Vehicle control method, vehicle, and computer-readable storage medium

Abstract

The present application provides a vehicle control method, a vehicle and a computer-readable storage medium, relating to the technical field of vehicle control. The method includes additionally setting a factory mode for the steer-by-wire system that enables the steering wheel to rotate following the steering of the steering wheels. After the factory mode is enabled, a vehicle with a steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheels are steered by an external force, the steering wheel of the vehicle with a steer-by-wire system can also rotate following the steering of the steering wheels, which is beneficial to improving the adaptability of the vehicle to production conditions, can avoid the situation where a vehicle with a steer-by-wire system cannot carry out certain production operations, and improves the inclusiveness of the current production line production capacity.

Description

Technical Field

[0001] This 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 forced to turn, the steering wheel cannot rotate following the turning of the steering wheel, resulting in the vehicle being unable to carry out some production work (such as four-wheel alignment), reducing the vehicle's adaptability to production conditions. Summary of the Invention

[0003] This application provides a vehicle control method, a vehicle, and a computer-readable storage medium. This application can ensure that the steering wheel in a vehicle with a steer-by-wire system rotates following the turning of the steering wheel, 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 steer-by-wire system. The steer-by-wire system includes a haptic simulator and a steering actuator. The vehicle has a factory mode. When the factory mode is turned on, the haptic 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 turning of the steering wheel. The vehicle control method includes: determining whether the opening condition of the factory mode is satisfied; if so, turning on the factory mode; if not, turning off the factory mode.

[0005] In the embodiments of this application, an additional factory mode is set for the steer-by-wire system to make the steering wheel rotate following the turning of the steering wheel. After the factory mode is turned on, a vehicle with a steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheel is forced to turn, the steering wheel of the vehicle with a steer-by-wire system can also rotate following the turning of the steering wheel, which is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation that a vehicle with a steer-by-wire system cannot carry out certain production work, and improves the inclusiveness of the current production line production capacity.

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

[0007] Each of a, b, and c above belongs to a method of preventing the steering execution controller in the steering actuator from responding to the steering wheel angle signal, which improves the flexibility of prohibiting the steering execution controller in the steering actuator from responding to the steering wheel angle signal. When the factory mode is enabled, it can prevent the steering execution controller from misoperating and responding to the steering wheel angle signal.

[0008] In a possible implementation, when the factory mode is enabled, the vehicle control method further includes: controlling the steering actuator motor in the steering actuator to stop outputting torque, which realizes avoiding the torque output by the steering actuator motor from preventing the steering wheel from turning during the vehicle four-wheel alignment work, and is beneficial to ensuring the smooth progress of the four-wheel alignment work.

[0009] In a possible implementation, when the factory mode is enabled, the vehicle control method further 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 both the actual rack position and the actual steering angle as the steering wheel control signal.

[0010] Each of d, e, and f above belongs to a method of generating the steering wheel control signal, which makes the method of generating the steering wheel control signal more flexible and is beneficial to improving the flexibility of the steering wheel to rotate and control following the steering of the steering wheel.

[0011] In a possible implementation, when the factory mode is enabled, the vehicle control method further includes: determining whether the 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 during the steering of the steering wheel following the steering of the steering wheel, the steering wheel angle of the steering wheel is aligned with the rack position and the steering angle of the steering wheel, that is, the corresponding relationship between the steering wheel angle of the steering wheel, the rack position, and the steering angle of the steering wheel is maintained consistent in the case where the steering wheel follows the rotation of the steering wheel and turns.

[0012] In a possible implementation, the controlling the steering wheel to continue rotating includes: determining the target output torque of the feel motor in the feel simulator according to the target difference; where 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; adjusting the actual output torque of the feel motor according to the target output torque so that the feel motor controls the steering wheel to continue rotating.

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

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

[0015] In a possible implementation, if the enabling condition is that when the vehicle is in a stationary state, an enabling request signal of the factory mode sent by an external device is received, the vehicle control method further includes: when it is detected that the enabling request signal sent by the external device is interrupted, turning off the factory mode; controlling the steering actuator to respond to the steering wheel angle signal sent by the feel simulator.

