Steer-by-wire method and system thereof, vehicle, electronic device, storage medium

Abstract

The application relates to the technical field of intelligent vehicles, in particular to a steer-by-wire method and system thereof, a vehicle, an electronic device and a storage medium. According to the steer-by-wire method provided in the application, the steer-by-wire method needs to acquire the steering gear state information of a target vehicle in a current driving state, a steering operation instruction and instruction transmission information corresponding to the steering operation instruction; steering operation analysis is performed on the steering operation instruction to determine a steering operation state coefficient; instruction transmission analysis is performed on the steering operation instruction and the instruction transmission information to determine a message transmission state coefficient; steering tracking calculation is performed based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter; and the target vehicle is controlled to perform a steer-by-wire operation based on the steering gear state information, the steering operation instruction and the position tracking control parameter. In this way, the steering precision and response speed of the target vehicle during steer-by-wire can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent vehicles, in particular to a steer-by-wire method and system, a vehicle, an electronic device, and a storage medium. BACKGROUND

[0002] Steer-by-wire (SBW) technology is a technology in the automotive industry that represents a shift from traditional mechanical or hydraulic steering to full electronic control. In traditional cars, the driver controls the steering of the wheels by turning the steering wheel, which usually involves a series of mechanical links such as the steering column and steering gears. In steer-by-wire, these mechanical links are replaced by electronic signals and sensors.

[0003] In related technologies, steer-by-wire cancels the intermediate shaft of traditional steering and realizes the transmission of steering operation instructions through bus signals, thereby realizing the steering control of the vehicle. However, after the mechanical connection structure is cancelled, the execution angle of the steering gear and the steering angle of the steering wheel may have problems of execution precision and response speed due to the influence of the bus signal transmission period and the controller operation speed, affecting the overall performance of steer-by-wire, which is more obvious in intense driving. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a steer-by-wire method and system, a vehicle, an electronic device, and a storage medium, which can improve the steering precision and response speed of the vehicle.

[0005] The steer-by-wire method according to the first aspect of the present application comprises:

[0006] obtaining steering gear state information of a target vehicle in a current driving state, a steering operation instruction, and instruction transmission information corresponding to the steering operation instruction;

[0007] analyzing the steering operation instruction to determine a steering operation state coefficient;

[0008] analyzing the instruction transmission information to determine a message transmission state coefficient;

[0009] performing steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter;

[0010] controlling the target vehicle to perform steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter.

[0011] According to some embodiments provided in the present application, the instruction transmission information comprises at least one instruction transmission period corresponding to the steering operation instruction in the instruction transmission time slot, and the message transmission state coefficient is determined according to the steering operation instruction and the instruction transmission information, comprising:

[0012] A transmission period mean value is determined according to each of the instruction transmission periods in the instruction transmission time slot;

[0013] The message state is calculated by taking the transmission period mean value and a preset standard transmission period as parameters to determine the message transmission state coefficient.

[0014] According to some embodiments provided in the present application, the message state is calculated by taking the transmission period mean value and a preset standard transmission period as parameters to determine the message transmission state coefficient, comprising:

[0015] A period ratio of the transmission period mean value and the standard transmission period is determined, and the period ratio is determined as the message transmission state coefficient.

[0016] According to some embodiments provided in the present application, the steering operation instruction is obtained, comprising:

[0017] The steering torque and steering wheel speed in the current driving state are obtained based on a road feeling simulator of the target vehicle;

[0018] The steering operation instruction is generated according to the steering torque and the steering wheel speed in the current driving state of the target vehicle.

[0019] According to some embodiments provided in the present application, the steering operation state coefficient is determined by analyzing the steering operation instruction, comprising:

[0020] A torque state parameter is determined based on the steering torque and a predetermined maximum steering torque;

[0021] A speed state parameter is determined based on the steering wheel speed and a predetermined maximum steering wheel speed;

[0022] The steering operation state coefficient is determined by integrating the torque state parameter and the speed state parameter.

[0023] According to some embodiments provided in the present application, the torque state parameter is determined based on the steering torque and a predetermined maximum steering torque, comprising:

[0024] The torque state parameter is determined based on a ratio of the steering torque and the predetermined maximum steering torque;

[0025] The determining of the speed state parameter based on the steering wheel speed and a predetermined maximum steering wheel speed comprises:

[0026] The determining of the speed state parameter based on a ratio of the steering wheel speed and a predetermined maximum steering wheel speed;

[0027] The integrating of the torque state parameter and the speed state parameter to determine a steering operation state coefficient comprises:

[0028] The sum of the torque state parameter and the speed state parameter is determined as the steering operation state coefficient.

[0029] According to some embodiments provided by the present application, the position tracking control parameter comprises a steering angle control parameter and a steering speed control parameter, and the steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain the position tracking control parameter comprises:

[0030] The reference steering angle control parameter and the reference steering speed control parameter of the target vehicle are obtained;

[0031] The steering angle control parameter is obtained by multiplying the reference steering angle control parameter, the steering operation state coefficient and the message transmission state coefficient;

[0032] The steering speed control parameter is obtained by multiplying the reference steering speed control parameter, the steering operation state coefficient and the message transmission state coefficient.

[0033] According to some embodiments provided by the present application, the controlling of the target vehicle to perform the drive-by-wire steering operation based on the steering gear state information, the steering operation instruction and the position tracking control parameter comprises:

[0034] The control execution parameter is obtained by performing steering control calculation based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the steering speed control parameter;

[0035] The target vehicle in the current driving state is controlled to perform the drive-by-wire steering operation based on the control execution parameter.

