A control method and system for steer-by-wire, electronic device and medium

Abstract

The application discloses a kind of drive-by-wire steering control method, system, electronic equipment and medium, the scheme includes: by obtaining system fault code, system fault code is analyzed, determines first fault information;First fault information is matched with preset fault relationship, to determine second fault information;Second fault information includes fault state information, system integrity information, steering function information and feedback function information;According to the state of the current drive-by-wire steering system determined by second fault information, corresponding control operation is executed when drive-by-wire steering fails;Different faults of drive-by-wire steering system are set to corresponding control operation, and the corresponding control operation of the fault is executed when the drive-by-wire steering system fails, to control the different faults of drive-by-wire steering, reduce the risk of damage caused by system failure, improve driving safety.The application embodiment can be widely applied to vehicle steering control technical field.

Description

Technical Field

[0001] This application relates to the field of vehicle steering control technology, and in particular to a steer-by-wire control method, system, electronic device and medium. Background Technology

[0002] The automotive steering system is a crucial control system in a vehicle, converting driver input into tire rotation to control the vehicle's steering. With the increasing demands for advanced intelligent driving systems and space-saving installations, steer-by-wire systems have become widely adopted. These systems eliminate the mechanical connection between the steering wheel and wheels, operating through an electronic control unit (ECU). Steering is controlled entirely by electrical signals, with a motor simulating road feel feedback. However, the ECU of a steer-by-wire system is susceptible to environmental interference and system malfunctions, potentially leading to loss of vehicle control, accidents, and compromised driving safety. Summary of the Invention

[0003] The main objective of this application is to provide a steer-by-wire control method, system, electronic device, and medium that can reduce the risk of malfunctions and improve driving safety.

[0004] To achieve the above objectives, one aspect of this application provides a steer-by-wire control method, the method comprising:

[0005] Obtain system fault codes, analyze the system fault codes, and determine first fault information; wherein, the first fault information includes fault type and fault source information;

[0006] The first fault information is matched with a preset fault relationship to determine the second fault information; wherein, the second fault information includes fault status information, system integrity information, steering function information and feedback function information;

[0007] If the fault status information indicates a fault has occurred, the system integrity information indicates completeness, and the steering function information and the feedback function information indicate normal operation, then execute the first operation;

[0008] If the fault status information indicates a fault has occurred and the system integrity information indicates damage, control operations are performed based on the steering function information and / or the feedback function information.

[0009] In some embodiments, performing the first-level operation specifically includes:

[0010] A first instruction is generated based on the second fault information, and the first instruction is sent to the steer-by-wire system so that the steer-by-wire system generates a first warning message based on the first instruction and drives the fault warning light to provide a warning in a first preset color based on the first instruction.

[0011] In some embodiments, performing the control operation based on the steering function information and / or the feedback function information specifically includes:

[0012] If the steering function information and the feedback function information are functioning normally, a second instruction is generated; the second instruction is sent to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and perform the second operation;

[0013] If the steering function information or the feedback function information indicates that the function is partially normal, a third instruction is generated; the third instruction is sent to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and perform the third operation;

[0014] If the steering function information or the feedback function information indicates a function loss, a fourth instruction is generated; the fourth instruction is sent to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and perform the fourth operation.

[0015] In some embodiments, performing the second operation specifically includes:

[0016] Based on the second fault information, the vehicle's maximum speed is set to a first preset speed and maintained for a first preset duration;

[0017] A second warning message is generated based on the second fault information to issue a warning, and a fault warning light is driven to issue a warning in a first preset color based on the second fault information.

[0018] In some embodiments, performing the second operation further includes:

[0019] Obtain a first duration and compare it with a first preset duration; wherein, the first duration represents the running duration of the second control;

[0020] If the first duration is less than the first preset duration, obtain the current system fault code, update the second fault information according to the current system fault code, and if the fault status information in the updated second fault information is a fault, the system integrity information is damaged, and the steering function information and the feedback function information are normal operation, execute the third control.

[0021] In some embodiments, performing the third operation specifically includes:

[0022] Based on the second fault information, the vehicle's maximum speed is set to a second preset speed and maintained for a second preset duration;

[0023] A third warning message is generated based on the second fault information to issue a warning, and a fault warning light is driven to issue a warning in a second preset color based on the second fault information.

