Vehicle control method, vehicle and computer readable storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a computer readable storage medium, and relates to the technical field of vehicle control, the method comprises the steps that a factory mode for enabling a steering wheel to rotate along with steering of steering wheels is additionally set for a steer-by-wire system, and after the factory mode is started, the steering wheel rotates along with steering of the steering wheels; the vehicle with the steer-by-wire system can also be like a vehicle with a mechanical steering system, a steering wheel of the vehicle with the steer-by-wire system can also rotate along with steering of the steering wheels under the condition that the steering wheels are subjected to external force to steer, the adaptive capacity of the vehicle to production conditions can be improved, and the production efficiency of the vehicle is improved. The situation that a vehicle with a steer-by-wire system cannot carry out certain production work can be avoided, and the inclusiveness of the production capacity of a current production line is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, a vehicle and a computer-readable storage medium in the field of vehicle control technology. Background Art

[0002] Since the steer-by-wire system removes the mechanical connection between the steering wheel and the steering actuator, when the steering wheel (such as the front wheel) is turned by external force, the steering wheel cannot turn to follow the steering wheel, resulting in the vehicle being unable to carry out some production work (such as four-wheel alignment), reducing the vehicle's ability to adapt to production conditions. Summary of the invention

[0003] The present application provides a vehicle control method, a vehicle and a computer-readable storage medium. The present application can ensure that the steering wheel in a vehicle with a wire-controlled steering system rotates following the steering of the steering wheel, thereby improving the vehicle's adaptability to production conditions.

[0004] In a first aspect, a vehicle control method is provided, which is applied to a vehicle with a wire-controlled steering system, the wire-controlled steering system including a hand feel simulator and a steering actuator, the vehicle having a factory mode, and when the factory mode is turned on, the hand feel simulator controls the steering wheel based on a steering wheel control signal sent by the steering actuator so that the steering wheel rotates following the steering of the steering wheel, the vehicle control method including: determining whether the conditions for turning on the factory mode are met; if so, turning on the factory mode; if not, turning off the factory mode.

[0005] The embodiment of the present application additionally provides a factory mode for the steer-by-wire system to allow the steering wheel to rotate in accordance with the steering of the steering wheel. After the factory mode is turned on, the vehicle with the steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheel is turned by external force, the steering wheel of the vehicle with the steer-by-wire system can also rotate in accordance with the steering of the steering wheel. This is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where the vehicle with the steer-by-wire system is unable to carry out certain production work, and improves the inclusiveness of the production capacity of the current production line.

[0006] In one possible implementation, when the factory mode is turned on, the vehicle control method also includes: a. controlling the hand feel simulator to stop sending a steering wheel angle signal to the steering actuator; or, b. controlling the steering actuator to stop receiving the steering wheel angle signal sent by the hand feel simulator; or, c. controlling the steering actuator not to respond to the steering wheel angle signal sent by the hand feel simulator.

[0007] The above-mentioned a, b and c each belong to a method of preventing the steering actuator controller in the steering actuator from responding to the steering wheel angle signal, which improves the flexibility of prohibiting the steering actuator controller in the steering actuator from responding to the steering wheel angle signal, and can avoid the steering actuator controller from responding to the steering wheel angle signal due to misoperation when the factory mode is turned on.

[0008] In one possible implementation, when the factory mode is turned on, the vehicle control method also includes: controlling the steering actuator motor in the steering actuator to stop outputting torque, thereby avoiding the torque output by the steering actuator motor from preventing the steering wheel from turning during the vehicle four-wheel alignment work, which is beneficial to ensure the smooth progress of the four-wheel alignment work.

[0009] In one possible implementation, when the factory mode is turned on, the vehicle control method also includes: d. using the actual rack position of the rack in the steering actuator as the steering wheel control signal; or, e. if the preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, f. using the actual steering angle as the steering wheel control signal; or, using the preset steering wheel angle corresponding to the actual rack position and the actual steering angle as the steering wheel control signal.

[0010] The above d, e and f all belong to a method of generating a steering wheel control signal, which makes the method of generating a steering wheel control signal more flexible, and is conducive to improving the flexibility of the steering wheel in following the steering of the steering wheel to perform rotation control.

[0011] In one possible implementation, when the factory mode is turned on, the vehicle control method also includes: determining whether a preset steering wheel angle corresponding to the actual steering angle of the steering wheel is consistent with the actual steering wheel angle; if not, controlling the steering wheel to continue rotating so that the actual steering wheel angle reaches the preset steering wheel angle, thereby ensuring that the steering wheel angle of the steering wheel is aligned with the rack position and the steering angle of the steering wheel while the steering wheel is rotating following the steering of the steering wheel, that is, when the steering wheel is turning following the rotation of the steering wheel, the corresponding relationship between the steering wheel angle of the steering wheel and the rack position and the steering angle of the steering wheel is consistent.

[0012] In one possible implementation, controlling the steering wheel to continue rotating includes: determining the target output torque of the tactile motor in the tactile simulator based on a target difference; wherein the target difference is the difference between a preset steering wheel angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel angle; and adjusting the actual output torque of the tactile motor based on the target output torque so that the tactile motor controls the steering wheel to continue rotating.

