condition information includes a change of a locking state of the vehicle and a change of an opening and closing state of a door of the vehicle, and the determination of whether the change of vehicle condition information meets the preset condition includes:

[0013] When any one of the following conditions is met, it is determined that the preset condition is met:

[0014] The change of the locking state is maintaining an unlocked state or switching from a locked state to the unlocked state;

[0015] The change of the opening and closing state is maintaining a closed state or switching from the closed state to an open state.

[0016] According to some embodiments of the application, the change of vehicle condition information includes a change of a locking state of the vehicle and a change of an opening and closing state of a door of the vehicle, and the preset condition includes that the change of the locking state is switching from the locked state to the unlocked state and the change of the opening and closing state is switching from the closed state to the open state, and the obtaining of the change of vehicle condition information and the determination of whether the change of vehicle condition information meets the preset condition include:

[0017] detecting the change of the locking state;

[0018] When the change of the locking state is switching from the locked state to the unlocked state, the change of the opening and closing state is detected in response to an unlocking signal, the unlocking signal being a signal generated when the vehicle is unlocked;

[0019] When the switch state changes from the closed state to the open state, it is determined that the vehicle condition information change condition meets the preset condition in response to a door opening signal, the door opening signal being a signal generated when the vehicle door is opened.

[0020] According to some embodiments of the present application, the vehicle condition information change condition further includes a start-stop state change of the vehicle, and the control method further includes:

[0021] continuously monitoring the start-stop state change;

[0022] When the start-stop state change changes from the start state to the stop state, the control method further includes:

[0023] According to some embodiments of the present application, the steer-by-wire system includes a steering actuator configured to detect first steering angle information of a gear connected to a wheel of the vehicle and a road feel simulator configured to detect second steering angle information of the steering wheel, and the control method further includes:

[0024] When the start-stop state change changes from the stop state to the start state, the control method further includes:

[0025] According to the first steering angle information and the second steering angle information, the control method further includes:

[0026] According to some embodiments of the present application, the control method further includes:

[0027] comparing the first steering angle information and the second steering angle information and determining whether the steering wheel and the wheel maintain a synchronous positional relationship;

[0028] When the wheel and the steering wheel do not maintain a synchronous positional relationship, the control method further includes:

[0029] According to some embodiments of the present application, the vehicle condition information change condition includes a start-stop state change of the vehicle, a lock state change of the vehicle, and an open-close state change of the vehicle door, the preset condition includes that the start-stop state change changes from the start state to the stop state, the lock state change maintains an unlocked state or changes from a locked state to the unlocked state, and the open-close state change maintains a closed state, and the control method further includes:

[0030] detecting the switch state change;

[0031] detecting the switch state change in response to an engine-off signal when the switch state change is switching from the on state to the off state, the engine-off signal being a signal generated when the vehicle is turned off;

[0032] detecting the lock state change when the switch state change is maintaining the off state;

[0033] determining that the vehicle condition information change satisfies the preset condition when the lock state change is maintaining the unlocked state or switching from the locked state to the unlocked state.

[0034] According to some embodiments of the present application, the control method further comprises:

[0035] controlling the limiter function to be dormant when the switch state change is switching from the off state to the on state and the lock state change is switching from the unlocked state to the locked state.

[0036] According to some embodiments of the present application, the control of the motor to apply the reverse torque to the column in the opposite direction of the steering wheel rotation direction comprises:

[0037] obtaining rotation speed data and rotation amplitude data of the steering wheel;

[0038] determining a rotation level of the steering wheel according to the rotation speed data and the rotation amplitude data;

[0039] selecting reference torque data corresponding to the rotation level as target torque data from a preset reference torque set according to the rotation level, the preset reference torque set comprising a plurality of reference torque data corresponding to different rotation levels;

[0040] controlling the motor to apply the reverse torque to the column according to the target torque data.

[0041] The control system of the steer-by-wire system according to the second aspect of the embodiments of the present application is applied to a vehicle having the steer-by-wire system, the steer-by-wire system having a limiter function capable of limiting the steering wheel, the vehicle comprising a steering wheel, a column and a motor, the steering wheel being connected to the column, the motor being configured to be capable of applying torque to the column, and the control system comprising:

[0042] a monitoring module configured to continuously monitor the start-stop state of the vehicle, the start-stop state comprising an on state and an off state;

[0043] A judging module is configured to acquire a change of vehicle condition information of the vehicle when the vehicle is in the off state, and judge whether the change of vehicle condition information meets a preset condition;

[0044] An activating module is configured to activate the limiting function when the change of vehicle condition information meets the preset condition;

[0045] An executing module is configured to control the motor to apply a reverse torque opposite to a rotating direction of the steering wheel to the column to stop the steering wheel when the limiting function is in an activated state and the steering wheel is detected to rotate.

[0046] The control system of the steer-by-wire system has at least the following beneficial effects:

[0047] The embodiment of the present application continuously monitors the start-stop state of the vehicle through the monitoring module, the start-stop state including a start state and an off state; the judging module acquires a change of vehicle condition information of the vehicle when the vehicle is in the off state, and judges whether the change of vehicle condition information meets a preset condition; the activating module activates the limiting function when the change of vehicle condition information meets the preset condition; and the executing module controls the motor to apply a reverse torque opposite to a rotating direction of the steering wheel to the column to stop the steering wheel when the limiting function is in an activated state and the steering wheel is detected to rotate. By limiting the rotation of the steering wheel after the vehicle is turned off, the possibility of collision between the steering wheel and the limiting structure is reduced, the risk of component damage is reduced, the reliability and safety of the steer-by-wire system are improved; in addition, reducing the rotation of the steering wheel after the vehicle is turned off can help the driver quickly identify the initial position of the steering wheel when restarting the vehicle, reducing the time for the driver to adjust the steering wheel and providing a better driving experience for the driver.