[0024] In some embodiments, performing the third operation further includes:

[0025] Obtain a second duration and compare it with a second preset duration; wherein the second duration represents the runtime of the third control.

[0026] If the second duration is less than the second preset duration, obtain the current system fault code, update the second fault information according to the current system fault code, and if the fault status information in the updated second fault information is a fault, the system integrity information is damaged, and the steering function information and the feedback function information are partially operational, execute the fourth control.

[0027] In some embodiments, performing the fourth operation specifically includes:

[0028] Based on the second fault information, stop the vehicle operation and illuminate the vehicle's hazard warning lights;

[0029] A fourth warning message is generated based on the second fault information to issue a warning, and the fault warning light is driven to issue a warning in the second preset color based on the second fault information.

[0030] To achieve the above objectives, another aspect of this application proposes a steer-by-wire control system, which includes a steer-by-wire system, a power supply module, and a domain controller; wherein,

[0031] The steer-by-wire system is used to execute steering requests, detect system fault codes, and send the system fault codes to the domain controller.

[0032] The power supply module is used to supply power to the steer-by-wire system;

[0033] The domain controller is used to execute the above method.

[0034] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0035] To achieve the above objectives, another aspect of the embodiments of this application proposes a vehicle that includes the aforementioned electronic equipment or the aforementioned steer-by-wire control system.

[0036] Implementing the embodiments of this application has the following beneficial effects: The steer-by-wire control method, system, electronic device, and storage medium provided in the embodiments of this application obtain system fault codes, analyze the system fault codes, and determine first fault information; the first fault information includes fault type and fault source information; the first fault information is matched with preset fault relationships to determine second fault information; the second fault information includes fault information, system integrity information, steering function information, and feedback function information; the current fault state of the steer-by-wire system is determined according to the second fault information, and corresponding level of control operation is executed when a steer-by-wire fault occurs; corresponding control operations are set for different faults in the steer-by-wire system, the current state of the steer-by-wire system is detected, and the corresponding control operation is executed when a fault occurs, thereby realizing control when different faults occur in the steer-by-wire system, reducing the risk of harm caused by system faults, and improving driving safety. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating the steps of a steer-by-wire control method provided in an embodiment of this application;

[0038] Figure 2 This is a flowchart illustrating the steps of executing the first control in a steer-by-wire control method provided in an embodiment of this application;

[0039] Figure 3 This is a flowchart illustrating the steps of a steer-by-wire control method according to steering function information and / or feedback function information in an embodiment of this application.

[0040] Figure 4 This is a flowchart illustrating the steps of executing the second control in a steer-by-wire control method provided in an embodiment of this application;

[0041] Figure 5 This is a schematic flowchart illustrating another step in the second control process of a steer-by-wire control method provided in this application embodiment;

[0042] Figure 6 This is a flowchart illustrating the steps of executing the third control in a steer-by-wire control method provided in this application embodiment;

[0043] Figure 7 This is a schematic flowchart illustrating another step in the third control process of a steer-by-wire control method provided in this application embodiment;

[0044] Figure 8This is a flowchart illustrating the steps of executing the fourth control in a steer-by-wire control method provided in an embodiment of this application;

[0045] Figure 9 This is a schematic diagram of the structure of a drive-by-wire system in a specific embodiment provided in this application.

[0046] Figure 10 This is a structural block diagram of a steer-by-wire control system provided in an embodiment of this application;

[0047] Figure 11 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application;

[0048] Figure descriptions: 1. Main power supply module; 2. Auxiliary power supply module; 3. Torque angle sensor; 4. First controller; 5. Second controller; 6. Third controller; 7. Fourth controller; 8. Six-phase motor; 9. Reduction mechanism; 10. Network management bus. Detailed Implementation

[0049] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only for ease of explanation and do not limit the order of the steps. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.

[0050] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0051] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0052] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the embodiments of this application is for the purpose of describing the embodiments of this application only and is not intended to limit this application.

[0053] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0054] In related technologies, steer-by-wire operates through an electronic control unit, eliminating the mechanical connection between the steering wheel and the steering wheels in the vehicle. It uses electrical signals to transmit and control steering signals, converting the driver's input into tire rotation to achieve vehicle steering. Steer-by-wire saves vehicle installation space, isolates vibrations, and achieves lightweight design. It can also meet the needs of high-level intelligent driving and personalized driving. Therefore, steer-by-wire is widely used in vehicle control systems. However, the electronic control unit of steer-by-wire is susceptible to interference from environmental conditions such as electromagnetic fields, radiation, and temperature, which can lead to system malfunctions or failures, resulting in steering errors, causing hazards, and reducing the driving safety of road users.