[0013] In a possible implementation, the activation condition includes at least one of the following: Condition 1: when the vehicle is stationary, it is detected that the vehicle is placed on a four-wheel alignment device; Condition 2: when the vehicle is stationary, it is detected that the factory mode switch is triggered; Condition 3: when the vehicle is stationary, a request signal for activation of the factory mode is received from an external device.

[0014] By setting the above three conditions, the flexibility of starting the factory mode is improved. The third condition, as the condition for starting the factory mode, can prevent the user from accidentally starting the factory mode, which is beneficial to improving the safety of the user's car.

[0015] In one possible implementation, if the activation condition is that when the vehicle is in a stationary state, a activation request signal for the factory mode sent by an external device is received, the vehicle control method further includes: upon detecting that an interruption of the activation request signal sent by the external device occurs, turning off the factory mode; and controlling the steering actuator to respond to the steering wheel angle signal sent by the hand feel simulator.

[0016] In a second aspect, a vehicle control device is provided, which is applied to a vehicle having a wire-controlled steering system, wherein the wire-controlled steering system includes a hand feel simulator and a steering actuator, and the vehicle has a factory mode. When the factory mode is turned on, the hand feel simulator controls the steering wheel based on a steering wheel control signal sent by the steering actuator, so that the steering wheel rotates following the steering of the steering wheel, and the vehicle control device includes: A condition judgment module, used to judge whether the opening condition of the factory mode is met; The mode control module is used to enable the factory mode when the enabling conditions of the factory mode are met.

[0017] In a possible implementation, the vehicle control device further includes: A signal control unit is used to control the hand feel simulator to stop sending a steering wheel angle signal to the steering actuator when the factory mode is turned on; or, to control the steering actuator to stop receiving the steering wheel angle signal sent by the hand feel simulator; or, to control the steering actuator not to respond to the steering wheel angle signal sent by the hand feel simulator.

[0018] In a possible implementation, the vehicle control device further includes: The motor control unit is used to control the steering actuator motor in the steering actuator to stop outputting torque when the factory mode is turned on.

[0019] In a possible implementation, the vehicle control device further includes: A signal generating unit is used to use the actual rack position of the rack in the steering actuator as the steering wheel control signal when the factory mode is turned on; or, if a preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, use the actual steering angle as the steering wheel control signal; or, use a preset steering wheel angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0020] In a possible implementation, the vehicle control device further includes: The correction unit is used to determine whether the preset steering wheel angle corresponding to the actual steering angle of the steering wheel is consistent with the actual steering wheel angle when the factory mode is turned on; if not, control the steering wheel to continue to rotate so that the actual steering wheel angle reaches the preset steering wheel angle.

[0021] In one possible implementation, the correction unit is specifically used to determine the target output torque of the tactile motor in the tactile simulator according to the target difference; wherein the target difference is the difference between a preset steering wheel angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel angle; and the actual output torque of the tactile motor is adjusted according to the target output torque so that the tactile motor controls the steering wheel to continue rotating.

[0022] In a possible implementation, the activation condition includes at least one of the following: when the vehicle is stationary, detecting that the vehicle is placed on a four-wheel alignment device; when the vehicle is stationary, detecting that the factory mode switch is triggered; when the vehicle is stationary, receiving a request signal for activation of the factory mode sent by an external device.

[0023] In one possible implementation, if the activation condition is that when the vehicle is in a stationary state, a activation request signal for the factory mode sent by an external device is received, the mode control module is further used to turn off the factory mode upon detecting that the activation request signal sent by the external device is interrupted; and control the steering actuator to respond to the steering wheel angle signal sent by the hand feel simulator.

[0024] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method in the first aspect or any possible implementation of the first aspect.

[0025] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0026] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Shows the structural diagram of the traditional mechanical steering system Figure 2 Schematic diagram showing a scenario of four-wheel alignment for a vehicle with a traditional mechanical steering system Figure 3 shows a schematic structural diagram of a steer-by-wire system; Figure 4 A schematic flow chart of a vehicle control method provided in an embodiment of the present application is shown; Figure 5 A control principle block diagram of a steering control system provided in an embodiment of the present application is shown; Figure 6 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application is shown; Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0029] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0030] The following is an embodiment of a vehicle control method provided in this application specification.

[0031] like Figure 1 As shown, Figure 1 The schematic diagram of the structure of a conventional mechanical steering system is shown, and the conventional mechanical steering system includes a steering wheel 101, a steering column 104, a rack-and-pinion mechanism 105, and a steering wheel 102. The steering wheel 101 is mounted on the steering column 104, and the gear (worm gear) in the rack-and-pinion mechanism 105 is meshed with the rack in the rack-and-pinion mechanism 105. Normal steering process of a vehicle: after the steering wheel 101 is turned, the steering wheel 101 drives the steering column 104 to rotate, and the steering column 104 drives the gear in the rack-and-pinion mechanism 105 to rotate. When the gear in the rack-and-pinion mechanism 105 rotates, the rack in the rack-and-pinion mechanism 105 moves to the left or right, thereby realizing the steering wheel (for example, the front wheel) turning right or left, that is, realizing the vehicle turning right or left.