[0016] In a second aspect, a vehicle control device is provided, which is applied to a vehicle with a steer-by-wire system. The steer-by-wire system includes a feel simulator and a steering actuator. The vehicle has a factory mode. When the factory mode is enabled, the 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 wheels. The vehicle control device includes:

[0017] A condition judgment module, configured to judge whether the enabling condition of the factory mode is satisfied;

[0018] A mode control module, configured to enable the factory mode when the enabling condition of the factory mode is satisfied.

[0019] In a possible implementation, the vehicle control device further includes:

[0020] A signal control unit, configured to, when the factory mode is enabled, control the feel simulator to stop sending the steering wheel angle signal to the steering actuator; or control the steering actuator to stop receiving the steering wheel angle signal sent by the feel simulator; or control the steering actuator not to respond to the steering wheel angle signal sent by the feel simulator.

[0021] In a possible implementation, the vehicle control device further includes:

[0022] 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.

[0023] In a possible implementation, the vehicle control device further includes:

[0024] The signal generation unit is used to, when the factory mode is turned on, use 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, use the actual steering angle as the steering wheel control signal; or use the preset steering wheel rotation angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0025] In a possible implementation, the vehicle control device further includes:

[0026] The correction unit is used to, when the factory mode is turned on, determine whether the preset steering wheel rotation angle corresponding to the actual steering angle of the steering wheel is consistent with the actual steering wheel rotation angle; if not, control the steering wheel to continue rotating so that the actual steering wheel rotation angle reaches the preset steering wheel rotation angle.

[0027] In a possible implementation, the correction unit is specifically used to determine the target output torque of the feel motor in the feel simulator according to the target difference; where the target difference is the difference between the preset steering wheel rotation angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel rotation angle; adjust the actual output torque of the feel motor according to the target output torque so that the feel motor controls the steering wheel to continue rotating.

[0028] In a possible implementation, the activation conditions include at least one of the following: when the vehicle is in a stationary state, it is detected that the vehicle is placed on a four-wheel alignment device; when the vehicle is in a stationary state, it is detected that the switch of the factory mode is triggered; when the vehicle is in a stationary state, an activation request signal for the factory mode sent by an external device is received.

[0029] In a possible implementation, if the activation condition is that when the vehicle is in a stationary state, an activation request signal for the factory mode sent by an external device is received, the mode control module is further used to, when it is detected that the activation request signal sent by the external device is interrupted, turn off the factory mode; control the steering actuator to respond to the steering wheel rotation angle signal sent by the feel simulator.

[0030] In a third aspect, a vehicle is provided, including 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 manner of the first aspect.

[0031] In a fourth aspect, a computer program product is provided, including: computer program code, when the computer program code runs on a computer, enabling the computer to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect.

[0032] In a fifth aspect, a computer-readable storage medium is provided, which stores computer program code, and when the computer program code runs on a computer, enabling the computer to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0033] Figure 1 The structural schematic diagram of a traditional mechanical steering system is shown.

[0034] Figure 2 The schematic diagram of the scenario of four-wheel alignment for a vehicle with a traditional mechanical steering system is shown.

[0035] Figure 3 The structural schematic diagram of a steer-by-wire system is shown;

[0036] Figure 4 The schematic flowchart of a vehicle control method provided by an embodiment of the present application is shown;

[0037] Figure 5 The control principle block diagram of the steering system provided by an embodiment of the present application is shown;

[0038] Figure 6 The structural schematic diagram of a vehicle control device provided by an embodiment of the present application is shown;

[0039] Figure 7 The structural schematic diagram of a vehicle provided by an embodiment of the present application is shown. Detailed Embodiments

[0040] The technical solutions in the present application will be clearly and elaborately described below in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0041] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0042] The following is an embodiment of a vehicle control method provided in the specification of the present application.

[0043] As Figure 1 shown, Figure 1 shows a structural schematic diagram of a traditional mechanical steering system. The traditional mechanical steering system includes a steering wheel 101, a steering column 104, a rack and pinion mechanism 105, and a steering wheel 102. Among them, the steering wheel 101 is installed on the steering column 104, and the gear (worm gear) in the rack and pinion mechanism 105 meshes with the rack in the rack and pinion mechanism 105. During the normal steering process of the vehicle: after the steering wheel 101 is rotated, the steering wheel 101 drives the steering column 104 to rotate, 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 left or right, thereby realizing the right or left steering of the steering wheel (such as the front wheel), that is, realizing the right or left steering of the vehicle.

[0044] 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).

[0045] 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:

[0046] 1. Drive the vehicle onto the four-wheel alignment equipment

[0047] 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.