[0036] According to some embodiments provided by the present application, the steering gear state information comprises an actual steering angle and an actual steering speed of the target vehicle in the current driving state, and the steering control calculation based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the steering speed control parameter to obtain the control execution parameter comprises:

[0037] The target steering angle and the target following steering speed of the target vehicle are determined by performing steering intention analysis based on the steering operation instruction.

[0038] performing parameter calculation based on the steering angle control parameter, the steering speed control parameter, the target steering angle, the target following steering speed, and the actual steering angle to obtain the control execution parameter.

[0039] According to some embodiments provided in the present application, the performing parameter calculation based on the steering angle control parameter, the steering speed control parameter, the target steering angle, the target following steering speed, and the actual steering angle to obtain the control execution parameter comprises:

[0040] determining a steering angle deviation data according to the target steering angle and the actual steering angle;

[0041] determining a first control factor according to a product of the steering angle control parameter and the steering angle deviation data;

[0042] determining a second control factor according to a product of the steering speed control parameter and the target following steering speed;

[0043] determining the control execution parameter according to a sum of the first control factor and the second control factor.

[0044] According to some embodiments provided in the present application, the obtaining the steering gear state information comprises:

[0045] collecting the actual steering angle and the actual steering speed of the steering gear of the target vehicle to obtain the steering gear state information;

[0046] generating the steering gear state information according to the actual steering angle and the actual steering speed of the steering gear.

[0047] The steer-by-wire system according to the second aspect of the embodiments of the present application comprises:

[0048] a steering operation instruction receiving module, configured to obtain steering gear state information of a target vehicle in a current driving state, a steering operation instruction, and instruction transmission information corresponding to the steering operation instruction;

[0049] a steering operation instruction analyzing module, configured to analyze the steering operation instruction to determine a steering operation state coefficient;

[0050] a message transmission state analyzing module, configured to analyze the steering operation instruction and the instruction transmission information to determine a message transmission state coefficient;

[0051] a position tracking parameter calculating module, configured to perform steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter;

[0052] a steering execution module, configured to control the target vehicle to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter.

[0053] According to the vehicle of the third aspect of the present application, the vehicle comprises:

[0054] The vehicle stores a program, and the program is executed to implement the steer-by-wire method according to any one of the first aspect of the present application, and the vehicle is equipped with the steer-by-wire system according to the second aspect of the present application.

[0055] According to the electronic device of the fourth aspect of the present application, the electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the steer-by-wire method according to any one of the first aspect of the present application when executing the computer program.

[0056] According to the computer readable storage medium of the fifth aspect of the present application, the storage medium stores a program, and the program is executed by a processor to implement the steer-by-wire method according to any one of the first aspect of the present application.

[0057] The steer-by-wire method and system, vehicle, electronic device, and storage medium according to the embodiments of the present application have at least the following beneficial effects:

[0058] According to the steer-by-wire method provided by the present application, the steering gear state information of the target vehicle in the current driving state, the steering operation instruction, and the instruction transmission information corresponding to the steering operation instruction are obtained; the steering operation state coefficient is determined by analyzing the steering operation instruction; the message transmission state coefficient is determined by analyzing the instruction transmission according to the steering operation instruction and the instruction transmission information; the position tracking control parameter is obtained by performing steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient; and the target vehicle is controlled to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter. The embodiments of the present application determine the running state of the target vehicle before the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the instruction transmission information, obtain the steering operation state coefficient and the message transmission state coefficient, further calculate the position tracking control parameter, and then control the target vehicle to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter, thereby improving the steering precision and response speed of the target vehicle during the steer-by-wire operation.

[0059] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0060] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which:

[0061] Figure 1 A flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0062] Figure 2 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0063] Figure 3 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0064] Figure 4 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0065] Figure 5 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0066] Figure 6 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0067] Figure 7 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0068] Figure 8 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0069] Figure 9 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0070] Figure 10 Another flowchart of a steer-by-wire method provided by an embodiment of the present application;

[0071] Figure 11 A structural schematic diagram of a steer-by-wire system provided by an embodiment of the present application;

[0072] Figure 12 A hardware structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0073] The present application will be further described in detail. It should be understood that the specific embodiments described herein are merely exemplary for the purpose of explanation and are not intended to limit the present application. When the following description refers to the accompanying drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the present application. They are merely examples of apparatuses / devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0074] It can be understood that the terms "first", "second", and the like as used in the present application can be used herein to describe various concepts, but unless specifically stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining".

[0075] The terms "at least one", "multiple", "each", "any", and the like used in the present application include one, two or more than two, multiple includes two or more than two, each refers to each of the corresponding plurality, and any refers to any one of the plurality.

[0076] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0077] Steer-by-Wire (SBW) technology is a technology in the automotive industry, which represents the transition from traditional mechanical or hydraulic steering to full electronic control. In traditional cars, the driver controls the steering of the wheels by turning the steering wheel, which usually involves a series of mechanical links such as steering column and steering gear. In steer-by-wire, these mechanical links are replaced by electronic signals and sensors.

[0078] In the related art, the steer-by-wire cancels the intermediate shaft of the steering, and realizes the transmission of the steering operation instruction through the bus signal, so as to realize the steering control of the vehicle. However, after the mechanical connection structure is cancelled, the execution angle of the steering gear and the steering angle of the steering wheel may have problems of execution precision and response speed due to the influence of the bus signal transmission period and the controller operation speed, which affects the overall performance of the steer-by-wire, and this problem is more obvious in the process of fierce driving.

[0079] 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 steer-by-wire method and system, a vehicle, an electronic device, and a storage medium, which can improve the steering accuracy and response speed of the vehicle.