[0032] Because the traditional mechanical steering system realizes the steering control of the steering wheel by mechanical transmission, when the steering wheel 102 is acted upon by an external force and causes the steering wheel 102 to turn, the steering action of the steering wheel 102 is transmitted to the rack through the steering tie rod, and the rack moves in a straight line under the action of the steering tie rod. If the steering wheel 102 turns left, the rack moves right; if the steering wheel 102 turns right, the rack moves left. The linear motion of the rack will cause the gear in the rack-and-pinion mechanism 105 to rotate. When the gear in the rack-and-pinion mechanism 105 rotates, the gear will drive the steering column 104 to rotate. The rotational motion of the gear is transmitted to the steering wheel 101 through the steering column 104. The steering wheel 101 rotates passively under the action of the steering column 104 and rotates following the steering of the steering wheel 102. For example, under the action of an external force, the steering wheel 102 turns right, the rack moves left, and the steering wheel 101 rotates clockwise (i.e., turns right).

[0033] like Figure 2 As shown, Figure 2 The schematic diagram of the scene of four-wheel alignment of a vehicle with a traditional mechanical steering system is shown. 103 represents the rear wheel, 201-204 represent the four hubs of four four-wheel alignment devices, Figure 2 The left side of the picture shows the vehicle being aligned by the four-wheel alignment equipment. Figure 2 The right side of the figure shows that the hub 201 and the hub 202 rotate counterclockwise, the steering wheel 102 turns, and the steering wheel 101 rotates counterclockwise following the steering of the steering wheel 102. Four-wheel alignment is an important task in the vehicle production process, which aims to ensure that the four-wheel parameters of the vehicle (such as front wheel toe, rear wheel camber, etc.) are within the qualified range to avoid problems such as vehicle deviation and tire wear. The following is the specific operation process of four-wheel alignment: 1. Drive the vehicle onto the four-wheel alignment equipment Operation steps: Drive the vehicle onto the hub of the four-wheel alignment equipment and ensure that the vehicle is parked stably on the hub.

[0034] Purpose: To ensure that the vehicle is stable on the locator to facilitate subsequent operations.

[0035] 2. Start the hub to straighten the vehicle body Operation steps: Start the hub, and the hub will rotate. Align the vehicle body by rotating the wheel. After the vehicle body is aligned, the steering wheel is also aligned.

[0036] Purpose: To ensure that the vehicle body is in a level state and provide a reference for subsequent measurement and adjustment.

[0037] 3. After the steering wheel is straightened, install and fix the level on the steering wheel. Operation steps: Straighten the steering wheel and install the level to ensure that the steering wheel is in the center position.

[0038] Purpose: To ensure that the steering wheel is in the center position and provide a reference for subsequent measurements and adjustments.

[0039] 4. Adjust the four-wheel parameters Operation steps: For front wheel toe adjustment, it includes: adjusting the length of the steering tie rod to make the toe angle of the front wheel reach the qualified range. For rear wheel camber adjustment, it includes: adjusting the parameters of the rear suspension system to make the camber angle of the rear wheel reach the qualified range. For other parameter adjustments, it includes: adjusting other four-wheel parameters as needed, such as the kingpin inclination angle, kingpin caster angle, etc.

[0040] Purpose: To ensure that the four-wheel parameters of the vehicle are within the qualified range, and to avoid problems such as vehicle deviation and tire wear.

[0041] 5. Start the hub and rotate the wheel to verify whether the wheel angle is qualified. Operation steps: Start the hub, rotate the wheel, and verify whether the wheel angle is within the acceptable range.

[0042] Purpose: To ensure that the wheel turning angle meets the requirements and to verify whether the adjusted four-wheel parameters are correct.

[0043] In the above 5 steps, the operation of step 2 and step 5 will make the steering wheel drive the steering wheel to rotate. The operation of step 2 and step 5 will control the rotation of the hub. When the hub rotates, the steering wheel will turn with the rotation of the hub, so that the steering wheel will turn with the steering of the steering wheel.

[0044] like Figure 3 As shown, Figure 3The schematic diagram of the structure of the wire control steering system is shown. The wire control steering system (Steering-By-Wire System, SBW) includes: a feel simulator and a steering actuator. The feel simulator includes a steering wheel 501, a steering column 507, a feel controller 502, a first angle sensor 503, a second torque sensor 504, a feel motor 505, a first reduction mechanism 506, etc. Among them, the first angle sensor 503 and the torque sensor 504 are installed on the steering column 507, and the first angle sensor 503, the second torque sensor 504 and the feel motor 505 are all electrically connected to the feel controller 502. The steering actuator includes a steering actuator motor 601, a steering actuator controller 602, a second angle sensor 603, a gear 604, a rack 605, a steering wheel 606, a second reduction mechanism 607, etc. Among them, the steering actuator motor 601 and the second angle sensor 603 are both electrically connected to the steering actuator controller 602, and the steering actuator controller 602 is in communication connection with the hand feeling controller 502, and the two exchange information. For example, the steering actuator controller 602 is electrically connected to the hand feeling controller 502 via a private CAN line. Regarding the normal steering control of the steering wheel 606: the hand feeling controller 502 sends the steering information of the steering wheel 501 to the steering actuator controller 602, and the steering actuator controller 602 controls the steering actuator motor 601 to rotate, thereby driving the gear 604 to rotate, and the gear 604 rotates to drive the rack 605 to move in a straight line, thereby realizing the steering of the steering wheel 606, that is, realizing the vehicle steering control.