[0048] Purpose: To ensure that the vehicle is stable on the locator to facilitate subsequent operations.

[0049] 2. Start the hub to straighten the vehicle body

[0050] 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.

[0051] Purpose: To ensure that the vehicle body is in a level state and provide a reference for subsequent measurement and adjustment.

[0052] 3. After the steering wheel is straightened, install and fix the level on the steering wheel.

[0053] Operation steps: Align the steering wheel and install the level to ensure that the steering wheel is in the center position.

[0054] Purpose: Ensure that the steering wheel is in the center position to provide a reference for subsequent measurements and adjustments.

[0055] 4. Adjust the four-wheel parameters

[0056] Operation steps: For the adjustment of the front wheel toe-in, it includes: by adjusting the length of the steering tie rod, make the front wheel toe-in angle reach the qualified range. For the adjustment of the rear wheel camber angle, it includes: by adjusting the parameters of the rear suspension system, make the rear wheel camber angle reach the qualified range. For the adjustment of other parameters, it includes: adjust other four-wheel parameters as needed, such as the kingpin inclination and the caster angle.

[0057] Purpose: Ensure that the four-wheel parameters of the vehicle are within the qualified range to avoid problems such as vehicle pulling to one side and uneven tire wear.

[0058] 5. Start the roller to rotate the wheels and verify whether the wheel turning angle is qualified

[0059] Operation steps: Start the roller and rotate the wheels to verify whether the wheel turning angle is within the qualified range.

[0060] Purpose: Ensure that the wheel turning angle meets the requirements and verify whether the adjusted four-wheel parameters are correct.

[0061] In the above 5 steps, the operations in the 2nd and 5th steps will cause the steering wheels to drive the steering wheel to rotate. Regarding the operations in the 2nd and 5th steps, both will control the rotation of the roller. When the roller rotates, the steering wheels will turn along with the rotation of the roller, causing the steering wheel to rotate following the turn of the steering wheels.

[0062] As Figure 3 shown, Figure 3The structural schematic diagram of a steer-by-wire system is shown. The steer-by-wire system (Steering-By-Wire System, SBW) includes a haptic simulator and a steering actuator. The haptic simulator includes a steering wheel 501, a steering column 507, a haptic controller 502, a first angle sensor 503, a second torque sensor 504, a haptic 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. The first angle sensor 503, the second torque sensor 504, and the haptic motor 505 are all electrically connected to the haptic 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. The steering actuator controller 602 is communicatively connected to the haptic controller 502, and the two perform information interaction. For example, the steering actuator controller 602 is electrically connected to the haptic controller 502 through a private CAN line. Regarding the normal steering control of the steering wheel 606: The haptic controller 502 sends the steering information of the steering wheel 501 to the steering actuator controller 602. The steering actuator controller 602 controls the steering actuator motor 601 to rotate, thereby driving the gear 604 to rotate. The rotation of the gear 604 drives the linear movement of the rack 605, thereby realizing the steering of the steering wheel 606, that is, realizing the vehicle steering control.

[0063] Since the mechanical connection between the steering wheel and the steering actuator is removed in the steer-by-wire system, when the steering wheel (such as the front wheel) is forced to turn, the steering wheel cannot follow the turn 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 turn 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 development of the four-wheel alignment work of the production line.

[0064] Based on the problem that the steering wheel of a vehicle with a steer-by-wire system in the prior art cannot rotate following the steering of the steering wheels, the present application provides a vehicle control method, a vehicle, and a computer-readable storage medium. The present application specifically sets up an additional mode for the steer-by-wire system to make the steering wheel rotate following the steering of the steering wheels, which is called the factory mode. After this factory mode is enabled, a vehicle with a steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheels are steered by an external force, the steering wheel of the vehicle with a steer-by-wire system can also rotate following the steering of the steering wheels, which is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where a vehicle with a steer-by-wire system cannot carry out certain production operations, and improves the inclusiveness of the current production line's production capacity.