[0055] In view of this, embodiments of this application provide a control method, system, electronic device, and storage medium for steer-by-wire. This solution detects the steer-by-wire system to determine its current state; when a steer-by-wire system malfunctions or fails, it executes corresponding control operations based on the malfunction or failure, thereby achieving degraded control when the steer-by-wire fails or malfunctions, improving vehicle control when the steer-by-wire fails or malfunctions, reducing the risk of harm caused by the steer-by-wire failure or failure, and improving driving safety.

[0056] Figure 1 This is an optional flowchart of a steer-by-wire control method provided in an embodiment of this application. Figure 1 The method may include, but is not limited to, steps S101 to S104.

[0057] Step S101: Obtain system fault codes, analyze system fault codes, and determine the first fault information; wherein, the first fault information includes fault type and fault source information;

[0058] Step S102: Match the first fault information with the preset fault relationship to determine the second fault information; wherein, the second fault information includes fault status information, system integrity information, steering function information and feedback function information;

[0059] Step S103: If the fault status information indicates a fault has occurred, the system integrity information indicates completeness, and the steering function information and feedback function information indicate normal operation, execute the first operation.

[0060] Step S104: If the fault status information indicates a fault has occurred and the system integrity information indicates damage, execute control operations based on the steering function information and / or feedback function information.

[0061] Steps S101 to S104 of this embodiment involve real-time monitoring of the steer-by-wire system to obtain fault codes. The obtained fault codes are then analyzed to determine the fault type and its source. For example, this embodiment includes fault types such as input failure, output failure, control failure, power supply failure, and communication failure. Different fault types correspond to different sources. For instance, input failure may include short circuits, open circuits, or signal acquisition errors in the torque angle sensor. Power supply failures include overvoltage, undervoltage, drift, and oscillation. Based on the analysis of fault codes and the relationship between fault and impact levels built into the control terminal, the impact level of the current fault on the steer-by-wire system is determined. Corresponding control operations are then determined based on the impact level to control the malfunctioning or failed steer-by-wire system, reducing the risk of harm to the vehicle due to the fault or failure. Furthermore, appropriate warnings are issued to the driver based on the impact level to encourage driver control, further reducing the risk of harm caused by the fault or failure and improving driving safety.

[0062] In step S101 of some embodiments, the fault codes appearing in the steer-by-wire system can be analyzed to determine the current fault or failure of the steer-by-wire system. Alternatively, the operating status of the execution module of the steer-by-wire system can be detected by sensors, and the steer-by-wire system can be judged based on the detected operating status to determine whether the steer-by-wire system has a fault or failure, and the level of impact of the fault or failure on the steer-by-wire system.

[0063] Please see Figure 2 In some embodiments, the first operation in this application embodiment may include, but is not limited to, steps S201 to S202:

[0064] Step S201: Generate a first command based on the second fault information and send the first command to the steer-by-wire system;

[0065] In step S202, the steer-by-wire system generates a first warning message according to the first instruction and issues a warning, and the steer-by-wire system drives the fault warning light to issue a warning in a first preset color according to the first instruction.

[0066] In step S201 of some embodiments, the fault codes of the steer-by-wire system are analyzed to determine the impact of the current failure or malfunction of the steer-by-wire system on the steer-by-wire system. If the steer-by-wire system does not experience a failure or malfunction, or if the failure or malfunction does not affect the steering and feedback functions of the system, the steer-by-wire system does not take any action or provide any prompts to the driver. If the steer-by-wire system malfunctions, but the safety integrity of the steer-by-wire system is not compromised (i.e., the hardware of the steer-by-wire system is not damaged, and the steering and feedback functions of the system can still operate normally), the domain controller generates corresponding control commands based on the current fault information of the steer-by-wire system and sends them to the steer-by-wire system through the communication bus connected to the steer-by-wire system to control the steer-by-wire system.