[0048] According to some embodiments of the present application, the change of vehicle condition information includes a change of a locking state of the vehicle and a change of an opening-closing state of a door of the vehicle, the preset condition includes that the change of the locking state is from a locked state to an unlocked state and the change of the opening-closing state is from a closed state to an open state, and the control system further includes:

[0049] A first detecting module is configured to detect the change of the locking state;

[0050] A second detecting module is configured to detect the change of the opening-closing state in response to an unlocking signal when the change of the locking state is from the locked state to the unlocked state, the unlocking signal being a signal generated when the vehicle is unlocked;

[0051] The first determining module is configured to determine that the vehicle condition information change condition meets the preset condition in response to a door opening signal when the switch state changes from the closed state to the open state, the door opening signal being a signal generated when the vehicle door is opened.

[0052] According to some embodiments of the present application, the vehicle condition information change condition includes a start-stop state change of the vehicle, a lock state change of the vehicle, and an open-close state change of a vehicle door of the vehicle, and the preset condition includes that the start-stop state change is from the start state to the stop state, the lock state change is maintaining an unlocked state or switching from a locked state to the unlocked state, and the open-close state change is maintaining a closed state, and the control system further includes:

[0053] The third detecting module is configured to detect the start-stop state change.

[0054] The fourth detecting module is configured to detect the open-close state change in response to a stop signal when the start-stop state change is from the start state to the stop state, the stop signal being a signal generated when the vehicle is stopped.

[0055] The fifth detecting module is configured to detect the lock state change when the open-close state change is maintaining the closed state.

[0056] The second determining module is configured to determine that the vehicle condition information change condition meets the preset condition when the lock state change is maintaining the unlocked state or switching from the locked state to the unlocked state.

[0057] The vehicle according to the third aspect of the embodiments of the present application includes a steer-by-wire system, and the steer-by-wire system is controlled by using the control method of the steer-by-wire system according to the first aspect of the embodiments.

[0058] The vehicle according to the embodiments of the present application has at least the following beneficial effects:

[0059] The steer-by-wire system in the vehicle according to the embodiments of the present application is controlled by using the control method of the steer-by-wire system according to the first aspect of the embodiments, which reduces the possibility of collision between the steering wheel and the limiting structure, thereby reducing the risk of component damage and improving the reliability and safety of the vehicle. In addition, the initial position of the steering wheel is quickly identified by the driver when restarting the vehicle, which reduces the time for the driver to adjust the steering wheel and provides a better driving experience for the driver.

[0060] The electronic device according to an embodiment of the fourth aspect of the present application includes at least one processor and at least one memory configured to store at least one program, and when the at least one program is executed by the at least one processor, the at least one processor implements the control method of the steer-by-wire system according to the first aspect.

[0061] The computer readable storage medium according to an embodiment of the fifth aspect of the present application stores processor executable instructions, and when the processor executable instructions are executed by a processor, the processor implements the control method of the steer-by-wire system according to the first aspect.

[0062] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0063] The present application will be further described below in conjunction with the accompanying drawings and embodiments, wherein:

[0064] Figure 1 The step flow chart of the control method of the steer-by-wire system according to an embodiment of the present application;

[0065] Figure 2 The step flow chart of step S102 according to an embodiment of the present application;

[0066] Figure 3 The step flow chart of step S102 according to another embodiment of the present application;

[0067] Figure 4 The step flow chart of step S104 according to an embodiment of the present application;

[0068] Figure 5 The step flow chart of the control method of the steer-by-wire system according to another embodiment of the present application;

[0069] Figure 6 The step flow chart of the control method of the steer-by-wire system according to another embodiment of the present application;

[0070] Figure 7 The step flow chart of step S106 according to an embodiment of the present application;

[0071] Figure 8 The structural schematic diagram of the control system of the steer-by-wire system according to an embodiment of the present application. DETAILED DESCRIPTION

[0072] Embodiments of the present application are described below in the detailed description and illustrated in the accompanying drawings by using examples, which are exemplary only and are not to be construed as limiting the present application. It should be noted that for purposes of the present description, like reference numbers in the figures indicate like or similar elements or components.

[0073] In the description of the present application, it should be understood that the orientation description, such as the upper, lower, and the like, refers to the orientation or positional relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0074] In the description of the present application, the plural refers to two or more. If there is a description of the first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the sequence of technical features indicated.

[0075] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0076] Since the mechanical connection between the steering wheel and the steering gear is cancelled, the steering wheel will be in a free state after the vehicle is turned off. When the steering wheel is subjected to external force, for example, the vehicle is in collision, the vehicle body swings under the action of strong wind, the steering wheel will rotate uncontrollably. Among them, some drivers have the habit of holding the steering wheel for help when getting on or off the vehicle. At this time, if the driver habitually holds the steering wheel for help, the steering wheel may rotate freely and uncontrollably due to the lack of restraint. Such sudden and unexpected rotation may cause the driver to lose balance, and further cause the driver to be injured.