[0080] Further description is made below with reference to the accompanying drawings.

[0081] With reference to Figure 1 The steer-by-wire method provided by the embodiments of the present application can include the following steps.

[0082] In step S101, the steer-by-wire state information of the target vehicle in the current driving state, the steering operation instruction, and the instruction transmission information corresponding to the steering operation instruction are obtained.

[0083] In step S102, the steering operation state coefficient is determined by analyzing the steering operation instruction.

[0084] In step S103, the message transmission state coefficient is determined by analyzing the instruction transmission information according to the steering operation instruction.

[0085] In step S104, the position tracking control parameter is obtained by performing steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient.

[0086] In step S105, the target vehicle is controlled to perform the steer-by-wire operation based on the steer-by-wire state information, the steering operation instruction, and the position tracking control parameter.

[0087] According to the steer-by-wire method provided by the present application, the steer-by-wire state information of the target vehicle in the current driving state, the steering operation instruction, and the instruction transmission information corresponding to the steering operation instruction are obtained; the steering operation state coefficient is determined by analyzing the steering operation instruction; the message transmission state coefficient is determined by analyzing the instruction transmission information according to the steering operation instruction; the position tracking control parameter is obtained by performing steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient; and the target vehicle is controlled to perform the steer-by-wire operation based on the steer-by-wire state information, the steering operation instruction, and the position tracking control parameter. The embodiments of the present application determine the running state of the target vehicle before the steer-by-wire operation based on the steer-by-wire state information, the steering operation instruction, and the instruction transmission information, obtain the steering operation state coefficient and the message transmission state coefficient, and further calculate the position tracking control parameter. In this way, the target vehicle can be controlled to perform the steer-by-wire operation based on the steer-by-wire state information, the steering operation instruction, and the position tracking control parameter, thereby improving the steering accuracy and response speed of the target vehicle during the steer-by-wire operation.

[0088] In step S101 of some embodiments, steering gear state information of the target vehicle in the current driving state, a steering operation instruction, and instruction transmission information corresponding to the steering operation instruction are acquired. It should be noted that the steering gear state information is used to reflect the actual working state of the steering gear on the target vehicle; the steering operation instruction is an instruction formed by the target vehicle in response to the steering operation issued by the driver. It should be noted that the instruction transmission information is information corresponding to the steering operation instruction when the steering operation instruction is transmitted in the bus.

[0089] With reference to Figure 2 According to some embodiments provided in the present application, acquiring the steering operation instruction can include:

[0090] In step S201, the steering torque and the steering wheel speed in the current driving state are acquired based on the road feel simulator of the target vehicle.

[0091] In step S202, the steering operation instruction is generated according to the steering torque and the steering wheel speed of the target vehicle in the current driving state.

[0092] It should be noted that the road feel simulator is a key component in the steer-by-wire system, and its role is to simulate the road feedback force that the driver feels through the steering wheel in the traditional steering system. In the steer-by-wire system, due to the lack of physical connection, the driver cannot directly feel the interaction between the wheels and the road, which may affect the driver's perception and control of the vehicle state. Specifically, the road feel simulator can generate force feedback through electronics, so that the driver can feel the corresponding resistance or vibration when turning the steering wheel. In addition, the road feel simulator can also simulate real road feedback to improve the driving experience of the driver, so that they can more accurately perceive the dynamic behavior of the vehicle. The road feel simulator is usually composed of sensors, actuators, controllers and software algorithms. The sensors are used to detect the driver's operation on the steering wheel, including the steering angle, angular velocity, etc. The actuators receive signals from the controller and convert them into mechanical force, which is fed back to the driver through the steering wheel. The controller calculates and adjusts the size and characteristics of the feedback force according to the real-time data of the vehicle and the operation of the driver. The software algorithm is used to simulate the feedback force under various road conditions, including friction coefficient, road roughness, etc. Based on this, in the embodiments of the present application, the steering torque and the steering wheel speed in the current driving state can be acquired based on the road feel simulator of the target vehicle, and then the steering operation instruction is generated according to the steering torque and the steering wheel speed of the target vehicle in the current driving state.

[0093] In some more specific embodiments, the steering operation instruction can also be represented by the motor speed, the operation steering angle and the operation steering speed transmitted by the road feel simulator through the bus.

[0094] With reference to Figure 3According to some embodiments provided in the present application, acquiring the steering gear state information can include:

[0095] In step S301, the steering gear state of the target vehicle is collected, and the actual steering angle and the actual steering speed of the steering gear are acquired.

[0096] In step S302, the steering gear state information is generated according to the actual steering angle and the actual steering speed of the steering gear.

[0097] It should be noted that the steering gear state information is used to reflect the actual working state of the steering gear on the target vehicle, that is, the steering gear execution state. The steering gear execution state refers to the actual steering operation state of the steering gear in the steer-by-wire system according to the steering operation instruction of the driver. This state can include the current position, speed and other related dynamic parameters of the steering gear, which collectively reflect the response and execution of the steering gear to the steering operation instruction of the driver.

[0098] During steering, the steering gear state of the target vehicle needs to be collected, such as the actual steering angle and the actual steering speed, so as to generate the steering gear state information according to the actual steering angle and the actual steering speed of the steering gear. It should be noted that the steering gear state information is crucial for steer-by-wire, because they provide direct feedback on the actual performance of the steering gear. The steering gear state information can indicate the accuracy and efficiency of the current steering execution, and judge whether there is deviation or need for adjustment.

