Steering-by-wire system, control method, vehicle and storage medium

Abstract

The invention discloses a steer-by-wire system, a control method, a vehicle and a storage medium. The steer-by-wire system comprises a redundant steering angle torque sensor, a redundant steering angle sensor, a road sensing motor controller, a steering execution mechanism controller, an emergency connecting device and a whole vehicle controller. Wherein the road feeling motor controller and the steering execution mechanism controller execute a road feeling simulation and steering control strategy based on a corner torque signal and a corner signal, and the whole vehicle controller outputs a vehicle speed signal. And when mutual verification of the sensor signals fails, the emergency connection device is activated to form mechanical connection, and meanwhile, the flag bit is pulled up to control strategy conversion. The control method comprises sensor signal detection, strategy execution, emergency connection starting, flag bit pull-up logic and redundancy mechanism implementation. The technical problem that the steer-by-wire system cannot work under the extreme condition that redundant signals fail in the prior art is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular, relates to a wire-controlled steering system, a control method, a vehicle and a storage medium. Background Art

[0002] The wire control eliminates the direct hard connection between the steering gear and the steering wheel, and uses the electrical signal generated when the steering wheel is turned to transmit it to the steering drive motor, which drives the steering gear to steer. The wire control steering system provides a variable transmission ratio, allowing the driver to achieve different transmission ratios by switching different driving modes; it can provide a smoother driving experience. On uneven roads, the system can reduce the vibration and pulling of the wheels, making driving safer and more comfortable; the wire control system greatly improves the vehicle's handling flexibility and accurately controls the steering wheel through the electronic control unit.

[0003] Since the steer-by-wire system must be a redundant architecture, the highly integrated electronic technology and advanced sensor technology increase the difficulty of research and development and production. In addition, the system is highly dependent on power supplies and electronic components. Once a failure occurs, the steering system may fail, which is more likely to affect the driver's safety. Although the sensor adopts a redundant architecture to ensure that when one set of sensor signals fails, the other set of sensor signals can still be transmitted normally to ensure the normal operation of the steer-by-wire system, in the extreme case of redundant signal failure, the steer-by-wire system will not work, so signal failure detection and execution strategy are more important. Summary of the invention

[0004] Embodiments of the present invention provide a steer-by-wire system, a control method, a vehicle and a storage medium to at least solve the technical problem in the related art that the steer-by-wire system will not work in the extreme case where the redundant signal fails.

[0005] According to a first aspect of an embodiment of the present invention, a wire-controlled steer system is provided, comprising: a redundant angle torque sensor for detecting an angle torque signal of a driver; a redundant angle sensor for detecting an angle signal of a steering wheel; a road sense motor controller connected to the redundant angle torque sensor and the redundant angle sensor, and executing a road sense simulation strategy according to the angle torque signal and the angle signal; a steering actuator controller connected to the redundant angle sensor, and executing a steering control strategy according to the angle signal; an emergency connection device for achieving a mechanical connection between a road sense simulation device and a steering actuator when at least one set of sensor signals in the redundant angle torque sensor and the redundant angle sensor fails; a vehicle controller for outputting a vehicle speed signal to the road sense motor controller and the steering actuator controller; the road sense motor controller and the steering actuator controller include failure detection logic, which raises a warning flag when the signals of the redundant angle torque sensor and the redundant angle sensor fail to be mutually verified, and switches the control strategy according to the failure of the sensor signal.

[0006] Optionally, a specific algorithm for processing the vehicle speed signal limit value in the steer-by-wire system includes dynamically adjusting the limit value based on the vehicle speed signal, and automatically adjusting the limit value to a preset safety range when the redundant steering angle sensor signal fails.

[0007] Optionally, the emergency connection device includes a built-in electromagnetic clutch and a mechanical locking mechanism. When a sensor signal failure is detected, the electromagnetic clutch is activated and the mechanical locking mechanism ensures a reliable mechanical connection between the road feel simulation device and the steering actuator.

[0008] Optionally, specific algorithms for adjusting the road feel simulation strategy and the steering control strategy include an interpolation method, which is used to estimate and complete the steering command based on signals from another group of sensors when a single sensor signal fails.

[0009] Optionally, the flag pull-up logic includes an independent warning flag and an error flag. The warning flag is activated when a signal abnormality is initially detected, and the error flag is activated when the signal failure is confirmed. The trigger conditions of the two are different to distinguish between minor abnormalities and serious faults.

[0010] Optionally, the redundant mechanism of the redundant angle sensor and the redundant angle torque sensor includes at least two groups of sensors, one group is the main sensor and the other group is the backup sensor. When the main sensor signal fails, the system automatically switches to the backup sensor.