[0077] Therefore, some embodiments of the present application propose a control method of a steer-by-wire system, applied to a vehicle, the vehicle comprising a steering wheel, a column and a motor, wherein the steering wheel is connected with the column, and the motor is connected with the column and can apply a torque to the column, specifically, the motor can apply a torque to the column to drive the stationary steering wheel to rotate; when the steering wheel is subjected to external force, the motor can apply a torque in the same direction as the external force to assist the rotation of the steering wheel, thereby reducing the difficulty of rotating the steering wheel. The motor can also apply a torque in the opposite direction of the external force to prevent the steering wheel from rotating. For a specific description of the control method of the steer-by-wire system, please refer to Figures 1 to 8 The control method of the steer-by-wire system is described.

[0078] For a specific description of the control method of the steer-by-wire system, please refer to Figure 1As shown, in the embodiment of the present application, the control method of the steer-by-wire system comprises:

[0079] In step S101, the start-stop state of the vehicle is continuously monitored, and the start-stop state comprises a starting state and an engine-off state.

[0080] It can be understood that, in the embodiment of the present application, the steer-by-wire system has a limiting function, specifically, the limiting function is intended to limit the steering wheel when the steering wheel is in a free state, thereby limiting the rotation of the steering wheel. In order to prevent the limiting function from interfering with the steering wheel when the driver normally drives the vehicle, the limiting function of the present embodiment adopts a dynamic activation mechanism. The present embodiment can continuously monitor the start-stop state of the vehicle, when the vehicle is in the starting state, the limiting function automatically enters the dormant state, avoiding the intervention to the driver's operation behavior. When the vehicle is in the engine-off state, further judge whether the vehicle condition information change meets the preset condition, if the vehicle condition information change meets the preset condition, the limiting function will be activated, so as to ensure that the limiting function is only activated in the required use scenario, preventing the limiting function of the steer-by-wire system from causing unnecessary interference or limitation to the driver.

[0081] In step S102, when the vehicle is in the engine-off state, the vehicle condition information change is obtained, and it is judged whether the vehicle condition information change meets the preset condition.

[0082] In step S103, when the vehicle condition information change meets the preset condition, the limiting function is activated.

[0083] In the embodiment of the present application, the vehicle condition information change comprises the locking state change of the vehicle and the opening-closing state change of the vehicle door, wherein the locking state of the vehicle comprises a locked state and an unlocked state, and the locking state change comprises switching from the locked state to the unlocked state, maintaining the unlocked state or the locked state, and switching from the unlocked state to the locked state. The opening-closing state of the vehicle door comprises an open state and a closed state, and the opening-closing state change comprises switching from the open state to the closed state, maintaining the open state or the closed state, and switching from the closed state to the open state.

[0084] Based on this, in the embodiment of the present application, judging whether the vehicle condition information change meets the preset condition comprises: when any one of the following conditions is met, it is determined that the preset condition is met: the locking state change is maintaining the unlocked state or switching from the locked state to the unlocked state; the opening-closing state change is maintaining the closed state or switching from the closed state to the open state.

[0085] It can be understood that, in the process of vehicle driving, the vehicle with automatic locking function will automatically switch the vehicle from the unlocked state to the locked state during the vehicle driving, and the vehicle without automatic locking function will maintain the unlocked state during the vehicle driving, or will switch from the unlocked state to the locked state under the active locking operation of the driver.

[0086] Based on this, the change of the locking state to the maintenance of the unlocked state indicates that the driver may stay in the vehicle or may prepare to leave the vehicle. In the off state, whether the driver continues to stay in the vehicle or leaves the vehicle, there will be a possibility of touching the steering wheel to cause the steering wheel to rotate. In order to avoid the rotation of the steering wheel under the intentional or unintentional operation of the driver, the steer-by-wire system can determine that the change of the vehicle condition information meets the preset condition, that is, the current scene meets the application scene of activating the limiting function.

[0087] The change of the locking state from the locked state to the unlocked state indicates that the vehicle has been actively unlocked by the driver. When the driver is in the vehicle, in the off state of the vehicle, the unlocking of the vehicle by the driver means that the driver has the intention to prepare to leave the vehicle. Based on this, in order to avoid the rotation of the steering wheel when the driver gets off the vehicle and holds the steering wheel, the steer-by-wire system can determine that the change of the vehicle condition information meets the preset condition, that is, the current scene meets the application scene of activating the limiting function. When the driver is outside the vehicle, in the off state of the vehicle, the unlocking of the vehicle by the driver means that the driver has the intention to prepare to get into the vehicle. Based on this, in order to avoid the rotation of the steering wheel when the driver gets on the vehicle and holds the steering wheel, the steer-by-wire system can determine that the change of the vehicle condition information meets the preset condition, that is, the current scene meets the application scene of activating the limiting function.

[0088] The change of the switching state to the maintenance of the closed state indicates that the door is not opened. When the driver is in the vehicle, in the off state of the vehicle, the driver does not open the door, which means that the driver has the intention to stay in the vehicle. Based on this, in order to avoid the rotation of the steering wheel under the intentional or unintentional operation of the driver during the stay of the driver in the vehicle, the steer-by-wire system can determine that the change of the vehicle condition information meets the preset condition, that is, the current scene meets the application scene of activating the limiting function.

[0089] The switch state change from the off state to the on state indicates that the vehicle door has been actively opened by the driver. When the driver is inside the vehicle, opening the vehicle door in the off state means that the driver has the intention to leave the vehicle. Based on this, in order to avoid the steering wheel turning when the driver is holding the steering wheel while getting out of the vehicle, the steer-by-wire system can determine that the vehicle condition information change meets the preset condition, i.e., the current scene meets the application scene of activating the limiting function. When the driver is outside the vehicle, opening the vehicle door in the off state means that the driver has the intention to get into the vehicle. Based on this, in order to avoid the steering wheel turning when the driver is holding the steering wheel while getting into the vehicle, the steer-by-wire system can determine that the vehicle condition information change meets the preset condition, i.e., the current scene meets the application scene of activating the limiting function.