[0099] In some embodiments of the present application, the monitoring and analysis of the steering gear execution state enable the steer-by-wire system to achieve closed-loop control. The system compares the actual execution state collected with the steering operation instruction of the driver and the preset position tracking control parameters, and calculates the necessary adjustment amount. These adjustment amounts can be converted into specific control instructions by the steering gear execution control calculation module, and sent to the steering execution mechanism, such as the motor, to adjust its working state, so as to ensure that the steering gear can accurately track the steering intention of the driver. In addition, real-time monitoring of the steering gear execution state also helps the system to perform fault diagnosis and safety monitoring. If the system detects a significant deviation between the execution state and the expectation, it may trigger an alarm or safety mechanism to prevent potential driving risks. In this way, accurate monitoring and analysis of the steering gear execution state plays a core role in improving the reliability, safety and responsiveness of the steer-by-wire system.

[0100] In step S102 of some embodiments, a steering operation state coefficient is determined by performing steering operation analysis on the steering operation instruction. It should be noted that the steering operation instruction can reflect the steering intention of the driver for the target vehicle, and therefore, by performing steering operation analysis on the steering operation instruction, the steering operation state coefficient for characterizing the steering intention can be obtained as an influencing factor for steering tracking calculation.

[0101] In some more specific embodiments, before performing steering operation analysis on the steering operation instruction, the steering operation instruction can also be pre-processed, such as noise filtering processing on the steering operation instruction based on the original signal of the steering system, so that the steering operation instruction is smoother.

[0102] Referring to Figure 4 According to some embodiments provided in the present application, step S102 of performing steering operation analysis on the steering operation instruction to determine the steering operation state coefficient can include:

[0103] In step S401, a torque state parameter is determined based on the steering torque and the predetermined maximum steering torque.

[0104] In step S402, a speed state parameter is determined based on the steering wheel speed and the predetermined maximum steering wheel speed.

[0105] In step S403, the torque state parameter and the speed state parameter are integrated to determine the steering operation state coefficient.

[0106] It should be noted that the steering torque, the steering wheel speed, the maximum steering torque, and the maximum steering wheel speed mentioned in the embodiments of the present application are key parameters for evaluating and calculating the steering operation state coefficient. Among them:

[0107] The steering torque refers to the torque exerted by the driver on the steering wheel, which is transmitted to the steering gear through the steering system, and then affects the steering angle of the wheels. It is a physical quantity for measuring the steering intention of the driver, which is usually proportional to the rotation angle and the force exerted on the steering wheel.

[0108] The steering wheel speed describes the speed at which the driver turns the steering wheel, i.e., the angle of the steering wheel turned per unit time. This parameter reflects the speed at which the driver performs the steering operation, and high speed may indicate that the driver needs to respond quickly, such as emergency avoidance, while low speed may indicate smooth driving.

[0109] The maximum steering torque refers to the maximum torque that a driver can exert on the steering wheel, which is usually determined by the design of the vehicle and serves as a preset upper limit. For example, the maximum steering torque mentioned in some embodiments of the present application can be 8 Nm, which is used to ensure that the steering system can work normally under extreme conditions and prevent the system from being damaged due to excessive torque.

[0110] The maximum steering wheel speed refers to the maximum speed that the steering wheel can reach, which is also a preset upper limit used to limit the rotation speed of the steering wheel and ensure the safety and controllability of the steering operation. For example, the maximum steering wheel speed mentioned in some embodiments of the present application can be 1000° / s, which helps to avoid vehicle instability or loss of control due to excessive speed.

[0111] Among these parameters, the torque state parameter needs to be determined based on the steering torque and the predetermined maximum steering torque, and the speed state parameter needs to be determined based on the steering wheel speed and the predetermined maximum steering wheel speed. In this way, the steering operation state coefficient can be determined by integrating the torque state parameter and the speed state parameter. The steering operation state coefficient can be further used to adjust the position tracking control parameters of the steering gear to ensure that the steering system can quickly and accurately respond to the driver's operation and provide precise steering control.

[0112] Referring to Figure 5 According to some embodiments provided by the present application, step S401 of determining the torque state parameter based on the steering torque and the predetermined maximum steering torque can include:

[0113] Step S501 determines the torque state parameter based on the ratio of the steering torque and the predetermined maximum steering torque.

[0114] In some embodiments, the steering torque is represented as , and the predetermined maximum steering torque is represented as . On this basis, the torque state parameter is determined based on the ratio of the steering torque and the predetermined maximum steering torque as .

[0115] Step S402 determines the speed state parameter based on the steering wheel speed and the predetermined maximum steering wheel speed, which can include:

[0116] Step S502 determines the speed state parameter based on the ratio of the steering wheel speed and the predetermined maximum steering wheel speed.

[0117] In some embodiments, the steering wheel speed is represented as , and the predetermined maximum steering wheel speed is represented as . On this basis, the speed state parameter is determined based on the ratio of the steering wheel speed and the predetermined maximum steering wheel speed as .

[0118] In step S403, the torque state parameter and the rotation speed state parameter are integrated to determine the steering operation state coefficient, which can include:

[0119] In step S503, the sum of the torque state parameter and the rotation speed state parameter is determined as the steering operation state coefficient.

[0120] In some embodiments, the torque state parameter and the rotation speed state parameter may be added to obtain the steering operation state coefficient , which is expressed as:

[0121]

[0122] In step S103 of some embodiments, the instruction transmission information is parsed according to the steering operation instruction and the instruction transmission information to determine the message transmission state coefficient. It should be emphasized that the instruction transmission information is the information corresponding to the transmission of the steering operation instruction in the bus. Therefore, the transmission of the steering operation instruction in the bus of the target vehicle is subject to the constraints of the instruction transmission information. Therefore, on this basis, the instruction transmission information is parsed according to the steering operation instruction and the instruction transmission information, and the message transmission state coefficient reflecting the bus signal transmission state can be obtained, which is used as another influencing factor for steering tracking calculation.