[0067] In step S202 of some embodiments, the steer-by-wire system receives control commands sent by the main controller via the communication bus and illuminates a warning light according to the control commands to remind the driver that the steer-by-wire system has malfunctioned. For example, the steer-by-wire system reminds the driver that the steer-by-wire system has malfunctioned by illuminating a yellow warning light. At the same time, the steer-by-wire system generates text warning information according to the received control commands and reminds the driver through the text warning information so that the driver can control the vehicle according to the road traffic conditions.

[0068] Please see Figure 3 In some embodiments, step S105 may include, but is not limited to, steps S301 to S303:

[0069] Step S301: If the steering function information and feedback function information are normal, generate a second instruction; send the second instruction to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and execute the second operation;

[0070] Step S302: If the steering function information or feedback function information indicates that the function is partially normal, a third instruction is generated; the third instruction is sent to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and perform the third operation.

[0071] Step S303: If the steering function information or feedback function information indicates a function loss, a fourth instruction is generated; the fourth instruction is sent to the steer-by-wire system so that the steer-by-wire system can mask the system fault code and perform the fourth operation.

[0072] In step S301 of some embodiments, if a fault occurs in the steer-by-wire system and the fault damages the safety integrity of the steer-by-wire system, the specific impact level of the fault on the steer-by-wire system is determined based on the steering capability and feedback capability of the steer-by-wire system under the influence of the current fault, and then the corresponding control method is determined; if the steering capability and feedback capability of the steer-by-wire system can still work normally under the influence of the system, the domain controller intervenes to control the steer-by-wire system, generates control commands to make the steer-by-wire system shield the current fault, and controls the steer-by-wire system to warn the driver.

[0073] In step S302 of some embodiments, the safety integrity of the steer-by-wire system is compromised due to a malfunction, and the steering capability or feedback capability of the steer-by-wire system cannot function at 100%. In the current state, the steer-by-wire system cannot fully execute the steering commands input by the driver, or cannot fully simulate and feedback the current state of the vehicle to the driver through components such as the steering wheel, which endangers road traffic safety and affects driver safety. Therefore, a domain controller is needed to control the steer-by-wire system, limit the current maximum speed of the vehicle, improve the driver's control over the vehicle, thereby reducing the risk of loss of vehicle control and improving driving safety.

[0074] In step S303 of some embodiments, a malfunction in the steer-by-wire system damages its safety integrity, and under the influence of the malfunction, the steering capability or feedback capability of the steer-by-wire system is lost, making it completely unable to execute the steering commands input by the driver, or completely unable to provide feedback on the vehicle's steering status to the driver through the steering wheel. In this state, the risk of loss of vehicle control is extremely high, affecting the safety of vehicles participating in road traffic. Therefore, it is necessary for an external domain control system to intervene and control the steer-by-wire system, restrict the vehicle's operation, reduce the risk of loss of vehicle control, and improve the driving safety of vehicles participating in road traffic.

[0075] Please see Figure 4 In some embodiments, step S301 may include, but is not limited to, steps S401 to S402:

[0076] Step S401: Set the vehicle's maximum speed to a first preset speed based on the second fault information, and maintain it for a first preset duration;

[0077] Step S402: Generate a second warning message based on the second fault information and issue a warning, and drive the fault warning light to issue a warning in the first preset color based on the second fault information.

[0078] In step S401 of some embodiments, the steer-by-wire system malfunctions, and the malfunction damages the safety integrity of the steer-by-wire system, i.e., the hardware of the steer-by-wire system is damaged, such as a sensor. However, the steering function and feedback function of the steer-by-wire system are not affected by the malfunction and can still work normally. However, because the safety integrity of the steer-by-wire system is damaged, it may cause the vehicle to make a steering error, requiring the domain controller to intervene. The domain controller generates corresponding control commands based on the current fault information of the steer-by-wire system and sends them to the steer-by-wire system through a communication bus, such as a CAN bus. The domain controller limits the maximum speed of the vehicle and maintains it for a period of time to reduce the risk of loss of vehicle control. For example, the domain controller limits the current maximum speed of the vehicle to 120 km / h and runs it continuously for 10 hours.

[0079] In step S402 of some embodiments, the domain control system illuminates a warning light and generates a text warning message to remind the driver to pay attention to driving the vehicle and reduce the risk of causing harm. For example, the domain control system illuminates a yellow warning light to remind the driver that the vehicle is malfunctioning. At the same time, it generates a text warning message to inform the driver that the vehicle's steer-by-wire system is malfunctioning, the vehicle speed has been limited, and the steer-by-wire system needs to be repaired.