[0065] Figure 4 Fig. shows a schematic flowchart of a vehicle control method provided by an embodiment of the present application. As Figure 4 shown, the vehicle control method provided by an embodiment of the present application is applied to a vehicle with a steer-by-wire system. The steer-by-wire system includes a haptic simulator and a steering actuator. Figure 5 Fig. shows a control principle block diagram of the steering control system provided by an embodiment of the present application. As Figure 5 shown, the steer-by-wire system includes two modes, namely the normal mode and the factory mode. Signal 1 is the steering wheel angle signal sent by the haptic simulator to the steering actuator, signal 2 is the rack position feedback signal sent by the steering actuator to the haptic simulator, and signal 3 is the steering wheel control signal sent by the steering actuator to the haptic simulator.

[0066] When the normal mode is enabled, the steering wheels will steer following the rotation of the steering wheel. The specific control principle for the steering wheels to steer following the rotation of the steering wheel is as follows: After the steering wheel is rotated, the haptic controller in the haptic simulator sends a steering wheel angle signal to the steering execution controller in the steering actuator. The steering execution controller obtains the target rack position corresponding to the received steering wheel angle signal, controls the rack to move to the target rack position, so that the steering angle of the steering wheels reaches the target steering angle corresponding to the target rack position, and the steering control of the steering wheels is completed. At the same time, the steering execution controller also sends a rack position feedback signal to the haptic controller, and the rack position feedback signal includes the actual position of the rack.

[0067] When the factory mode is enabled, the haptic 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 wheels. Specifically, the steering execution controller sends a steering wheel control signal to the haptic controller. After receiving the steering wheel control signal, the haptic controller controls the steering wheel to rotate, so that the steering wheel rotates following the steering of the steering wheels.

[0068] The above vehicle control method includes the following solutions:

[0069] S110: Determine whether the enabling condition of the factory mode is satisfied; if yes, execute S120, if no, execute S130;

[0070] S120: Enable the factory mode.

[0071] S130: Disable the factory mode.

[0072] In an exemplary embodiment, determining whether the enabling condition of the factory mode is satisfied means determining whether it is necessary to control the steering wheel to rotate following the rotation of the steering wheel. If the enabling condition of the factory mode is satisfied, indicating that it is necessary to control the steering wheel to rotate following the rotation of the steering wheel, then the factory mode is enabled and the normal mode is disabled. Enabling the factory mode and disabling 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 operates in the factory mode and controls the steering wheel to rotate following the rotation of the steering wheel. The steer-by-wire system operating in the factory mode is applicable to scenarios where four-wheel alignment of the vehicle is performed and scenarios where the steering wheel needs to rotate following the rotation of the steering wheel. Scenarios of four-wheel alignment include, for example, performing four-wheel alignment work on the vehicle on the production line and performing four-wheel alignment work on the vehicle at the repair station.

[0073] If the enabling condition of the factory mode is not satisfied, indicating that it is not necessary to control the steering wheel to rotate following the rotation of the steering wheel, but rather it is necessary to control the steering wheel to rotate following the rotation of the steering wheel, then the factory mode is disabled and the normal mode is enabled. Disabling the factory mode and enabling 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 operates in the normal mode and controls the steering wheel to rotate following the rotation of the steering wheel. The steer-by-wire system operating in the normal mode is applicable to scenarios where the steering wheel needs to rotate following the rotation of the steering wheel, such as normal driving scenarios like driving forward, reversing, and parking.

[0074] In the embodiment of the present application, an additional factory mode is set for the steer-by-wire system, in which the steering wheel rotates following the rotation of the steering wheel. After the factory mode is enabled, a vehicle with a steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheel is forced to turn, the steering wheel of the vehicle with a steer-by-wire system can also rotate following the rotation of the steering wheel, which is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where a vehicle with a steer-by-wire system cannot carry out certain production work, and improves the inclusiveness of the current production line's production capacity.

[0075] In a possible implementation, when the factory mode is enabled, the vehicle control method further includes at least one of the following steps:

[0076] a. Control the feel simulator to stop sending the steering wheel angle signal to the steering actuator.

[0077] b. Control the steering actuator to stop receiving the steering wheel angle signal sent by the feel simulator.

[0078] c. Control the steering actuator not to respond to the steering wheel angle signal sent by the feel simulator.

[0079] Each of the above a, b, and c belongs to a way of preventing the steering execution controller in the steering actuator from responding to the steering wheel angle signal, which improves the flexibility of prohibiting the steering execution controller in the steering actuator from responding to the steering wheel angle signal. When the factory mode is enabled, it can avoid misoperation of the steering execution controller and responding to the steering wheel angle signal.