[0123] Referring to Figure 6 , according to some embodiments provided by the present application, the instruction transmission information includes at least one instruction transmission period corresponding to the steering operation instruction in the instruction transmission time slot, and step S103 parses the instruction transmission information according to the steering operation instruction and the instruction transmission information to determine the message transmission state coefficient, which can include:

[0124] In step S601, the transmission period average is determined according to each instruction transmission period in the instruction transmission time slot.

[0125] In step S602, the message state coefficient is calculated according to the transmission period average and the preset standard transmission period.

[0126] It is to be noted that the instruction transmission time interval is the corresponding time interval when the steering operation instruction is transmitted in the bus of the target vehicle. At least one instruction transmission period is included in the instruction transmission time interval, and the steering operation instruction can be transmitted following the instruction transmission period. The transmission period mean is the average of each instruction transmission period within the instruction transmission time interval. In other words, it calculates the average of the time required for the steering operation instruction to be transmitted from the sender to the receiver within a number of transmission periods. It should be understood that the transmission period mean can reflect the real-time performance of bus message transmission and is an important indicator for determining whether the communication system can work as expected. The standard transmission period is a pre-set ideal value representing the transmission period that the message should have under ideal conditions, and is usually set based on the requirements and performance standards of the system. The standard transmission period is a benchmark for evaluating whether the bus message transmission meets the design specifications and is used for comparison with the actual transmission period mean. For example, the standard transmission period mentioned in the embodiments of the present application can be 2ms.

[0127] In the embodiments of the present application, if the transmission period mean deviates little from the standard transmission period, it indicates that the bus communication state is good and there is no significant delay or advance in the transmission process of the steering operation instruction. On the contrary, if the transmission period mean deviates significantly from the standard transmission period, it may indicate that there is a communication problem, such as network delay or packet loss, which can affect the real-time performance and accuracy of the steering operation instruction.

[0128] In order to quantify the bus communication state, the embodiments of the present application need to perform message state calculation on the transmission period mean and the pre-set standard transmission period to determine the message transmission state coefficient, which aims to represent the bus communication state through the message transmission state coefficient. It should be clear that the message transmission state coefficient can reflect the efficiency and stability of bus message transmission and is one of the bases for dynamically adjusting the control parameters of the steering system. Through monitoring and analysis of the transmission period mean and the standard transmission period, the steer-by-wire system can optimize its performance in real time to ensure the fast and accurate execution of the steering operation instruction, thereby improving the safety of driving and the maneuverability of the vehicle.

[0129] According to some embodiments provided by the present application, performing message state calculation on the transmission period mean and the pre-set standard transmission period to determine the message transmission state coefficient can include:

[0130] Determining the period ratio of the transmission period mean and the standard transmission period, and determining the period ratio as the message transmission state coefficient.

[0131] In some embodiments, the transmission period mean is represented as , and the standard transmission period is represented as Therefore, the period ratio of the transmission period mean and the standard transmission period is determined, and the period ratio is determined as the message transmission state coefficient , which can be represented as:

[0132]

[0133] In step S104 of some embodiments, steering tracking calculation is performed based on the steering operation state coefficient and the message transmission state coefficient to obtain position tracking control parameters. It should be noted that the position tracking control parameters can help the drive-by-wire steering system accurately track the steering operation instructions given by the driver through the steering wheel in the drive-by-wire control. These position tracking control parameters can be dynamically adjusted according to real-time data of the steering operation to ensure the accuracy of steering execution. In addition, the drive-by-wire steering system of the target vehicle can dynamically adjust these position tracking control parameters according to the steering intention of the driver and the real-time state of the vehicle (such as vehicle speed, road conditions, etc.) to optimize the steering response. For example, the response sensitivity may need to be reduced when driving at high speed, while the sensitivity may need to be increased when driving at low speed or parking. On the other hand, by adjusting the position tracking control parameters in real time, the system can improve the performance of steering execution, including improving the execution accuracy, reducing the lag time, and ensuring the smoothness of steering action.

[0134] It should be emphasized that the steering operation state coefficient is used to represent the steering intention, which is used as one of the influencing factors of the steering tracking calculation, and the message transmission state coefficient is used to reflect the bus signal transmission state, which is used as another influencing factor of the steering tracking calculation. In the embodiments of the present application, the steering tracking calculation is performed based on the steering operation state coefficient and the message transmission state coefficient, which comprehensively considers the steering intention of the driver and the bus signal transmission state to obtain the most suitable position tracking control parameters for controlling the target vehicle to perform drive-by-wire steering operation.

[0135] Referring to Figure 7 According to some embodiments provided by the present application, the position tracking control parameters include a steering angle control parameter and a steering speed control parameter, and step S104 of performing steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain the position tracking control parameters can include:

[0136] In step S701, the reference steering angle control parameter and the reference steering speed control parameter of the target vehicle are obtained.

[0137] In step S702, the steering angle control parameter is obtained by performing a multiplication calculation on the reference steering angle control parameter, the steering operation state coefficient, and the message transmission state coefficient.

[0138] In step S703, the steering speed control parameter is obtained by performing a multiplication calculation on the reference steering speed control parameter, the steering operation state coefficient, and the message transmission state coefficient.