[0080] Please see Figure 5 In some embodiments, step S301 may include, but is not limited to, steps S501 to S502:

[0081] Step S501: Obtain a first duration and compare the first duration with a first preset duration; wherein, the first duration represents the running duration of the second control;

[0082] Step S502: If the first duration is less than the first preset duration, obtain the current system fault code, update the second fault information according to the current system fault code, and if the fault status information in the updated second fault information is that a fault has occurred, the system integrity information is that it is damaged, and the steering function information and feedback function information are that they are operating normally, execute the third control.

[0083] In step S501 of some embodiments, the domain controller intervenes to control the steer-by-wire system, limits the maximum speed of the vehicle currently experiencing a malfunction, and continues to operate for a period of time; after performing the above control operation on the steer-by-wire system, the domain controller records the duration of the control operation and determines whether the duration exceeds a preset running time.

[0084] In step S502 of some embodiments, if the duration is less than a preset running time, it indicates that the steer-by-wire system is still under the corresponding control. The domain controller detects the current steer-by-wire system to determine whether there is still a fault in the steer-by-wire system. If there is a fault, it is determined whether the fault in the current steer-by-wire system is the fault corresponding to the control operation currently performed by the domain controller on the steer-by-wire system. If so, it indicates that the fault still exists during the period when the domain controller performs the control operation on the steer-by-wire system. The domain controller performs a third operation on the steer-by-wire system to further limit the vehicle speed, reduce the risk of harm caused by the continued existence of the current fault, and improve driving safety. At the same time, the warning level is increased to alert the driver to repair the steer-by-wire system.

[0085] Please see Figure 6 In some embodiments, step S302 may include, but is not limited to, steps S601 to S602:

[0086] Step S601: Set the vehicle's maximum speed to a second preset speed based on the second fault information, and maintain it for a second preset duration;

[0087] Step S602: Generate a third warning message based on the second fault information and issue a warning, and drive the fault warning light to issue a warning in the second preset color based on the second fault information.

[0088] In step S601 of some embodiments, the steer-by-wire system malfunctions, and this malfunction damages the safety and integrity of the steer-by-wire system, i.e., the hardware of the steer-by-wire system is damaged, such as a phase short circuit in the motor; and the steering function or feedback function of the steer-by-wire system is affected by the malfunction and can only operate partially. For example, this embodiment specifically divides the partial operation of the steering function or feedback function of the steer-by-wire system due to the malfunction into two categories: 50% to 100% of the normal operating function, and 0% to 50% of the normal operating function. Priority can be set according to the percentage of the normal operating function. The safety integrity of the steer-by-wire system is compromised, and its functionality is also impaired. Therefore, the domain controller intervenes, limiting the vehicle's maximum speed for a period of time. Because the steering or feedback function of the steer-by-wire system is affected by the malfunction, it can only operate partially, resulting in limited control over the vehicle. Excessive vehicle speed can easily lead to loss of control, thus posing a higher risk of damage due to loss of control. Therefore, while the steering or feedback function of the steer-by-wire system is partially operational due to the malfunction, the maximum speed of the vehicle is limited to a lower speed and maintained for a period of time. For example, the domain controller limits the current maximum speed of the vehicle to 10 km / h and maintains this setting for 2 hours.

[0089] In step S602 of some embodiments, the domain control system illuminates a warning light and generates a text warning message to alert the driver and perform maintenance on the steer-by-wire system to reduce the risk of vehicle malfunction. For example, since the steering or feedback function of the steer-by-wire system is not 100% functional, it has a significant impact on traffic safety. Therefore, the domain control system illuminates a red warning light to alert the driver that the vehicle has a serious malfunction. At the same time, the domain control system limits the maximum vehicle speed to 10 km / h, generates a text warning message to alert the driver that the vehicle has entered the driving mode, and promptly performs maintenance on the steer-by-wire system.

[0090] Please see Figure 7 In some embodiments, step S302 may include, but is not limited to, steps S701 to S702:

[0091] Step S701: Obtain the second duration and compare it with the second preset duration; wherein, the second duration represents the running duration of the third control;

[0092] Step S702: If the second duration is less than the second preset duration, obtain the current system fault code, update the second fault information according to the current system fault code, and if the fault status information in the updated second fault information is that a fault has occurred, the system integrity information is that it is damaged, and the steering function information and feedback function information are partially operational, execute the fourth control.