[0080] For method a, controlling the feel simulator to stop sending the steering wheel angle signal to the steering actuator specifically means controlling the feel controller in the feel simulator to no longer send the steering wheel angle signal to the steering execution controller. In this way, the steering execution controller cannot receive the steering wheel angle signal and thus cannot respond to the steering wheel angle signal. In this way, when the steering wheel rotates following the rotation of the steering wheel, the energy consumption of the feel simulator can be saved.

[0081] For method b, controlling the steering actuator to stop receiving the steering wheel angle signal sent by the feel simulator specifically means controlling the steering execution controller to no longer receive the steering wheel angle signal sent by the feel controller, avoiding misoperation of the steering execution controller and responding to the steering wheel angle signal. In addition, controlling the feel controller to close the communication link for transmitting the steering wheel angle signal between the feel controller and the steering execution controller can also achieve that the steering execution controller no longer receives the steering wheel angle signal sent by the feel controller.

[0082] For method c, controlling the steering actuator not to respond to the steering wheel angle signal sent by the feel simulator specifically means controlling the steering execution controller not to respond to the steering wheel angle signal sent by the feel controller.

[0083] In a possible implementation, when the factory mode is enabled, the vehicle control method further includes the following steps:

[0084] Control the steering actuator motor in the steering actuator to stop outputting torque.

[0085] During the vehicle four-wheel alignment operation, the rotating drum of the four-wheel alignment equipment rotates, thereby driving the steering wheels to turn (equivalent to the rotating drum applying an external force to the steering wheels to make them turn). Since an external force is generated by rotating the rotating drum of the four-wheel alignment equipment during the vehicle four-wheel alignment operation, and the role of the external force is to make the steering wheels turn. If the steering actuator motor continuously outputs torque, the torque output by the steering actuator motor may apply a force in the opposite direction to the external force, preventing the steering wheels from turning and thus preventing the four-wheel alignment operation from proceeding. Therefore, when the factory mode is enabled, it is necessary to control the steering actuator motor to stop outputting torque to ensure the smooth progress of the four-wheel alignment operation.

[0086] In a possible implementation, when the factory mode is enabled, the vehicle control method further includes at least one of the following steps:

[0087] d. Use the actual rack position in the steering actuator as the steering wheel control signal.

[0088] e. If the preset steering angle corresponding to the actual rack position is inconsistent with the actual steering angle of the steering wheels, use the actual steering angle as the steering wheel control signal.

[0089] f. Use the preset steering wheel rotation angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0090] The above d, e, and f all belong to a way of generating the steering wheel control signal, making the way of generating the steering wheel control signal more flexible, which is conducive to improving the flexibility of controlling the steering wheel to rotate following the turning of the steering wheels.

[0091] For the d method, when the factory mode is enabled, the steering actuator controller uses the actual rack position of the rack as the steering wheel control signal. After the feel controller receives the steering wheel control signal sent by the steering actuator controller, it analyzes the steering wheel control signal to obtain the actual rack position, and then through the first mapping relationship between the rack position and the steering wheel rotation angle, obtains the preset steering wheel rotation angle corresponding to the actual rack position, that is, obtains the target steering wheel rotation angle, and then controls the steering wheel to rotate so that the actual steering wheel rotation angle reaches the target steering wheel rotation angle.

[0092] For the e mode, when the factory mode is enabled, 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 not consistent, since the actual steering angle of the steering wheel can accurately reflect the actual steering condition 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 feel controller analyzes 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.

[0093] For the f mode, when the factory mode is enabled, after the steering execution controller obtains the actual rack position of the rack and the actual steering angle of the steering wheel, through the third mapping relationship between the rack position and the wheel steering angle and the steering wheel angle, it obtains the preset steering wheel angle corresponding to the actual rack position and the actual steering 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 receiving the steering wheel control signal sent by the steering execution controller, the feel controller 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, 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.

[0094] In a possible implementation manner, when the factory mode is enabled, the vehicle control method further includes the following steps:

[0095] 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;

[0096] If not, control the steering wheel to continue rotating so that the actual steering wheel angle reaches the preset steering wheel angle.