[0090] In step S104, when the limiting function is in the activated state and the steering wheel is detected to be turned, the motor is controlled to apply a reverse torque to the column in the opposite direction of the turning direction of the steering wheel, so as to stop the steering wheel.

[0091] In the embodiment of the present application, the steer-by-wire system can switch the limiting function to the activated state after determining that the current scene meets the application scene of activating the limiting function. It can be understood that the present embodiment can be provided with a sensor for detecting the turning of the steering wheel. Based on this, when the limiting function is in the activated state and the sensor detects that the steering wheel is turned, in order to limit the steering wheel from continuing to turn under the action of an external force, the motor is controlled to apply a reverse torque to the column in the opposite direction of the turning direction of the steering wheel. The reverse torque applied to the column and the torque generated by the external force acting on the steering wheel are offset, so as to stop the steering wheel.

[0092] The present embodiment can limit the turning of the steering wheel by applying a reverse torque to the column in the opposite direction of the turning direction of the steering wheel in time when the steering wheel is detected to be turned, effectively reducing the risk of collision between the steering wheel and the limiting structure when the steering wheel reaches its turning limit, significantly reducing the possibility of component damage, and thus improving the reliability and safety of the steer-by-wire system. In addition, since the turning of the steering wheel is limited in the off state, the initial position of the steering wheel does not change when the driver restarts the vehicle, the driver can quickly identify the initial position of the steering wheel, and does not need to perform tedious inspection and adjustment, greatly improving the convenience and efficiency of driving, and bringing a smoother and more comfortable driving experience to the driver.

[0093] It can be understood that, compared with the additional mechanical device in the traditional method to limit the rotation of the steering wheel in the vehicle off state, the embodiment only needs to apply the reverse torque to the column by the original motor of the steer-by-wire system in the opposite direction of the rotation of the steering wheel, so as to limit the rotation of the steering wheel, only needs to optimize and upgrade the existing system in the software level, not only saves the material cost of additional devices, but also saves the space in the vehicle. In addition, the increase of additional mechanical devices can simplify the assembly process of the vehicle, reduce the probability of vehicle failure, and reduce the weight of the vehicle.

[0094] Referring to Figure 2 In an embodiment of the present application, the vehicle condition information change includes a lock state change of the vehicle and an opening and closing state change of a door of the vehicle, the preset condition includes that the lock state change is from a locked state to an unlocked state and the opening and closing state change is from a closed state to an open state, and step S102 includes:

[0095] Step S1021, detecting the lock state change;

[0096] Step S1022, when the lock state change is from the locked state to the unlocked state, detecting the opening and closing state change in response to an unlocking signal, the unlocking signal being a signal generated when the vehicle is unlocked;

[0097] Step S1023, when the opening and closing state change is from the closed state to the open state, determining that the vehicle condition information change meets the preset condition in response to a door opening signal, the door opening signal being a signal generated when the door is opened.

[0098] It can be understood that, in the embodiment of the present application, the detection of the lock state change is realized by detecting whether the unlocking signal or the locking signal is received. It should be noted that the unlocking signal is generated when the vehicle is unlocked, and the locking signal is generated when the vehicle is locked. When the steer-by-wire system receives the unlocking signal, it indicates that the lock state change of the vehicle is from the locked state to the unlocked state, which means that the driver actively unlocks the vehicle.

[0099] In the embodiment of the present application, the steer-by-wire system first detects the lock state change of the vehicle, and then detects whether the door opening signal or the door closing signal is received in response to the unlocking signal after confirming that the vehicle is unlocked, so as to realize the detection of the opening and closing state change. It should be noted that the door opening signal is generated when the door is opened, and the door closing signal is generated when the door is closed. When the steer-by-wire system receives the door opening signal, it indicates that the opening and closing state change of the door is from the closed state to the open state, which means that the driver actively opens the door.

[0100] The steer-by-wire system in the embodiment can accurately determine whether the driver is in a state of preparing to leave the vehicle or in a state of preparing to enter the vehicle by sequentially detecting the lock state change of the vehicle and the opening and closing state change of the vehicle door, thereby improving the accuracy of determining whether the vehicle is in an application scenario suitable for activating the limiting function. Specifically, in the embodiment, the driver first unlocks the vehicle and then opens the door, which means that when the driver is originally in the vehicle, the driver has the intention to leave the vehicle; when the driver is originally outside the vehicle, the driver has the intention to enter the vehicle.

[0101] In another embodiment of the present application, the vehicle condition information change includes a start-stop state change of the vehicle, a lock state change of the vehicle, and an opening and closing state change of the vehicle door, and the preset condition includes that the start-stop state change is from a starting state to an off state, the lock state change is to maintain an unlocked state or switch from a locked state to an unlocked state, and the opening and closing state change is to maintain a closed state. The start-stop state of the vehicle includes a starting state and an off state, and the start-stop state change includes switching from the starting state to the off state, maintaining the starting state or the off state, and switching from the off state to the starting state. Referring to Figure 3 In the embodiment, step S102 includes:

[0102] Step S1024, detecting a start-stop state change.

[0103] Step S1025, when the start-stop state change is from the starting state to the off state, detecting an opening and closing state change in response to an off signal, the off signal being a signal generated when the vehicle is off.