[0139] It should be noted that the reference rotation angle control parameter refers to a reference parameter for controlling rotation angle tracking, and the reference rotation speed control parameter refers to a reference parameter for controlling rotation speed tracking. After the reference rotation angle control parameter and the reference rotation speed control parameter of the target vehicle are obtained, the reference rotation angle control parameter, the steering operation state coefficient, and the message transmission state coefficient can be multiplied to obtain the rotation angle control parameter. In addition, the reference rotation speed control parameter, the steering operation state coefficient, and the message transmission state coefficient can also be multiplied to obtain the rotation speed control parameter.

[0140] In some embodiments, the reference rotation angle control parameter can be represented as , and the reference rotation speed control parameter can be represented as . In addition, the transmission state coefficient can be represented as , and the operation state coefficient can be represented as .

[0141] On this basis, the reference rotation angle control parameter , the steering operation state coefficient , and the message transmission state coefficient are multiplied to obtain the rotation angle control parameter , which can be represented as:

[0142]

[0143] The reference rotation speed control parameter , the steering operation state coefficient , and the message transmission state coefficient are multiplied to obtain the rotation speed control parameter , which can be represented as:

[0144]

[0145] In step S105 of some embodiments, the target vehicle is controlled to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter. It should be emphasized that the steering gear state information is used to reflect the actual working state of the steering gear on the target vehicle, the steering operation instruction is an instruction formed by the target vehicle in response to the steering operation issued by the driver, and the position tracking control parameter integrates the steering intention of the driver and the bus signal transmission state. Therefore, based on the steering gear state information, the steering operation instruction, and the position tracking control parameter, the target vehicle is controlled to perform the steer-by-wire operation, which can improve the steering accuracy and response speed of the target vehicle when performing the steer-by-wire operation.

[0146] Referring to Figure 8According to some embodiments provided in the present application, the step S105 of controlling the target vehicle to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction and the position tracking control parameter can include:

[0147] The step S801 of performing steering control calculation based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the steering speed control parameter to obtain a control execution parameter;

[0148] The step S802 of controlling the target vehicle to perform the steer-by-wire operation based on the control execution parameter.

[0149] The control execution parameter mentioned in the embodiments of the present application is used to represent the target state required by the steer-by-wire operation, for example, the specific steering angle and the steering speed that the steer-by-wire system hopes the wheels to reach. It should be understood that the control execution parameter is obtained based on the steering operation instruction of the driver, the steering gear state information, the steering angle control parameter and the steering speed control parameter. Among them, the control execution parameter is crucial to the performance of the steer-by-wire system, which not only affects the maneuverability and stability of the target vehicle, but also directly relates to the safety and comfort of driving. By accurately calculating and real-time adjusting the control execution parameter, the steer-by-wire system can intelligently respond to every steering operation instruction of the driver, while considering the real-time state of the vehicle and the external environmental conditions, to ensure the smoothness and safety of the driving process.

[0150] Referring to Figure 9 According to some embodiments provided in the present application, the steering gear state information includes the actual steering angle and the actual steering speed of the target vehicle in the current driving state, and the step S801 of performing steering control calculation based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the steering speed control parameter to obtain a control execution parameter can include:

[0151] The step S901 of performing steering intention analysis based on the steering operation instruction to determine the target steering angle and the target following steering speed of the target vehicle;

[0152] The step S902 of performing execution parameter calculation based on the steering angle control parameter, the steering speed control parameter, the target steering angle, the target following steering speed and the actual steering angle to obtain a control execution parameter.

[0153] It is emphasized that the steering operation instruction is the instruction formed by the target vehicle in response to the steering operation instruction issued by the driver. In addition, the steering gear state information is used to reflect the actual working state of the steering gear on the target vehicle, that is, the steering gear execution state. The steering gear execution state refers to the state of the actual steering operation of the steering gear in the steer-by-wire system according to the steering operation instruction of the driver. This state can include the current position, speed and other related dynamic parameters of the steering gear, which together reflect the response and execution of the steering gear to the steering operation instruction of the driver. Among them, the steering gear state information can include the actual steering angle and the actual steering speed of the target vehicle in the current driving state.

[0154] The target steering angle, the actual steering angle and the target follow-up steering speed mentioned in the embodiments of the present application are key parameters for ensuring accurate steering control in the steer-by-wire system, which are used to guide the adjustment of the steer-by-wire.

[0155] The target steering angle refers to the ideal steering angle calculated by the target vehicle according to the steering operation instruction of the driver. This steering angle is the angle that the driver expects the wheels to reach in order to achieve the expected steering effect. It is obtained by analyzing the steering operation instruction of the driver, such as the steering wheel rotation angle, steering torque and steering wheel speed, etc. Therefore, the determination of the target steering angle can be obtained by analyzing the steering intention of the steering operation instruction. It needs to be clear that the steering intention analysis is a function of the steer-by-wire, which enables the target vehicle to intelligently identify and predict the steering behavior of the driver. The steering intention analysis needs to identify the key features of the steering behavior, such as the steering amplitude, speed and acceleration, etc. from the steering operation instruction through feature extraction technology. Using these features, machine learning algorithms or rule-based methods can be used to identify the steering mode of the driver, learn the steering habits of the driver in different road conditions, and thus predict the steering behavior of the driver. In some embodiments, the steering intention analysis not only analyzes the current steering operation of the driver, but also combines historical data and the operation mode of the driver, and through real-time monitoring and closed-loop feedback mechanism, the prediction of the steering intention of the driver is continuously optimized, so as to obtain the corresponding target steering angle.

[0156] The actual steering angle is the actual angle of the current wheel relative to a certain reference point (such as a line perpendicular to the forward direction of the vehicle). This parameter is measured in real time by a sensor on the steering gear, reflecting the current steering state of the wheel.