[0093] In step S701 of some embodiments, the domain controller intervenes to control the steer-by-wire system, limits the maximum speed of the currently malfunctioning vehicle, and continues to operate for a period of time; after performing the above control operation on the steer-by-wire system, the domain controller records the duration of the control operation and determines whether the duration exceeds a preset running time.

[0094] In step S702 of some embodiments, if the duration is less than a preset running time, it indicates that the steer-by-wire system is still under the corresponding control. The domain controller detects the current steer-by-wire system to determine whether there is still a fault in the steer-by-wire system. If there is a fault, it is determined whether the fault in the current steer-by-wire system is the fault corresponding to the control operation currently performed by the domain controller on the steer-by-wire system. If so, it indicates that the fault still exists during the period when the domain controller performs the control operation on the steer-by-wire system. The domain controller performs a fourth operation on the steer-by-wire system to restrict the operation of the vehicle, reduce the risk of harm caused by the continued existence of the current fault, and improve driving safety. At the same time, the warning level is increased to alert the driver to repair the steer-by-wire system.

[0095] Please see Figure 8In some embodiments, step S303 may include, but is not limited to, steps S801 to S802:

[0096] Step S801: Stop the vehicle operation according to the second fault information and turn on the vehicle's hazard warning lights;

[0097] Step S802: Generate a fourth warning message based on the second fault information and issue a warning, and drive the fault warning light to issue a warning in the second preset color based on the second fault information.

[0098] In step S801 of some embodiments, the steer-by-wire system malfunctions, which damages the safety and integrity of the steer-by-wire system and completely loses its steering or feedback functions. Therefore, the domain controller intervenes to control the steer-by-wire system. Since the steering or feedback functions of the steer-by-wire system are lost, there is a great risk of the vehicle continuing to drive. The domain controller needs to stop the vehicle and restrict its restart to reduce the risk of loss of control and resulting harm. The domain controller generates corresponding control commands based on the malfunction of the steer-by-wire system and sends them to the steer-by-wire system via the communication bus.

[0099] In step S802 of some embodiments, the domain control system illuminates a warning light and generates a text warning message to alert the driver. For example, the domain control system illuminates a red warning light to alert the driver that the vehicle has a serious malfunction, and generates a text warning message to alert the driver that the steer-by-wire system has a serious malfunction and the vehicle cannot continue to drive, and promptly repairs the steer-by-wire system. Since the vehicle is stopped by the domain control system due to a malfunction in the steer-by-wire system, the vehicle's hazard warning lights need to be illuminated to remind vehicles behind and avoid causing a traffic accident.

[0100] The solutions of this application embodiment will be described in detail and explained below with reference to specific application examples:

[0101] Please see Figure 9 ,exist Figure 9The vehicle drive-by-wire system shown applies the solution provided in this application embodiment. This system achieves feedback capability through a SWA system and steering capability through a RWA system. The SWA and RWA systems have similar structures, including dual controllers, torque angle sensors, a six-phase motor, and a deceleration system connected to the six-phase motor. The controllers in the RWA and SWA systems are connected via a private bus; for example, the first controller of the SWA system is connected to the first controller of the RWA system, and the second controller of the SWA system is connected to the second controller of the RWA system. Simultaneously, the first controllers in the RWA and SWA systems are powered by a main power supply module and communicate system status information with an external domain controller via a separate bus. The second controllers in the RWA and SWA systems are powered by an auxiliary power supply module, which communicates system status information with an external domain controller via another separate bus. The bus communicates system status information with the external domain controller; the torque angle sensor in the SWA system provides the steering wheel torque angle information to the controller in the SWA system, and the torque angle sensor in the RWA system provides the vehicle steering torque angle information to the controller in the RWA system; the controller in the SWA system collects the steering wheel torque angle information through the torque angle sensor, generates a corresponding steering request, and sends it to the controller in the RWA system through the private bus, controlling the motor in the system to execute the steering request and realize the steering function; the controller in the RWA system collects the vehicle steering torque angle information through the torque angle sensor, generates a corresponding feedback request, and sends it to the controller in the SWA system through the private bus, controlling the motor in the system to execute the feedback request, simulating the steering angle and torque through the steering wheel, and realizing the feedback function.