[0104] It can be understood that in the embodiment of the present application, the detection of the start-stop state change is realized by detecting whether the off signal or the starting signal is received. It should be noted that the off signal is generated when the vehicle is off, and the starting signal is generated when the vehicle is started. When the steer-by-wire system receives the off signal, it indicates that the start-stop state of the vehicle changes from the starting state to the off state, which means that the driver actively off the vehicle. After confirming that the driver is in the vehicle and off the vehicle, the opening and closing state change is detected in the embodiment.

[0105] Step S1026, detecting a lock state change when the opening and closing state change is to maintain a closed state.

[0106] In the embodiment of the present application, when the opening and closing state change is to maintain a closed state, it indicates that the vehicle door is not opened, which means that the driver does not immediately leave the vehicle after the vehicle is off, but stays in the vehicle. After confirming that the driver is in the vehicle and off the vehicle, and does not immediately open the door to leave the vehicle, the lock state change is detected in the embodiment.

[0107] Step S1027, when the lock state changes to maintain the unlocked state or switches from the locked state to the unlocked state, it is determined that the vehicle condition information change condition meets the preset condition.

[0108] In the embodiment of the application, when the lock state changes to maintain the unlocked state or switches from the locked state to the unlocked state, it indicates that the vehicle door has the condition of being opened by the driver at this time. However, the driver does not immediately open the vehicle door after the vehicle is turned off, and the vehicle is not in the locked state, which means that the driver intentionally stays in the vehicle temporarily. Based on this, in order to avoid the driver intentionally or unintentionally operating the steering wheel to cause the steering wheel to rotate when the driver stays in the vehicle, the steer-by-wire system can determine that the vehicle condition information change condition meets the preset condition, that is, this is a suitable use scenario for activating the limiting function.

[0109] In the embodiment of the application, the control method further comprises:

[0110] Step S201, when the switch state changes from the closed state to the open state, and the lock state changes from the unlocked state to the locked state, the limiting function is controlled to be dormant.

[0111] It can be understood that when the driver turns off the vehicle, the switch state changes from the closed state to the open state, which means that the driver opens the vehicle door, and the lock state changes from the unlocked state to the locked state, which means that the driver locks the vehicle after opening the vehicle door, which means that the driver leaves the vehicle. In this embodiment, after the driver parks and leaves the vehicle, the steer-by-wire system controls the limiting function to be dormant, which can save energy.

[0112] In the embodiment of the application, referring to FIG. 1, step S104 comprises: Figure 4

[0113] Step S1041, acquiring the rotation speed data and the rotation amplitude data of the steering wheel.

[0114] In the embodiment of the application, the column or the steering wheel can be provided with a sensor for detecting the rotation speed and the rotation amplitude of the steering wheel. When the limiting function is in the activated state, and the steering wheel is detected to rotate, the rotation speed data and the rotation amplitude data corresponding to the current rotation of the steering wheel can be acquired through the sensor.

[0115] Step S1042, judging the rotation level of the steering wheel according to the rotation speed data and the rotation amplitude data.

[0116] ​In the embodiment of the present application, different rotating speeds and rotating amplitudes can be divided into multiple rotating levels in advance. For example, a rotating speed of 5 degrees per second or a rotating amplitude of 5 degrees is defined as a first rotating level, a rotating speed of 10 degrees per second or a rotating amplitude of 10 degrees is defined as a second rotating level, and a rotating speed of 15 degrees per second or a rotating amplitude of 15 degrees is defined as a third rotating level. It should be noted that the number of rotating levels can be adaptively set according to the type of the steering wheel, the stroke of the steering wheel, and other factors, so as to meet diversified actual needs, and the embodiment is not limited in this regard. Based on the division of the rotating levels, the current rotating level corresponding to the rotating of the steering wheel can be quickly and accurately determined based on the obtained rotating speed data and rotating amplitude data.

[0117] In step S1043, the reference torque data corresponding to the rotating level is selected as the target torque data from a preset reference torque set according to the rotating level. The preset reference torque set includes multiple reference torque data corresponding to different rotating levels.

[0118] In the embodiment of the present application, the corresponding reference torque data can be prepared for different rotating levels. For example, the reference torque data corresponding to the first rotating level is 15 N (Newton), the reference torque data corresponding to the second rotating level is 20 N (Newton), and the reference torque data corresponding to the third rotating level is 30 N (Newton). It should be noted that each reference torque data is a reverse torque capable of stopping the rotating of different rotating levels. After the current rotating level corresponding to the rotating of the steering wheel is determined, the target torque data can be obtained from the preset reference torque set.

[0119] In step S1044, the motor is controlled to apply a reverse torque to the column according to the target torque data.

[0120] In the embodiment of the present application, the steer-by-wire system controls the motor to apply a reverse torque to the column, and the size of the reverse torque matches the target torque data, so as to realize the stopping operation of the steering wheel.

[0121] Referring to Figure 5 In the embodiment of the present application, the control method of the steer-by-wire system further includes:

[0122] In step S301, the start-stop state change is continuously monitored.

[0123] In step S302, when the start-stop state change is from the off state to the start state, the control of the limiting function is dormant.

[0124] It can be understood that the embodiment can continuously monitor the start-stop state change of the vehicle, and the start-stop state change from the off state to the start state means that the driver has completed the start of the vehicle and is ready to drive the vehicle. Based on this, when the vehicle is in the start state, in order to avoid the limiting function from incorrectly interfering with the normal operation of the driver on the steering wheel, the steer-by-wire system can temporarily control the limiting function to be dormant at this time.