[0157] The target follow-up steering speed refers to the ideal speed of the wheel calculated by the target vehicle during steering, which corresponds to the target steering angle, ensuring accurate target steering angle within a given time. The setting of the target follow-up steering speed considers the smoothness and response speed of steering to adapt to the operation intention of the driver and the dynamic behavior of the vehicle.

[0158] During the execution of the online steering control, the target vehicle continuously compares the difference between the target steering angle and the actual steering angle, as well as the difference between the target following steering speed and the actual steering speed. Through such comparison, it can be determined whether the control instruction of the steering execution mechanism needs to be adjusted to reduce the deviation and ensure that the steering action of the wheels is consistent with the intention of the driver. For example, if the actual steering angle lags behind the target steering angle, the system will increase the speed of the motor to speed up the steering speed of the wheels; conversely, if the actual steering angle exceeds the target steering angle, the system will be adjusted accordingly to ensure accurate control.

[0159] Therefore, the steering control calculation of the steering state information, the steering operation instruction, the steering angle control parameter and the steering speed control parameter is crucial to the performance of the online steering control system, and they work together to ensure the accuracy, responsiveness and safety of the steering operation.

[0160] Reference Figure 10 According to some embodiments provided by the present application, the step S902 performs execution parameter calculation based on the steering angle control parameter, the steering speed control parameter, the target steering angle, the target following steering speed and the actual steering angle to obtain the control execution parameter, which can include:

[0161] Step S1001, according to the target steering angle and the actual steering angle, determine the steering angle deviation data;

[0162] Step S1002, according to the product of the steering angle control parameter and the steering angle deviation data, determine the first control factor;

[0163] Step S1003, according to the product of the steering speed control parameter and the target following steering speed, determine the second control factor;

[0164] Step S1004, according to the sum of the first control factor and the second control factor, determine the control execution parameter.

[0165] In some embodiments, according to the target steering angle and the actual steering angle , the steering angle deviation data can be expressed as: .

[0166] In some embodiments, according to the product of the steering angle control parameter and the steering angle deviation data , the first control factor can be expressed as: .

[0167] In some embodiments, according to the product of the steering speed control parameter and the target following steering speed , the second control factor can be expressed as: .

[0168] In some embodiments, the control execution parameter is determined according to a sum of the first control factor and the second control factor may be expressed as:

[0169]

[0170] With reference to Figure 11 , the steer-by-wire system provided by the embodiments of the present application can include:

[0171] A steering operation instruction receiving module 1101 is configured to acquire a steering gear state information of a target vehicle in a current driving state, a steering operation instruction, and instruction transmission information corresponding to the steering operation instruction.

[0172] A steering operation instruction analyzing module 1102 is configured to analyze the steering operation instruction to determine a steering operation state coefficient.

[0173] A message transmission state analyzing module 1103 is configured to analyze the instruction transmission according to the steering operation instruction and the instruction transmission information to determine a message transmission state coefficient.

[0174] A position tracking parameter calculating module 1104 is configured to perform steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter.

[0175] A steering execution module 1105 is configured to control the target vehicle to perform the steer-by-wire operation based on the steering gear state information, the steering operation instruction, and the position tracking control parameter.

[0176] With reference to Figure 12 , Figure 12 a hardware structure of an electronic device of another embodiment is illustrated, which includes:

[0177] A processor 1201 can be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the embodiments of the present application.

[0178] ​The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM), etc. The memory 1202 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1202 and are called and executed by the processor 1201 to implement the drive-by-wire steering method of the embodiments of the present application;

[0179] The input / output interface 1203 is configured to realize information input and output.

[0180] The communication interface 1204 is configured to realize the communication interaction between the device and other devices. The communication can be realized by a wired manner (for example, a USB, a network cable, etc.) or a wireless manner (for example, a mobile network, WIFI, Bluetooth, etc.).

[0181] The bus 1205 is configured to transmit information between various components (for example, the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204) of the device.

[0182] The processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204 are connected to each other through the bus 1205 to realize the communication connection between the devices.

[0183] The embodiments of the present application also provide a vehicle, which comprises the drive-by-wire steering method of any one of the above and is equipped with the drive-by-wire steering system provided by the embodiments of the present application. Specifically, the vehicle can be an oil 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.

[0184] Specifically, the vehicle provided by the embodiments of the present application can be an oil 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.

[0185] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the drive-by-wire steering method described above.

[0186] It can be understood that the contents in the embodiments of the above drive-by-wire steering method are applicable to the present storage medium embodiment. The present storage medium embodiment specifically implements the same functions as the above method embodiments and achieves the same beneficial effects as the above method embodiments.

[0187] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely from the processor, which can be connected to the processor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0188] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0189] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0190] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0191] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0192] The terms "first", "second", "third", "fourth" and the like used in the specification of the present application and the above-described drawings, if any, are used to distinguish similar objects, and do not necessarily have to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0193] It should be understood that, in the application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B, and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, which can include any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, and c can be single or multiple.

[0194] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, multiple 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 units can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0195] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0196] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, 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.

[0197] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, 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 can include multiple instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods of the various 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 program storage media.

[0198] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and are not limited to the scope of the embodiments of the present application. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the embodiments of the present application.