[0045] Since the steer-by-wire system removes the mechanical connection between the steering wheel and the steering actuator, when the steering wheel (such as the front wheel) is turned by external force, the steering wheel cannot follow the steering of the steering wheel, resulting in the vehicle being unable to carry out some production work and reducing the vehicle's adaptability to production conditions. For example, the steering wheel of a vehicle with a steer-by-wire system cannot follow the steering of the steering wheel, resulting in a conflict between the steer-by-wire system and the four-wheel alignment work of the production line, affecting the normal implementation of the four-wheel alignment work of the production line.

[0046] Based on the problem in the prior art that the steering wheel of a vehicle with a wire-controlled steering system cannot rotate following the steering of the steering wheel, the present application provides a vehicle control method, a vehicle and a computer-readable storage medium. The present application specifically sets up a mode for the wire-controlled steering system to allow the steering wheel to rotate following the steering of the steering wheel, which is called the factory mode. After the factory mode is turned on, the vehicle with the wire-controlled steering system can also rotate following the steering of the steering wheel when the steering wheel is turned by external force, just like a vehicle with a mechanical steering system. This is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where the vehicle with the wire-controlled steering system cannot carry out certain production work, and improves the inclusiveness of the current production line's production capacity.

[0047] Figure 4 A schematic flow chart of a vehicle control method provided by an embodiment of the present application is shown, such as Figure 4 As shown, the vehicle control method provided in the embodiment of the present application is applied to a vehicle with a steer-by-wire system, and the steer-by-wire system includes a hand feel simulator and a steering actuator. Figure 5 The control principle block diagram of the steering control system provided in the embodiment of the present application is shown as follows: Figure 5 As shown, the steer-by-wire system includes two modes, namely normal mode and factory mode, signal 1 is the steering wheel angle signal sent from the feel simulator to the steering actuator, signal 2 is the rack position feedback signal sent from the steering actuator to the feel simulator, and signal 3 is the steering wheel control signal sent from the steering actuator to the feel simulator.

[0048] When the normal mode is on, the steering wheel will steer as the steering wheel turns. The specific control principle for the steering wheel to steer as the steering wheel turns is as follows: after the steering wheel is turned, the feel controller in the feel simulator sends a steering wheel angle signal to the steering execution controller in the steering actuator, and the steering execution controller obtains the target rack position corresponding to the received steering wheel angle signal, and controls the rack to move to the target rack position so that the steering angle of the steering wheel reaches the target steering angle corresponding to the target rack position, and the steering control of the steering wheel is completed. At the same time, the steering execution controller also sends a rack position feedback signal to the feel controller, and the rack position feedback signal includes the actual position of the rack.

[0049] When the factory mode is turned on, the hand feel simulator controls the steering wheel based on the steering wheel control signal sent by the steering actuator so that the steering wheel rotates following the steering of the steering wheel. Specifically, the steering actuator controller sends the steering wheel control signal to the hand feel controller, and after receiving the steering wheel control signal, the steering wheel control controller controls the steering wheel to rotate so that the steering wheel rotates following the steering of the steering wheel.

[0050] The above vehicle control method includes the following schemes: S110: Determine whether the factory mode activation condition is met; if yes, execute S120; if no, execute S130; S120: Enable factory mode.

[0051] S130: Turn off factory mode.

[0052] In an exemplary embodiment, it is determined whether the conditions for starting the factory mode are met, that is, whether it is necessary to control the steering wheel to rotate following the steering of the steering wheel. If the conditions for starting the factory mode are met, indicating that the steering wheel needs to be controlled to rotate following the steering of the steering wheel, the factory mode is turned on and the normal mode is turned off. Turning on the factory mode and turning off the normal mode can also be understood as switching the wire steering system from normal mode to factory mode. The wire steering system works in the factory mode and controls the steering wheel to rotate following the steering of the steering wheel. The wire steering system works in the factory mode and is suitable for scenarios where the four-wheel alignment of the vehicle is performed and the steering wheel needs to rotate following the steering of the steering wheel. The scenarios of four-wheel alignment include, for example, performing four-wheel alignment on vehicles on the production line and performing four-wheel alignment on vehicles at the maintenance station.

[0053] If the factory mode activation conditions are not met, it means that the steering wheel does not need to be controlled to follow the steering wheel's rotation, but the steering wheel needs to be controlled to follow the steering wheel's rotation to steer. Then the factory mode is turned off and the normal mode is turned on. Turning off the factory mode and turning on the normal mode can also be understood as switching the steer-by-wire system from the factory mode to the normal mode. The steer-by-wire system works in the normal mode and controls the steering wheel to steer following the steering wheel's rotation. The steer-by-wire system works in the normal mode and is suitable for controlling the steering wheel to steer following the steering wheel's rotation, such as driving forward, reversing, parking and other normal car use scenarios.

[0054] The embodiment of the present application additionally provides a factory mode for the steer-by-wire system to allow the steering wheel to rotate in accordance with the steering of the steering wheel. After the factory mode is turned on, the vehicle with the steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheel is turned by external force, the steering wheel of the vehicle with the steer-by-wire system can also rotate in accordance with the steering of the steering wheel. This is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where the vehicle with the steer-by-wire system is unable to carry out certain production work, and improves the inclusiveness of the production capacity of the current production line.