[0097] During the process that the haptic 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 of the steering wheel and the actual steering wheel rotation angle are obtained in real time. Compare whether the preset steering wheel rotation angle (target steering wheel rotation angle) corresponding to the actual steering angle of the steering wheel is consistent with the actual steering wheel rotation angle. If they are consistent, it means that the steering wheel has accurately rotated to the target steering wheel rotation angle. If they are not consistent, it means that there is an error in the rotation process of the steering wheel and the actual steering wheel rotation angle has not reached the target steering wheel rotation angle. Then, control the steering wheel to continue rotating to correct the actual steering wheel rotation angle of the steering wheel until the actual steering wheel rotation angle reaches the preset steering wheel rotation angle, so as to ensure that during the rotation of the steering wheel following the steering of the steering wheel, the steering wheel rotation angle of the steering wheel is aligned with the rack position and the steering angle of the steering wheel, that is, the corresponding relationship between the steering wheel rotation angle of the steering wheel, the rack position and the steering angle of the steering wheel is the same as that in the case where the steering wheel follows the rotation of the steering wheel and the steering wheel rotates.

[0098] In a possible implementation manner, the above control for the steering wheel to continue rotating includes the following steps:

[0099] Determine the target output torque of the haptic motor in the haptic simulator according to the target difference;

[0100] Adjust the actual output torque of the haptic motor according to the target output torque, so that the haptic motor controls the steering wheel to continue rotating.

[0101] The target difference is the difference between the preset steering wheel rotation angle corresponding to the actual steering angle of the steering wheel and the actual steering wheel rotation angle. After obtaining the target difference, input the target difference into the PID controller, and the output result of the PID controller is obtained. The output result is the target output torque, denoted as u(t), u(t)=P(t)+I(t)+D(t), where P(t) is the proportional term result, I(t) is the integral term result, and D(t) is the differential term result. Adjust the actual output torque of the haptic motor to the target output torque, that is, the haptic motor drives the steering wheel to continue rotating based on the target output torque until the actual steering wheel rotation angle reaches the preset steering wheel rotation angle corresponding to the actual steering angle of the steering wheel, and then stop outputting torque. This realizes the precise control of the rotation of the steering wheel during the rotation of the steering wheel following the steering of the steering wheel, which is beneficial to ensuring that during the rotation of the steering wheel following the steering of the steering wheel, the corresponding relationship between the steering wheel rotation angle of the steering wheel, the rack position and the steering angle of the steering wheel is the same as that in the case where the steering wheel follows the rotation of the steering wheel and the steering wheel rotates.

[0102] In a possible implementation manner, the opening conditions of the factory mode include at least one of the following:

[0103] Condition 1: When the vehicle is in a stationary state, it is detected that the vehicle is placed on a four-wheel alignment device;

[0104] Condition 2: When the vehicle is in a stationary state, it is detected that the switch of the factory mode is triggered;

[0105] Condition 2: When the vehicle is in a stationary state, a factory mode activation request signal sent by an external device is received.

[0106] For Condition 1, when the vehicle is in a stationary state, if it is detected through an external vehicle image that the vehicle is placed on a four-wheel alignment device, it indicates that the user is very likely to need to perform four-wheel alignment on the vehicle. It is considered that the factory mode activation condition is met, and then the factory mode is activated. This belongs to a way of automatically activating the factory mode of the vehicle.

[0107] For Condition 2, a switch for the factory mode 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 in a stationary state, if it is detected that the switch of the factory mode is triggered, it indicates that the steering wheel needs to be controlled to rotate following the rotation of the steering wheels. It is considered that the factory mode activation condition is met, and then the factory mode is activated. This belongs to a way of actively activating the factory mode manually.

[0108] 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 an activation request signal for requesting the activation of the factory mode to the vehicle. When the vehicle is in a stationary state, if the activation request signal sent by the external device is received, it is considered that the factory mode activation condition is met, and then the factory mode is activated. This belongs to another way of actively activating the factory mode manually, and this way requires a staff member who knows the operation specifications of the four-wheel alignment work to activate the factory mode through the external device. Among them, the condition for keeping the factory mode always on is that the external device needs to send an activation request signal to the vehicle in real time, and the factory mode remains always on.

[0109] By setting the above three conditions, the flexibility of activating the factory mode is improved. As the activation condition of the factory mode, the factory mode cannot be activated during normal vehicle use, which is beneficial to improving the safety of users' vehicle use.

[0110] In a possible implementation, the vehicle control method further includes:

[0111] If the factory mode activation condition is not met, the factory mode is turned off, and the factory mode is switched to the normal mode, and the vehicle resumes normal control, that is, the steering wheels are controlled to turn following the rotation of the steering wheel.