[0102] The domain controller installed on the vehicle monitors fault codes in the steer-by-wire system in real time during vehicle operation, analyzes these codes, determines the fault type and its impact on the steer-by-wire system, and identifies an over-temperature fault in the RWA system and an open-phase circuit fault in the SWA system's motor. Based on preset fault impact relationships, the main controller determines that the over-temperature fault in the RWA system affects the steering capability of the steer-by-wire system, resulting in a current steering capability of 50% to 100% of normal system operation (i.e., [50, 100)). The open-phase circuit fault in the SWA system prevents the steer-by-wire system's feedback capability from operating at 100% normal. Furthermore, both the over-temperature fault in the RWA system and the open-phase circuit fault in the SWA system compromise the safety and integrity of the steer-by-wire system. Therefore, the domain controller needs to intervene and control the steer-by-wire system. The domain controller sends commands to the steer-by-wire system, which receives the commands and masks the current faults. The system controls the vehicle, limiting its maximum speed to 10 km / h and operating it continuously for 2 hours. This reduces the risk of the steer-by-wire system, which may not be functioning perfectly at high speeds, causing loss of control and potential hazards. The domain controller illuminates a corresponding red warning light on the vehicle's dashboard to alert the driver that the steer-by-wire system is malfunctioning and requires repair. It also generates a text message instructing the driver to enter descent mode. When the domain controller intervenes, it records the duration of the intervention and checks for fault codes in the steer-by-wire system. If the fault persists within 2 hours, the domain controller activates the vehicle's braking system to stop the vehicle and restricts the start of the power system. It also illuminates the hazard warning lights to warn following vehicles and reduce the risk of traffic accidents. The domain controller also illuminates a corresponding red warning light to alert the driver that the vehicle still has a fault and generates a text warning message informing the driver that the steer-by-wire system has a serious malfunction and is unable to drive, reminding the driver to have the system repaired.

[0103] Implementing the embodiments of this application has the following beneficial effects: The steer-by-wire control method, system, electronic device, and storage medium provided in the embodiments of this application obtain system fault codes, analyze the system fault codes, and determine first fault information; the first fault information includes fault type and fault source information; the first fault information is matched with preset fault relationships to determine second fault information; the second fault information includes fault information, system integrity information, steering function information, and feedback function information; the current state of the steer-by-wire system is determined according to the second fault information, and corresponding level control operations are executed when the steer-by-wire system malfunctions or fails; the presence of a fault is determined according to the current state of the system, thereby executing corresponding level control operations, realizing degraded control when different steer-by-wire faults occur, reducing the risk of harm caused by system faults or failures, and improving driving safety.

[0104] like Figure 10 As shown in the figure, this application embodiment also provides a steer-by-wire control system that can implement the above-described steer-by-wire control method. The system includes a steer-by-wire system, a power supply module, and a domain controller; wherein,

[0105] The steer-by-wire system is used to execute steering requests, detect system fault codes, and send the system fault codes to the domain controller.

[0106] The power supply module is used to supply power to the steer-by-wire system;

[0107] The domain controller is used to execute the method described in the above method embodiments.

[0108] It is evident that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0109] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described steer-by-wire control method. This electronic device can be any smart terminal, including a tablet computer or an in-vehicle computer.

[0110] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0111] Please see Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0112] The processor 1101 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0113] The memory 1102 can be implemented in the form of read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1102 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1102 and is called and executed by the processor 1101 to execute the steer-by-wire control method of the embodiments of this application.

[0114] Input / output interface 1103 is used to implement information input and output;

[0115] The communication interface 1104 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0116] Bus 1105 transmits information between various components of the device (e.g., processor 1101, memory 1102, input / output interface 1103, and communication interface 1104);

[0117] The processor 1101, memory 1002, input / output interface 1103 and communication interface 1104 are connected to each other within the device via bus 1105.

[0118] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. The memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include remote memory located remotely relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0119] Furthermore, this application also discloses a computer program product or computer program stored in a computer-readable storage medium. A processor of a computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, causing the computer device to perform the described method. Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0120] This application also provides a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to implement the above-described method.