[0125] Specifically, in the embodiment of the application, the steer-by-wire system comprises a steering actuator and a road feel simulator, the steering actuator is configured to be capable of detecting first rotation angle information of a gear connected with a wheel of the vehicle, and the road feel simulator is configured to be capable of detecting second rotation angle information of a steering wheel, and the control method further comprises: Figure 6

[0126] Step S105, when the start-stop state changes from the off state to the start state, the first rotation angle information and the second rotation angle information are acquired.

[0127] Step S106, according to the first rotation angle information and the second rotation angle information, the motor drives the column to rotate to drive the steering wheel to rotate to a position relationship in synchronization with the wheel.

[0128] It can be understood that, since the mechanical connection between the steering wheel and the wheel is cancelled, if the steering wheel rotates when the vehicle is off, it will cause the position relationship between the steering wheel and the wheel to change, resulting in that the position relationship of the two is out of synchronization. In order to correct the position relationship between the steering wheel and the wheel before the driver starts the vehicle and prepares to drive the vehicle, the embodiment can acquire the current first rotation angle information and the second rotation angle information. The first rotation angle information of the wheel represents the position information of the wheel, and the second rotation angle information of the steering wheel represents the position information of the steering wheel. The embodiment controls the motor to drive the column to rotate according to the acquired first rotation angle information and the second rotation angle information, so as to drive the steering wheel to rotate to a position relationship in synchronization with the wheel, thereby realizing the correction of the position relationship between the steering wheel and the wheel.

[0129] Specifically, referring to Figure 7

[0130] Step S1061, the first rotation angle information and the second rotation angle information are compared, and it is determined whether the steering wheel and the wheel maintain a position relationship in synchronization.

[0131] Step S1062, when the wheel and the steering wheel do not maintain a position relationship in synchronization, the motor is controlled to drive the column to rotate according to the first rotation angle information.

[0132] ​​The embodiment compares the first rotation angle information and the second rotation angle information to determine whether the position relationship between the steering wheel and the wheel satisfies synchronization, and it should be noted that the position relationship between the steering wheel and the wheel is preset. When the position relationship between the wheel and the steering wheel does not remain synchronized, it indicates that the steering wheel rotates during the vehicle is off, resulting in the position relationship between the wheel and the steering wheel not remaining synchronized. Based on this, the embodiment can control the motor to drive the column to rotate according to the first rotation angle information of the gear, thereby correcting the position relationship between the steering wheel and the wheel.

[0133] In an example, the position relationship between the steering wheel and the wheel is preset to be the same as the first rotation angle information and the second rotation angle information. The first rotation angle information obtained by the steering actuator is 0°, and the second rotation angle information obtained by the road feel simulator is 5°, and the first rotation angle information and the second rotation angle information do not match, which means that the steering wheel rotates. In order to correct the position relationship between the steering wheel and the wheel, the motor can be controlled to drive the column to rotate to drive the steering wheel to rotate according to the first rotation angle information until the second rotation angle information of the steering wheel is also 0°, which matches the first rotation angle information.

[0134] Referring to Figure 8 The embodiment of the present application also provides a control system 400 of a steer-by-wire system, which is applied to a vehicle with a steer-by-wire system, the steer-by-wire system has a limiting function capable of limiting the steering wheel, the vehicle comprises a steering wheel, a column and a motor, the steering wheel is connected with the column, and the motor is configured to be capable of applying a torque to the column, and the control system comprises:

[0135] A monitoring module 401 is configured to continuously monitor the start-stop state of the vehicle, and the start-stop state comprises a start state and an off state.

[0136] A judging module 402 is configured to acquire a vehicle condition information change condition when the vehicle is in the off state, and judge whether the vehicle condition information change condition satisfies a preset condition.

[0137] An activating module 403 is configured to activate the limiting function when the vehicle condition information change condition satisfies the preset condition.

[0138] An executing module 404 is configured to control the motor to apply a reverse torque opposite to the rotating direction of the steering wheel to the column to stop the steering wheel when the limiting function is in an activated state and the steering wheel is detected to rotate.

[0139] In an embodiment of the present application, the vehicle condition information change condition comprises a locking state change of the vehicle and an opening and closing state change of a door of the vehicle, and the preset condition comprises that the locking state change is from a locked state to an unlocked state and the opening and closing state change is from a closed state to an opened state, and the control system further comprises:

[0140] The first detection module is configured to detect the change of the locking state.

[0141] The second detection module is configured to detect the change of the switch state in response to an unlocking signal when the change of the locking state is from the locking state to the unlocking state, the unlocking signal being a signal generated when the vehicle is unlocked.

[0142] The first determination module is configured to determine that the change of the vehicle condition information meets the preset condition in response to a door opening signal when the change of the switch state is from the closing state to the opening state, the door opening signal being a signal generated when the door is opened.

[0143] In another embodiment of the present application, the change of the vehicle condition information includes a start-stop state change of the vehicle, a locking state change of the vehicle and a switch state change of the door of the vehicle, the preset condition includes that the start-stop state change is from the starting state to the off state, the locking state change is maintaining the unlocking state or from the locking state to the unlocking state, and the switch state change is maintaining the closing state, and the control system further includes:

[0144] The third detection module is configured to detect the start-stop state change.

[0145] The fourth detection module is configured to detect the change of the switch state in response to an off signal when the change of the start-stop state is from the starting state to the off state, the off signal being a signal generated when the vehicle is turned off.

[0146] The fifth detection module is configured to detect the change of the locking state when the change of the switch state is maintaining the closing state.

[0147] The second determination module is configured to determine that the change of the vehicle condition information meets the preset condition when the change of the locking state is maintaining the unlocking state or from the locking state to the unlocking state.