[0055] In a possible implementation, when the factory mode is turned on, the vehicle control method further includes at least one of the following steps: a. Control the hand feel simulator to stop sending steering wheel angle signals to the steering actuator.

[0056] b. Control the steering actuator to stop receiving the steering wheel angle signal sent by the hand feel simulator.

[0057] c. The control steering actuator does not respond to the steering wheel angle signal sent by the hand feel simulator.

[0058] The above-mentioned a, b and c each belong to a method of preventing the steering actuator controller in the steering actuator from responding to the steering wheel angle signal, which improves the flexibility of prohibiting the steering actuator controller in the steering actuator from responding to the steering wheel angle signal, and can avoid the steering actuator controller from responding to the steering wheel angle signal due to misoperation when the factory mode is turned on.

[0059] For method a, the feel simulator is controlled to stop sending the steering wheel angle signal to the steering actuator. Specifically, the feel controller in the feel simulator is controlled to stop sending the steering wheel angle signal to the steering actuator controller. In this way, the steering actuator controller cannot receive the steering wheel angle signal, that is, it cannot respond to the steering wheel angle signal. In this way, the energy consumption of the feel simulator can be saved when the steering wheel rotates following the steering of the steering wheel.

[0060] For method b, the steering actuator is controlled to stop receiving the steering wheel angle signal sent by the feel simulator, specifically, the steering execution controller is controlled to stop receiving the steering wheel angle signal sent by the feel controller, so as to avoid the steering execution controller from responding to the steering wheel angle signal due to erroneous operation. In addition, the feel controller is controlled to close the communication link between the feel controller and the steering execution controller for transmitting the steering wheel angle signal, so that the steering execution controller can no longer receive the steering wheel angle signal sent by the feel controller.

[0061] For mode c, the steering actuator is controlled not to respond to the steering wheel angle signal sent by the feel simulator, specifically, the steering execution controller is controlled not to respond to the steering wheel angle signal sent by the feel controller.

[0062] In a possible implementation, when the factory mode is turned on, the vehicle control method further includes the following steps: The steering actuator motor in the steering actuator is controlled to stop outputting torque.

[0063] During the vehicle's four-wheel alignment, the hub of the four-wheel alignment equipment rotates, thereby driving the steering wheel to turn (equivalent to the hub applying an external force to the steering wheel, causing the steering wheel to turn). During the vehicle's four-wheel alignment, the hub of the four-wheel alignment equipment generates an external force, and the external force is used to make the steering wheel turn. If the steering actuator motor continues to output torque, the torque output by the steering actuator motor may apply a force in the opposite direction of the external force, preventing the steering wheel from turning, thereby preventing the four-wheel alignment from proceeding. Therefore, when the factory mode is turned on, it is necessary to control the steering actuator motor to stop outputting torque to ensure the smooth progress of the four-wheel alignment.

[0064] In a possible implementation, when the factory mode is turned on, the vehicle control method further includes at least one of the following steps: d. Use the actual rack position of the rack in the steering actuator as the steering wheel control signal.

[0065] e. If the preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, the actual steering angle is used as the steering wheel control signal.

[0066] f. Use the preset steering wheel angle corresponding to the actual rack position and the actual steering angle as the steering wheel control signal.

[0067] The above d, e and f all belong to a method of generating a steering wheel control signal, which makes the method of generating a steering wheel control signal more flexible, and is conducive to improving the flexibility of the steering wheel in following the steering of the steering wheel to perform rotation control.

[0068] For mode d, when the factory mode is turned on, the steering execution controller uses the actual rack position of the rack as the steering wheel control signal. After the hand feel controller receives the steering wheel control signal sent by the steering execution controller, it parses the steering wheel control signal to obtain the actual rack position, and then obtains the preset steering wheel angle corresponding to the actual rack position through the first mapping relationship between the rack position and the steering wheel angle, that is, the target steering wheel angle, and then controls the steering wheel to rotate so that the actual steering wheel angle reaches the target steering wheel angle.

[0069] For mode e, when the factory mode is turned on, the steering execution controller determines whether the preset steering angle corresponding to the actual rack position is consistent with the actual steering angle of the steering wheel. If they are consistent, the actual steering angle (the preset steering angle corresponding to the actual rack position = the actual steering angle) is used as the steering wheel control signal; if they are inconsistent, because the actual steering angle of the steering wheel can accurately reflect the actual steering situation of the steering wheel, the actual steering angle is used as the steering wheel control signal. After receiving the steering wheel control signal sent by the steering execution controller, the hand feeling controller parses the steering wheel control signal to obtain the actual steering angle of the steering wheel, and then obtains the preset steering wheel angle corresponding to the actual steering angle of the steering wheel through the second mapping relationship between the wheel steering angle and the steering wheel angle, that is, obtains the target steering wheel angle, and then controls the steering wheel to rotate so that the actual steering wheel angle reaches the target steering wheel angle.