[0121] This embodiment also provides a vehicle, which includes an electric drive assembly of the aforementioned steer-by-wire control system or electronic equipment. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large semi-trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0122] It is understood that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0123] The steer-by-wire control method, control system, and electronic device (storage medium) provided in this application embodiment acquire system fault codes, analyze the system fault codes, and determine first fault information. The first fault information includes fault type and fault source information. The first fault information is matched with preset fault relationships to determine second fault information. The second fault information includes fault status information, system integrity information, steering function information, and feedback function information. Based on the second fault information, the current fault status of the steer-by-wire system is determined, and corresponding level control operations are executed when a steer-by-wire fault occurs. Corresponding control operations are set for different faults in the steer-by-wire system, the current status of the steer-by-wire system is detected, and the corresponding control operation is executed when a fault occurs. This enables control of different steer-by-wire faults, reduces the risk of harm caused by system malfunctions, and improves driving safety.

[0124] The above is a detailed description of the preferred embodiments of this application. However, the invention of this application is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A control method of steer-by-wire, characterized by, The method comprises: acquiring a system fault code, analyzing the system fault code, and determining first fault information; wherein the first fault information comprises fault type and fault source information; matching the first fault information with a preset fault relationship to determine second fault information; wherein the second fault information comprises fault state information, system integrity information, steering function information, and feedback function information; if the fault state information is a fault, the system integrity information is complete, and the steering function information and the feedback function information are normal operation, a first operation is performed; if the fault state information is a fault, the system integrity information is damaged, and a control operation is performed according to the steering function information and / or the feedback function information; wherein the control operation according to the steering function information and / or the feedback function information comprises: if the steering function information and the feedback function information are normal, a second instruction is generated; the second instruction is sent to a steer-by-wire system to make the steer-by-wire system shield the system fault code and perform a second operation; wherein the second operation comprises: setting the maximum speed of the vehicle to a first preset speed according to the second fault information, and lasting for a first preset time; generating second warning information according to the second fault information to warn, and driving a fault warning light to warn in a first preset color according to the second fault information; acquiring a first time, comparing the first time with the first preset time; wherein the first time represents the running time of the second operation; if the first time is less than the first preset time, the current system fault code is acquired, the second fault information is updated according to the current system fault code, and if the fault state information in the updated second fault information is a fault, the system integrity information is damaged, and the steering function information and the feedback function information are normal operation, a third operation is performed; if the steering function information or the feedback function information is partially normal, a third instruction is generated; the third instruction is sent to the steer-by-wire system to make the steer-by-wire system shield the system fault code and perform a third operation; if the steering function information or the feedback function information is function loss, a fourth instruction is generated; the fourth instruction is sent to the steer-by-wire system to make the steer-by-wire system shield the system fault code and perform a fourth operation.

2. The method of claim 1, wherein, The first operation comprises: generating a first instruction according to the second fault information, and sending the first instruction to the steer-by-wire system to make the steer-by-wire system generate first warning information according to the first instruction to warn, and make the steer-by-wire system drive the fault warning light to warn in a first preset color according to the first instruction.

3. The method of claim 1, wherein, The third operation comprises: setting the maximum speed of the vehicle to a second preset speed according to the second fault information, and lasting for a second preset time; According to the second fault information, third warning information is generated to warn, and according to the second fault information, a fault warning light is driven to warn in a second preset color.

4. The method of claim 3, wherein, The performing the third operation further includes: acquiring a second time length, and comparing the second time length with the second preset time length; wherein the second time length represents a running time length of the third operation; if the second time length is less than the second preset time length, acquiring a current system fault code, updating the second fault information according to the current system fault code, and if the fault state information in the updated second fault information is failure, the system integrity information is damaged, and the steering function information and the feedback function information are partially running, performing the fourth operation.

5. The method of claim 1, wherein, The performing the fourth operation specifically includes: stopping the vehicle from running according to the second fault information, and lighting a danger warning light of the vehicle; generating fourth warning information according to the second fault information to warn, and driving a fault warning light to warn in a second preset color according to the second fault information.

6. A control system for steer-by-wire steering, characterized by The vehicle comprises a steer-by-wire system, a power supply module and a domain controller; wherein, the steer-by-wire system is configured to execute a steering request, detect a system fault code, and send the system fault code to the domain controller; the power supply module is configured to supply power for the steer-by-wire system; the domain controller is configured to execute the method of any one of claims 1-5.

7. An electronic device, comprising: comprise: at least one processor; at least one memory configured to store 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 method of any one of claims 1-5.

8. A vehicle characterized by comprising: The vehicle comprises the steer-by-wire control system of claim 6 or the electronic device of claim 7.

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