[0148] The embodiment of the application continuously monitors the start-stop state of the vehicle through the monitoring module 401, the start-stop state including a start state and an off state; through the judging module 402, when the vehicle is in the off state, the vehicle condition information change condition is acquired, and it is judged whether the vehicle condition information change condition meets the preset condition; through the activating module 403, when the vehicle condition information change condition meets the preset condition, the limiting function is activated; through the executing module 404, when the limiting function is in the activated state and the steering wheel is detected to rotate, the motor is controlled to apply a reverse torque opposite to the rotating direction of the steering wheel to the column to stop the steering wheel, by limiting the rotation of the steering wheel after the vehicle is turned off, the possibility of collision between the steering wheel and the limiting structure is reduced, and the risk of component damage is reduced, the reliability and safety of the steer-by-wire system are improved; in addition, reducing the rotation of the steering wheel after the vehicle is turned off can enable the driver to quickly identify the initial position of the steering wheel when restarting the vehicle, reducing the time for the driver to adjust the steering wheel, and providing a better driving experience for the driver.

[0149] The embodiment of the application also provides a vehicle comprising a steer-by-wire system, the steer-by-wire system being controlled by the control method of the steer-by-wire system according to the above embodiment.

[0150] Specifically, in the embodiment of the application, the vehicle can be a private car, such as a sedan, an SUV, an MPV or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck or a large trailer, etc. The vehicle can be a gasoline car or a new energy car. When the vehicle is a new energy car, it can be a hybrid car or a pure electric car.

[0151] It can be understood that the steer-by-wire system in the vehicle of the embodiment of the application is controlled by the control method of the steer-by-wire system according to the above embodiment, which reduces the possibility of collision between the steering wheel and the limiting structure, thereby reducing the risk of component damage, improving the reliability and safety of the vehicle; in addition, the driver can quickly identify the initial position of the steering wheel when restarting the vehicle, reducing the time for the driver to adjust the steering wheel, and providing a better driving experience for the driver.

[0152] The embodiment of the application also provides an electronic device, which comprises:

[0153] at least one processor;

[0154] at least one memory for storing at least one program;

[0155] When the at least one program is executed by the at least one processor, the control method of the steer-by-wire system according to the above embodiment is implemented.

[0156] The embodiment of the present application further provides a computer readable storage medium, wherein a computer program executable by a processor is stored, and the computer program executable by the processor is used for implementing the control method of the steer-by-wire system according to the above embodiment when executed by the processor.

[0157] The terms "first", "second", "third", "fourth" and the like in the description of the application and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover a changeable order, sequence or ranking, if any. Furthermore, the terms "comprising", "having", "including", and "containing" and any variations thereof used herein are intended to cover a non-exclusive inclusion, such that a process, method, system, product, or apparatus that comprises, has, includes or contains a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, system, product or apparatus.

[0158] It should be understood that, in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the relationship between the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of only A, only B and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b and c can be single or multiple.

[0159] In several embodiments provided by the present application, it should be understood that the disclosed system, device and method can be implemented by other manners. For example, the above-described device embodiments are merely schematic, for example, the division of units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed objects can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0160] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an integral module or unit that includes the functions of the module or unit.

[0161] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0162] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0163] If the integrated unit is realized in the form of 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 solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0164] For the step numbers in the above method embodiments, only the order between the steps is not limited, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

Claims

1. A control method of a steer-by-wire system, applied to a vehicle having the steer-by-wire system, the steer-by-wire system having a function of being able to limit a steering wheel, the vehicle comprising a steering wheel, a column, and a motor, the steering wheel being connected to the column, the motor being configured to be able to apply a torque to the column, characterized in that, The control method comprises: continuously monitoring the start-stop state of the vehicle, the start-stop state comprising a start state and a stop state; when the vehicle is in the stop state, obtaining a vehicle condition information change condition of the vehicle, and determining whether the vehicle condition information change condition meets a preset condition; when the vehicle condition information change condition meets the preset condition, activating the limiting function; when the limiting function is in an activated state and the steering wheel is detected to be rotating, controlling the motor to apply a reverse torque to the column opposite to the rotating direction of the steering wheel to stop the steering wheel; the vehicle condition information change condition further comprises a start-stop state change of the vehicle, and the control method further comprises: continuously monitoring the start-stop state change; when the start-stop state change is from the stop state to the start state, controlling the limiting function to be dormant; The steer-by-wire system comprises a steering actuator and a road feel simulator, the steering actuator is configured to detect first rotation angle information of a gear connected with a wheel of the vehicle, and the road feel simulator is configured to detect second rotation angle information of the steering wheel, and the control method further comprises: when the start-stop state change is from the stop state to the start state, obtaining the first rotation angle information and the second rotation angle information; according to the first rotation angle information and the second rotation angle information, controlling the motor to drive the column to rotate to drive the steering wheel to rotate to a position relationship synchronous with the wheel; the control of the motor to apply the reverse torque to the column opposite to the rotating direction of the steering wheel comprises: obtaining rotation speed data and rotation amplitude data of the steering wheel; determining a rotating level of the steering wheel according to the rotation speed data and the rotation amplitude data; according to the rotating level, selecting reference torque data corresponding to the rotating level from a preset reference torque set as target torque data, the preset reference torque set comprising a plurality of reference torque data corresponding to different rotating levels; according to the target torque data, controlling the motor to apply the reverse torque to the column.

2. The control method of the steer-by-wire system according to claim 1, characterized by, The vehicle condition information change condition comprises a locking state change of the vehicle and an opening and closing state change of a door of the vehicle, and the determination of whether the vehicle condition information change condition meets a preset condition comprises: when any one of the following conditions is met, it is determined that the preset condition is met: the locking state change maintains an unlocked state or switches from a locked state to the unlocked state; the opening and closing state change maintains a closed state or switches from the closed state to an open state.