[0070] For mode f, when the factory mode is turned on, after the steering execution controller obtains the actual rack position of the rack and the actual steering angle of the steering wheel, it obtains the preset steering wheel angle corresponding to the actual rack position and the actual steering angle through the third mapping relationship between the rack position and the wheel steering angle and the steering wheel angle, and uses the preset steering wheel angle corresponding to the actual rack position and the actual steering angle as the steering wheel control signal. After the hand feeling controller receives the steering wheel control signal sent by the steering execution controller, it analyzes the steering wheel control signal to obtain the preset steering wheel angle corresponding to the actual rack position and the actual steering angle, that is, to obtain the target steering wheel angle, and then controls the steering wheel to rotate so that the actual steering wheel angle reaches the target steering wheel angle.

[0071] In a possible implementation, when the factory mode is turned on, the vehicle control method further includes the following steps: Determine whether a preset steering wheel angle corresponding to an actual steering angle of the steering wheel is consistent with an actual steering wheel angle; If not, control the steering wheel to continue turning so that the actual steering wheel angle reaches the preset steering wheel angle.

[0072] During the period when the hand feel controller controls the steering wheel to rotate according to the steering wheel control signal, for each rotation control of the steering wheel, the actual steering angle and the actual steering wheel angle of the steering wheel are obtained in real time, and the preset steering wheel angle (target steering wheel angle) corresponding to the actual steering angle of the steering wheel is compared with the actual steering wheel angle to see whether they are consistent. If they are consistent, it means that the steering wheel has accurately rotated to the target steering wheel angle. If they are inconsistent, it means that there is an error in the rotation process of the steering wheel and the actual steering wheel angle has not reached the target steering wheel angle. The steering wheel is controlled to continue to rotate to correct the actual steering wheel angle of the steering wheel until the actual steering wheel angle reaches the preset steering wheel angle, thereby ensuring that the steering wheel angle of the steering wheel is aligned with the rack position and the steering angle of the steering wheel during the period when the steering wheel rotates following the steering of the steering wheel, that is, when the steering wheel turns following the rotation of the steering wheel, the corresponding relationship between the steering wheel angle of the steering wheel and the rack position and the steering angle of the steering wheel is consistent.

[0073] In a possible implementation, the controlling the steering wheel to continue rotating includes the following steps: Determine the target output torque of the feel motor in the feel simulator according to the target difference; The actual output torque of the hand-feel motor is adjusted according to the target output torque so that the hand-feel motor controls the steering wheel to continue to rotate.

[0074] The target difference is the difference between the preset steering wheel angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel angle. After the target difference is obtained, the target difference is input into the PID controller to obtain the output result of the PID controller, which is the target output torque, expressed as u(t), u(t)=P(t)+I(t)+D(t), P(t) is the proportional term result, P(t) is the integral term result, and D(t) is the differential term result. The actual output torque of the hand-feel motor is adjusted to the target output torque, that is, the hand-feel motor drives the steering wheel to continue to rotate based on the target output torque until the actual steering wheel angle reaches the preset steering wheel angle corresponding to the actual steering angle of the steering wheel, and then stops outputting the torque, thereby realizing precise control of the steering wheel rotation while the steering wheel is turning following the turning of the steering wheel, which is conducive to ensuring that when the steering wheel turns following the turning of the steering wheel, the corresponding relationship between the steering wheel angle, the rack position and the steering angle of the steering wheel, and when the steering wheel turns following the turning of the steering wheel, the corresponding relationship between the steering wheel angle, the rack position and the steering angle of the steering wheel are always consistent.

[0075] In a possible implementation, the factory mode activation condition includes at least one of the following: Condition 1: When the vehicle is stationary, it is detected that the vehicle is placed on the four-wheel alignment equipment; Condition 2: When the vehicle is stationary, the factory mode switch is detected to be triggered; Condition 2: When the vehicle is stationary, a factory mode start request signal sent by an external device is received.

[0076] For condition 1, when the vehicle is stationary, if it is detected through the image outside the vehicle that the vehicle is placed on the four-wheel alignment device, it means that the user is very likely to need to perform a four-wheel alignment on the vehicle. If it is considered that the conditions for starting the factory mode are met, the factory mode is turned on. This is a way for the vehicle to automatically start the factory mode.

[0077] For condition 2, a factory mode switch is set in the vehicle cabin in advance, including at least one of a physical switch, a virtual switch, a voice switch, and a gesture switch. When the vehicle is stationary, if the factory mode switch is detected to be triggered, it means that the steering wheel needs to be controlled to follow the steering of the steering wheel, and it is considered that the factory mode activation condition is met, then the factory mode is activated, which is a way of manually and actively activating the factory mode.

[0078] For condition 3, the external device is, for example, a diagnostic device. For example, during the four-wheel alignment work, after the staff connects the external device to the vehicle through a cable, the staff operates the external device, and the external device sends a start request signal to the vehicle for requesting the factory mode to be turned on. When the vehicle is stationary, if the factory mode start request signal sent by the external device is received, it is considered that the factory mode start condition is met, then the factory mode is turned on, which is another way of manually turning on the factory mode. This method requires staff who know the operating specifications of the four-wheel alignment work to turn on the factory mode through an external device. Among them, the condition for keeping the factory mode turned on all the time is: the external device needs to send a start request signal to the vehicle in real time, and the factory mode remains turned on all the time.