[0112] For the enabling condition, when the vehicle is in a stationary state, an enabling request signal for the factory mode sent by an external device is received. When the vehicle is in a stationary state, if an enabling request signal for the factory mode sent by the external device is received and the factory mode is enabled, and then if it is detected that the enabling request signal sent by the external device is interrupted later, that is, no enabling request signal sent by the external device is detected, indicating that the user does not need to control the steering wheel to rotate following the steering of the steering wheels, the factory mode is turned off, the factory mode is set to the normal mode, and the steering execution controller in the steering actuator is controlled to respond to the steering wheel angle signal sent by the feel controller in the feel simulator, so as to control the steering wheels to steer following the rotation of the steering wheel, making the vehicle return to the normal control state.

[0113] The following is another embodiment of a vehicle control method provided in the specification of this application.

[0114] The above vehicle control method includes the following solutions:

[0115] S210: Determine whether the enabling condition of the factory mode is satisfied;

[0116] S211: When the enabling condition of the factory mode is not satisfied, turn off the factory mode and enable the normal mode. Turning off the factory mode and enabling 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 to control the steering wheels to steer following the rotation of the steering wheel.

[0117] S212: When the enabling condition of the factory mode is satisfied, enable the factory mode and turn off the normal mode. Enabling the factory mode and turning off 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 to control the steering wheel to rotate following the steering of the steering wheels.

[0118] When the factory mode is enabled 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. Prohibiting the steering actuator from responding to the steering wheel angle signal sent by the feel simulator includes various prohibiting methods, which improves the flexibility of prohibiting the steering execution controller in the steering actuator from responding to the steering wheel angle signal. It can avoid the steering execution controller from misoperating and responding to the steering wheel angle signal when the factory mode is enabled. The various prohibiting 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.

[0119] When the factory mode is enabled and the normal mode is disabled, it is also necessary to control the steering actuator motor in the steering actuator to stop outputting torque, so as to avoid the steering actuator motor continuously outputting torque, preventing the steering wheel from turning and thus preventing the four-wheel alignment work from proceeding, which is beneficial to ensuring the smooth progress of the four-wheel alignment work.

[0120] When the factory mode is enabled, 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 beneficial to improving the flexibility of controlling the rotation of the steering wheel following the rotation of the steering wheels. The multiple signal generation methods are, for example: using the actual rack position 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 wheels, using the actual steering angle as the steering wheel control signal; and using the preset steering wheel rotation angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0121] In the embodiment of the present application, a factory mode is additionally set for the steer-by-wire system to make the steering wheel rotate following the rotation of the steering wheels. After this factory mode is enabled, a vehicle with a steer-by-wire system can also be like a vehicle with a mechanical steering system. When the steering wheels are turned by an external force, the steering wheel of the vehicle with a steer-by-wire system can also rotate following the rotation of the steering wheels, which is beneficial to improving the vehicle's adaptability to production conditions, can avoid the situation where a vehicle with a steer-by-wire system cannot carry out certain production work, and improves the inclusiveness of the current production line's production capacity.

[0122] 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.

[0123] Figure 6 The structural schematic diagram of a vehicle control device provided by an embodiment of the present application is shown, as Figure 6 shown, the vehicle control device 600 is applied to a vehicle with a steer-by-wire system. The steer-by-wire system includes a feel simulator and a steering actuator. The vehicle has a factory mode. When the factory mode is enabled, the 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 rotation of the steering wheels. The vehicle control device 600 includes:

[0124] A condition judgment module 610, configured to judge whether the opening condition of the factory mode is satisfied;

[0125] A mode control module 620, configured to enable the factory mode when the opening condition of the factory mode is satisfied.

[0126] In a possible implementation, the vehicle control device 600 further includes:

[0127] A signal control unit, configured to, when the factory mode is turned on, control the feel simulator to stop sending the steering wheel angle signal to the steering actuator; or, control the steering actuator to stop receiving the steering wheel angle signal sent by the feel simulator; or, control the steering actuator not to respond to the steering wheel angle signal sent by the feel simulator.

[0128] In a possible implementation, the vehicle control device 600 further includes:

[0129] A motor control unit, configured to, when the factory mode is turned on, control the steering actuator motor in the steering actuator to stop outputting torque.