Claims

1. A steer-by-wire method, characterized by, The method comprises the following steps: Step S101, obtaining the steering gear state information of the target vehicle in the current driving state, the steering operation instruction and the instruction transmission information corresponding to the steering operation instruction; wherein the steering gear state information comprises the actual steering angle and the actual steering speed of the target vehicle in the current driving state, and the instruction transmission information comprises at least one instruction transmission period corresponding to the steering operation instruction in the instruction transmission time slot; Step S101 comprises: based on the road feeling simulator of the target vehicle, obtaining the steering torque and the steering wheel speed in the current driving state, and generating the steering operation instruction according to the steering torque and the steering wheel speed of the target vehicle in the current driving state; Step S102, steering operation analysis is performed on the steering operation instruction to determine a steering operation state coefficient; Step S102 comprises: based on the steering torque and the predetermined maximum steering torque, a torque state parameter is determined, based on the steering wheel speed and the predetermined maximum steering wheel speed, a speed state parameter is determined, the torque state parameter and the speed state parameter are integrated, and a steering operation state coefficient is determined; Step S103, instruction transmission analysis is performed according to the steering operation instruction and the instruction transmission information to determine a message transmission state coefficient; Step S103 comprises: according to each instruction transmission period in the instruction transmission time slot, a transmission period average is determined, a message state calculation is performed on the transmission period average and a preset standard transmission period, and the message transmission state coefficient is determined; Step S104, based on the steering operation state coefficient and the message transmission state coefficient, a position tracking control parameter is obtained through steering tracking calculation; wherein the position tracking control parameter comprises a steering angle control parameter and a speed control parameter; Step S105, based on the steering gear state information, the steering operation instruction and the position tracking control parameter, the target vehicle is controlled to perform a steer-by-wire operation; Step S105 comprises: based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the speed control parameter, a steering control calculation is performed to obtain a control execution parameter, and based on the control execution parameter, the target vehicle in the current driving state is controlled to perform the steer-by-wire operation.

2. The method of claim 1, wherein, The message state calculation performed on the transmission period average and the preset standard transmission period to determine the message transmission state coefficient comprises: determining the period ratio of the transmission period average and the standard transmission period, and determining the period ratio as the message transmission state coefficient.

3. The method of claim 1, wherein, The determination of the torque state parameter based on the steering torque and the predetermined maximum steering torque comprises: determining the torque state parameter based on the ratio of the steering torque and the predetermined maximum steering torque; The determination of the speed state parameter based on the steering wheel speed and the predetermined maximum steering wheel speed comprises: determining the speed state parameter based on the ratio of the steering wheel speed and the predetermined maximum steering wheel speed; The torque state parameter and the rotating speed state parameter are integrated to determine a steering operation state coefficient, including: The sum of the torque state parameter and the rotating speed state parameter is determined as the steering operation state coefficient.

4. The method of claim 1, wherein, The steering tracking calculation is performed based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter, including: A reference steering angle control parameter and a reference rotating speed control parameter of the target vehicle are obtained; The reference steering angle control parameter, the steering operation state coefficient and the message transmission state coefficient are multiplied to obtain the steering angle control parameter; The reference rotating speed control parameter, the steering operation state coefficient and the message transmission state coefficient are multiplied to obtain the rotating speed control parameter.

5. The method of claim 1, wherein, The steering control calculation is performed based on the steering gear state information, the steering operation instruction, the steering angle control parameter and the rotating speed control parameter to obtain a control execution parameter, including: The steering intention analysis is performed based on the steering operation instruction to determine a target steering angle and a target following steering speed of the target vehicle; The execution parameter calculation is performed based on the steering angle control parameter, the rotating speed control parameter, the target steering angle, the target following steering speed and the actual steering angle to obtain the control execution parameter.

6. The method of claim 5, wherein, The execution parameter calculation is performed based on the steering angle control parameter, the rotating speed control parameter, the target steering angle, the target following steering speed and the actual steering angle to obtain the control execution parameter, including: The steering angle deviation data is determined according to the target steering angle and the actual steering angle; The first control factor is determined according to the product of the steering angle control parameter and the steering angle deviation data; The second control factor is determined according to the product of the rotating speed control parameter and the target following steering speed; The control execution parameter is determined according to the sum of the first control factor and the second control factor.

7. The method of claim 1, wherein, The steering gear state information is obtained, including: The actual steering angle and the actual steering speed of the steering gear of the target vehicle are collected to obtain the steering gear state information; The steering gear state information is generated according to the actual steering angle and the actual steering speed of the steering gear.

8. A steer-by-wire system characterized by, The steer-by-wire system for performing the steer-by-wire method of any one of claims 1 to 7, including: A steering operation instruction receiving module is configured to obtain steering gear state information of a target vehicle in a current driving state, a steering operation instruction and instruction transmission information corresponding to the steering operation instruction; A steering operation instruction analyzing module is configured to analyze the steering operation instruction to determine a steering operation state coefficient; A message transmission state analyzing module is configured to analyze the steering operation instruction and the instruction transmission information to determine a message transmission state coefficient; A position tracking parameter calculating module is configured to perform steering tracking calculation based on the steering operation state coefficient and the message transmission state coefficient to obtain a position tracking control parameter; A steering execution module is configured to control the target vehicle to perform steer-by-wire operation based on the steering state information, the steering operation instruction and the position tracking control parameter.

9. A vehicle characterized by comprising: The application further provides a vehicle comprising the steer-by-wire system. The vehicle stores a program which is executed to implement the steer-by-wire method according to any one of claims 1 to 7, and the vehicle is equipped with the steer-by-wire system according to claim 8.

10. An electronic device, comprising: The application further provides a computer program product comprising a computer program which is executed to implement the steer-by-wire method according to any one of claims 1 to 7. The application further provides a storage medium which stores a program which is executed by a processor to implement the steer-by-wire method according to any one of claims 1 to 7.

11. A computer readable storage medium, characterized in that, ​

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