[0079] By setting the above three conditions, the flexibility of starting the factory mode is improved. The third condition is used as the condition for starting the factory mode. The factory mode cannot be started during normal vehicle use, which is beneficial to improving the safety of users' vehicle use.

[0080] In a possible implementation, the vehicle control method further includes: If the conditions for starting the factory mode are not met, the factory mode is turned off and switched to the normal mode, and the vehicle resumes normal control, that is, the steering wheels are controlled to steer following the rotation of the steering wheel.

[0081] The activation condition is that when the vehicle is stationary, a factory mode activation request signal sent by an external device is received. When the vehicle is stationary, if a factory mode activation request signal sent by an external device is received and the factory mode is activated, if an interruption of the activation request signal sent by the external device is detected, that is, the activation request signal sent by the external device is not detected, indicating that the user does not need to control the steering wheel to turn following the steering of the steering wheel, the factory mode is turned off and the factory mode is set to normal mode, and the steering execution controller in the steering actuator is controlled to respond to the steering wheel angle signal sent by the hand controller in the hand simulator to control the steering wheel to turn following the rotation of the steering wheel, so that the vehicle returns to a normal control state.

[0082] The following is another embodiment of a vehicle control method provided in this application specification.

[0083] The above vehicle control method includes the following schemes: S210: Determine whether the factory mode activation condition is met; S211: If the factory mode activation condition is not met, the factory mode is turned off and the normal mode is activated. Turning off the factory mode and activating the normal mode can also be understood as switching the steer-by-wire system from the factory mode to the normal mode. The steer-by-wire system works in the normal mode and controls the steering wheel to steer following the rotation of the steering wheel.

[0084] S212: If the factory mode activation condition is met, the factory mode is activated and the normal mode is deactivated. Activating the factory mode and deactivating the normal mode can also be understood as switching the steer-by-wire system from the normal mode to the factory mode. The steer-by-wire system works in the factory mode and controls the steering wheel to rotate in accordance with the steering of the steering wheel.

[0085] When the factory mode is turned on and the normal mode is turned off, the steering actuator is prohibited from responding to the steering wheel angle signal sent by the feel simulator. The prohibition of the steering actuator from responding to the steering wheel angle signal sent by the feel simulator includes multiple prohibition methods, which improves the flexibility of prohibiting the steering actuator controller in the steering actuator from responding to the steering wheel angle signal, and can avoid the steering actuator controller from responding to the steering wheel angle signal due to erroneous operation when the factory mode is turned on. The multiple prohibition methods are, for example: controlling the feel simulator to stop sending the steering wheel angle signal to the steering actuator, controlling the steering actuator to stop receiving the steering wheel angle signal sent by the feel simulator, and controlling the steering actuator not to respond to the steering wheel angle signal sent by the feel simulator.

[0086] When the factory mode is turned on and the normal mode is turned off, it is also necessary to control the steering actuator motor in the steering actuator to stop outputting torque to prevent the steering actuator motor from continuously outputting torque and preventing the steering wheel from turning, thereby preventing the four-wheel alignment from proceeding, which is beneficial to ensure the smooth progress of the four-wheel alignment.

[0087] When the factory mode is turned on, the steering actuator uses multiple signal generation methods to generate a steering wheel control signal for controlling the steering wheel, making the method of generating the steering wheel control signal more flexible, which is conducive to improving the flexibility of the steering wheel to follow the steering of the steering wheel for rotation control. The multiple signal generation methods are, for example: using the actual rack position of the rack in the steering actuator as the steering wheel control signal, if the preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, using the actual steering angle as the steering wheel control signal, and using the preset steering wheel angle corresponding to the actual rack position and the actual steering angle as the steering wheel control signal.

[0088] The embodiment of the present application additionally provides a factory mode for the steer-by-wire system to allow the steering wheel to rotate in accordance with the steering of the steering wheel. After the factory mode is turned on, the vehicle with the steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheel is turned by external force, the steering wheel of the vehicle with the steer-by-wire system can also rotate in accordance with the steering of the steering wheel. This is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where the vehicle with the steer-by-wire system is unable to carry out certain production work, and improves the inclusiveness of the production capacity of the current production line.

[0089] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0090] Figure 6 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application is shown. Figure 6 As shown, the vehicle control device 600 is applied to a vehicle with a wire-controlled steering system, the wire-controlled steering system includes a hand-feel simulator and a steering actuator, the vehicle has a factory mode, when the factory mode is turned on, the hand-feel simulator controls the steering wheel based on the steering wheel control signal sent by the steering actuator, so that the steering wheel rotates following the steering of the steering wheel, the vehicle control device 600 includes: The condition determination module 610 is used to determine whether the start condition of the factory mode is met; The mode control module 620 is configured to enable the factory mode when the enabling conditions of the factory mode are met.

[0091] In a possible implementation, the vehicle control device 600 further includes: A signal control unit is used to control the hand feel simulator to stop sending a steering wheel angle signal to the steering actuator when the factory mode is turned on; or, to control the steering actuator to stop receiving the steering wheel angle signal sent by the hand feel simulator; or, to control the steering actuator not to respond to the steering wheel angle signal sent by the hand feel simulator.

[0092] In a possible implementation, the vehicle control device 600 further includes: The motor control unit is used to control the steering actuator motor in the steering actuator to stop outputting torque when the factory mode is turned on.