[0130] In a possible implementation, the vehicle control device 600 further includes:

[0131] A signal generation unit, configured to, when the factory mode is turned on, use 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, use the actual steering angle as the steering wheel control signal; or, use the preset steering wheel angle corresponding to both the actual rack position and the actual steering angle as the steering wheel control signal.

[0132] In a possible implementation, the vehicle control device 600 further includes:

[0133] A correction unit, configured to, when the factory mode is turned on, 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; if not, control the steering wheel to continue rotating so that the actual steering wheel angle reaches the preset steering wheel angle.

[0134] In a possible implementation, the correction unit is specifically configured to determine the target output torque of the feel motor in the feel simulator according to the target difference; where 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; adjust the actual output torque of the feel motor according to the target output torque so that the feel motor controls the steering wheel to continue rotating.

[0135] In a possible implementation, the enabling condition includes at least one of the following: when the vehicle is in a stationary state, it is detected that the vehicle is placed on a four-wheel alignment device; when the vehicle is in a stationary state, it is detected that the switch of the factory mode is triggered; when the vehicle is in a stationary state, an enabling request signal of the factory mode sent by an external device is received.

[0136] In a possible implementation, if the enabling condition is that when the vehicle is in a stationary state, an enabling request signal of the factory mode sent by an external device is received, the mode control module 620 is further configured to turn off the factory mode when it is detected that the enabling 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 feel simulator.

[0137] It should be noted that when the vehicle control device provided in the above embodiments executes the vehicle control method, only the division of the above function modules is used for illustration. In actual applications, the above functions can be allocated to different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above. In addition, the vehicle control device provided in the above embodiments and the vehicle control method embodiments belong to the same concept. Therefore, for the details not disclosed in the device embodiments of the present application, please refer to the vehicle control method embodiments of the present application above, and will not be elaborated here.

[0138] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0139] Figure 7 The structural schematic diagram of a vehicle provided by an embodiment of the present application is shown, as Figure 7 shown, the vehicle 700 includes: a memory 701 and a processor 702, wherein an executable program code 7011 is stored in the memory 701, and the processor 702 is configured to call and execute the executable program code 7011 to execute a vehicle control method.

[0140] In this embodiment, the vehicle can be divided into function modules according to the above method examples. For example, each function module can be corresponding, 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 illustrative, and is only a logical function division. There may be other division methods in actual implementation.

[0141] In the case where each functional module is divided corresponding 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 embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here.

[0142] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, so the same effect as the above implementation method can be achieved.

[0143] In the case of adopting an integrated unit, the vehicle may include a processing module and a storage module. Among them, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes and data, etc.

[0144] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure content of this application. The processor can also be a combination that realizes computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0145] This embodiment also provides a computer-readable storage medium, in which computer program codes are stored. When the computer program codes run on a computer, the computer is enabled to execute the above-mentioned relevant method steps to implement a vehicle control method in the above embodiment.

[0146] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the above-mentioned relevant steps to implement a vehicle control method in the above embodiment.

[0147] In addition, the vehicle provided in the embodiment of the present application may specifically be a chip, a component or a module. The vehicle may include a processor and a memory connected to each other; among them, the memory is used to store instructions. When the vehicle runs, the processor can call and execute the instructions to enable the chip to execute a vehicle control method in the above embodiment.

[0148] Among them, the vehicle, the computer-readable storage medium, the computer program product or the 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 by them can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be elaborated here.

[0149] From the description of the above embodiments, those skilled in the art can understand that for the convenience and brevity of description, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules according to needs, 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.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0151] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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 yes, start the factory mode and control the steering actuator motor in the steering actuator to stop outputting torque; Wherein, in the case where the steering wheel is turned by an external force, if the steering actuator motor stops outputting torque, the steering actuator motor will not apply a force in the opposite direction of the external force to prevent the steering wheel from turning; 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 target difference is input into a PID controller to obtain a target output torque of the hand feeling motor in the hand feeling simulator output by the PID controller; wherein the target difference is a 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-feel motor is adjusted according to the target output torque, so that the hand-feel motor controls the steering wheel to continue to rotate. When the actual steering wheel angle reaches the preset steering wheel angle, the hand-feel motor is controlled to stop outputting torque.

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: 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.

4. The vehicle control method according to any one of claims 1 to 3, 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.

5. The vehicle control method according to claim 4, 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.

6. 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 5.

7. 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 5 is implemented.

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