3. The control method of the steer-by-wire system according to claim 1, characterized by, The vehicle condition information change condition comprises a locking state change of the vehicle and an opening and closing state change of a door of the vehicle, and the preset condition comprises the locking state change switching from a locked state to an unlocked state and the opening and closing state change switching from a closed state to an open state, and the obtaining of the vehicle condition information change condition of the vehicle and the determination of whether the vehicle condition information change condition meets a preset condition comprise: detecting the locking state change; detect the switch state change in response to an unlocking signal when the lock state changes from the locked state to the unlocked state, the unlocking signal being a signal generated when the vehicle is unlocked; determine that the vehicle condition information change condition meets the preset condition in response to a door opening signal when the switch state changes from the closed state to the open state, the door opening signal being a signal generated when the vehicle door is opened.

4. The control method of the steer-by-wire system according to claim 1, characterized by, The control method further comprises: comparing the first steering angle information and the second steering angle information, and determining whether the position relationship between the steering wheel and the vehicle wheel is kept in synchronization; controlling the motor to drive the column to rotate according to the first steering angle information when the position relationship between the steering wheel and the vehicle wheel is not kept in synchronization.

5. The control method of the steer-by-wire system according to claim 1, characterized by, The vehicle condition information change condition includes the start-stop state change of the vehicle, the lock state change of the vehicle, and the opening and closing state change of the vehicle door, and the preset condition includes that the start-stop state change changes from the start state to the stop state, the lock state change maintains the unlocked state or changes from the locked state to the unlocked state, and the opening and closing state change maintains the closed state. detect the start-stop state change; detect the switch state change in response to a stop signal when the start-stop state changes from the start state to the stop state, the stop signal being a signal generated when the vehicle is stopped; detect the lock state change when the switch state change maintains the closed state; determine that the vehicle condition information change condition meets the preset condition when the lock state change maintains the unlocked state or changes from the locked state to the unlocked state.

6. The control method of the steer-by-wire system according to claim 5, characterized by, The control method further comprises: control the limiting function to be dormant when the switch state changes from the closed state to the open state and the lock state changes from the unlocked state to the locked state.

7. A control system of a steer-by-wire system, the control system applying the control method of the steer-by-wire system according to any one of claims 1 to 6, the control system being applied to a vehicle having the steer-by-wire system, the steer-by-wire system having a limiter function capable of limiting the steering wheel, the vehicle including a steering wheel, a column, and a motor, the steering wheel being connected to the column, the motor being configured to be capable of applying a torque to the column, characterized in that, The control system comprises: a monitoring module configured to continuously monitor the start-stop state of the vehicle, the start-stop state including a start state and a stop state; a determining module configured to, when the vehicle is in the stop state, acquire a vehicle condition information change condition of the vehicle, and determine whether the vehicle condition information change condition meets a preset condition; an activating module configured to, when the vehicle condition information change condition meets the preset condition, activate the limiting function; an executing module configured to, when the limiting function is in an activated state and the steering wheel is detected to rotate, control the motor to apply a reverse torque to the column in a direction opposite to a rotation direction of the steering wheel to stop the steering wheel.

8. A control system for a steer-by-wire steering system according to claim 7, characterised in that, The vehicle condition information change condition includes a lock state change of the vehicle and an opening and closing state change of a door of the vehicle, and the preset condition includes that the lock state change is switched from a locked state to an unlocked state and the opening and closing state change is switched from a closed state to an opened state, and the control system further includes: a first detection module configured to detect the lock state change; a second detection module configured to, when the lock state change is switched from the locked state to the unlocked state, detect the opening and closing state change in response to an unlocking signal, the unlocking signal being a signal generated when the vehicle is unlocked; a first determination module configured to, when the opening and closing state change is switched from the closed state to the opened state, determine that the vehicle condition information change condition meets the preset condition in response to a door opening signal, the door opening signal being a signal generated when the door is opened.

9. The control system of a steer-by-wire system according to claim 7, characterized by, The vehicle condition information change condition includes a start and stop state change of the vehicle, a lock state change of the vehicle, and an opening and closing state change of a door of the vehicle, and the preset condition includes that the start and stop state change is switched from a start state to an off state, the lock state change is maintained in an unlocked state or switched from a locked state to the unlocked state, and the opening and closing state change is maintained in a closed state, and the control system further includes: a third detection module configured to detect the start and stop state change; a fourth detection module configured to, when the start and stop state change is switched from the start state to the off state, detect the opening and closing state change in response to an off signal, the off signal being a signal generated when the vehicle is turned off; a fifth detection module configured to, when the opening and closing state change is maintained in the closed state, detect the lock state change; a second determination module configured to, when the lock state change is maintained in the unlocked state or switched from the locked state to the unlocked state, determine that the vehicle condition information change condition meets the preset condition.

10. A vehicle characterized by comprising: A steer-by-wire system controlled by the control method of the steer-by-wire system according to any one of claims 1 to 6.

11. An electronic device, comprising: comprise: at least one processor; at least one memory for storing at least one program; when the at least one program is executed by the at least one processor, the at least one processor implements the control method of the steer-by-wire system according to any one of claims 1 to 6.

12. A computer-readable storage medium having stored therein instructions that are executable by a processor, the instructions comprising: The processor-executable instructions, when executed by the processor, perform the control method of the steer-by-wire system according to any one of claims 1 to 6.

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