[0093] In a possible implementation, the vehicle control device 600 further includes: A signal generating unit is used to use the actual rack position of the rack in the steering actuator as the steering wheel control signal when the factory mode is turned on; or, if a preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, use the actual steering angle as the steering wheel control signal; or, use a preset steering wheel angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0094] In a possible implementation, the vehicle control device 600 further includes: The correction unit is used to determine whether the preset steering wheel angle corresponding to the actual steering angle of the steering wheel is consistent with the actual steering wheel angle when the factory mode is turned on; if not, control the steering wheel to continue to rotate so that the actual steering wheel angle reaches the preset steering wheel angle.

[0095] In one possible implementation, the correction unit is specifically used to determine the target output torque of the tactile motor in the tactile simulator according to the target difference; wherein the target difference is the difference between a preset steering wheel angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel angle; and the actual output torque of the tactile motor is adjusted according to the target output torque so that the tactile motor controls the steering wheel to continue rotating.

[0096] In a possible implementation, the activation condition includes at least one of the following: when the vehicle is stationary, detecting that the vehicle is placed on a four-wheel alignment device; when the vehicle is stationary, detecting that the factory mode switch is triggered; when the vehicle is stationary, receiving a request signal for activation of the factory mode sent by an external device.

[0097] In one possible implementation, if the activation condition is that when the vehicle is in a stationary state, a activation request signal for the factory mode sent by an external device is received, the mode control module 620 is further used to turn off the factory mode upon detecting that an interruption of the activation request signal sent by the external device; and to control the steering actuator to respond to the steering wheel angle signal sent by the hand feel simulator.

[0098] It should be noted that the vehicle control device provided in the above embodiment only uses the division of the above functional modules as an example when executing the vehicle control method. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiment belongs to the same concept as the vehicle control method embodiment. Therefore, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned vehicle control method embodiment of the present application, which will not be repeated here.

[0099] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0100] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. Figure 7 As shown, the vehicle 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a vehicle control method.

[0101] In this embodiment, the functional modules of the vehicle can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0102] In the case of dividing each functional module according to each function, the vehicle may include: a condition judgment module, a mode control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0103] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0104] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0105] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0106] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method in the above-mentioned embodiment.

[0107] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0108] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0109] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0110] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0111] In the embodiments provided in the present 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 schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0112] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: Applicable to a vehicle with a steer-by-wire system, the steer-by-wire system comprising a hand feel simulator and a steering actuator, the vehicle having a factory mode, when the factory mode is turned on, the hand feel simulator controls the steering wheel based on a steering wheel control signal sent by the steering actuator, so that the steering wheel rotates following the steering of the steering wheel; The vehicle control method comprises: Determining whether the activation condition of the factory mode is met; If so, the factory mode is enabled.

2. The vehicle control method according to claim 1, characterized in that: When the factory mode is turned on, the vehicle control method further includes: Controlling the hand feel simulator to stop sending a steering wheel angle signal to the steering actuator; or, Controlling the steering actuator to stop receiving the steering wheel angle signal sent by the hand feel simulator; or, The steering actuator is controlled not to respond to the steering wheel angle signal sent by the hand feel simulator.

3. The vehicle control method according to claim 1, characterized in that: When the factory mode is turned on, the vehicle control method further includes: The steering actuator motor in the steering actuator is controlled to stop outputting torque.

4. The vehicle control method according to claim 1, characterized in that: When the factory mode is turned on, the vehicle control method further includes: Using the actual rack position of the rack in the steering actuator as the steering wheel control signal; or, If the preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheel, using the actual steering angle as the steering wheel control signal; or, The preset steering wheel angle corresponding to the actual rack position and the actual steering angle is used as the steering wheel control signal.

5. The vehicle control method according to claim 1, characterized in that: When the factory mode is turned on, the vehicle control method further includes: Determining whether a preset steering wheel angle corresponding to an actual steering angle of the steering wheel is consistent with an actual steering wheel angle; If not, the steering wheel is controlled to continue to rotate so that the actual steering wheel angle reaches the preset steering wheel angle.

6. The vehicle control method according to claim 5, characterized in that: The controlling the steering wheel to continue rotating comprises: The target output torque of the hand feeling motor in the hand feeling simulator is determined according to the target difference; wherein the target difference is the difference between a preset steering wheel angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel angle; the actual output torque of the hand feeling motor is adjusted according to the target output torque so that the hand feeling motor controls the steering wheel to continue to rotate.

7. The vehicle control method according to any one of claims 1 to 6, characterized in that: The opening condition includes at least one of the following: When the vehicle is in a stationary state, detecting that the vehicle is placed on a four-wheel alignment device; When the vehicle is in a stationary state, detecting that the switch of the factory mode is triggered; When the vehicle is in a stationary state, a start request signal of the factory mode sent by an external device is received.

8. The vehicle control method according to claim 7, characterized in that: If the activation condition is that when the vehicle is in a stationary state, a activation request signal of the factory mode sent by an external device is received, the vehicle control method further includes: Upon detecting that the start request signal sent by the external device is interrupted, shutting down the factory mode; The steering actuator is controlled to respond to the steering wheel angle signal sent by the hand feel simulator.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the vehicle control method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 8 is implemented.

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