[0011] Optionally, the torque verification method includes comparing the difference between two sets of sensor signals in real time. When the difference exceeds a preset threshold, the verification logic is triggered to determine the reliability of the signal.

[0012] Optionally, the algorithm for converting the rack travel signal into the rotation angle signal by the redundant displacement sensor includes a feedback loop based on PID control to ensure the accuracy and real-time performance of the converted signal.

[0013] According to a second aspect of an embodiment of the present invention, there is also provided a method for controlling a steer-by-wire system, comprising:

[0014] The driver's steering angle torque signal and the steering wheel's steering angle signal are detected by redundant steering angle torque sensors and redundant steering angle sensors; the road sense simulation strategy and the steering control strategy are executed according to the steering angle torque signal and the steering angle signal; when the sensor signal fails, the emergency connection device is started to realize the mechanical connection between the road sense simulation device and the steering actuator; the vehicle speed signal is output to the road sense motor controller and the steering actuator controller through the vehicle controller; the failure detection logic is executed, and when the signal mutual verification failure is detected, the warning flag is raised, and the control strategy is switched according to the failure of the sensor signal.

[0015] Optionally, the specific steps of processing the vehicle speed signal limit value in the control method include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

[0016] Optionally, the startup logic of the emergency connection device includes activating a built-in electromagnetic clutch and a mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

[0017] Optionally, specific steps of adjusting the road feel simulation strategy and the steering control strategy in the control method include using an interpolation method to estimate missing steering instructions based on available sensor signals.

[0018] Optionally, the implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

[0019] Optionally, the implementation step of the redundancy mechanism in the control method includes detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when primary sensor signals fail.

[0020] Optionally, the specific steps of the torque verification method in the control method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic to ensure the reliability of the signal.

[0021] Optionally, the specific step of converting the rack travel signal into the rotation angle signal in the control method includes converting based on a feedback loop of PID control to improve the accuracy and real-time performance of the signal.

[0022] According to a third aspect of an embodiment of the present invention, a vehicle is also provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the method for controlling a wire-controlled steering system as described in any embodiment of the first aspect above.

[0023] According to a fourth aspect of an embodiment of the present invention, a non-volatile storage medium is further provided, in which a computer program is stored, wherein the computer program is configured to execute the control method of the wire-controlled steering system described in any embodiment of the first aspect when running on a computer or a processor.

[0024] According to a fifth aspect of the embodiments of the present invention, there is further provided a computer program product, comprising a computer program, which, when executed by a processor, implements the method for controlling a steer-by-wire system as described in any one of the embodiments of the first aspect.

[0025] The wire-controlled steering system and control method of the present application significantly improve the safety and reliability of the system by adopting redundant sensors and emergency mechanical connections. In the event of sensor signal failure, the system can respond quickly to ensure that the driver's control instructions are accurately executed, and at the same time effectively avoid potential dangers through limit value processing and control strategy adjustment. In addition, the independent warning flag and error flag design can more accurately identify and respond to system anomalies, further enhancing the safety performance of the system. On the whole, this solution not only improves the driving experience, but also provides a solid foundation for the development of autonomous driving technology, thereby solving the technical problem that the wire-controlled steering system will not work in extreme cases where redundant signals fail in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 is a schematic diagram of the architecture of a steer-by-wire system according to one embodiment of the present invention;

[0028] Figure 2 is a flow chart of a control method of a steer-by-wire system according to one embodiment of the present invention;

[0029] Figure 3 4 is a schematic diagram of a failure detection logic of a control method for a steer-by-wire system according to one embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Reference Figure 1 , an embodiment of the present invention provides a wire-controlled steering system, comprising:

[0033] Redundant steering angle torque sensor is used to detect the driver's steering angle torque signal. Through the use of redundant design, even if one set of sensors fails, the system can still obtain data through another set of sensors to ensure the continuity and safety of steering control. It is suitable for various harsh driving conditions, such as extreme weather or complex road conditions.

[0034] Redundant steering angle sensors are used to detect steering wheel angle signals. The use of redundant sensors can effectively prevent single point failures and improve the overall reliability and stability of the system. This design is particularly critical in autonomous vehicles, ensuring that the vehicle can still perform steering operations safely when a sensor fails.

[0035] The road sense motor controller is connected to the redundant corner torque sensor and the redundant angle sensor, and executes the road sense simulation strategy according to the angle torque signal and the angle signal; this controller can adjust the steering feedback in real time according to the driver's operating force and angle, providing a more realistic driving experience. In high-performance sports cars and racing cars, the precise execution of the road sense simulation strategy can significantly improve the driver's control and safety.

[0036] The steering actuator controller is connected to the redundant steering angle sensor and executes the steering control strategy according to the steering angle signal; the efficient response of the steering actuator controller can ensure that the vehicle can accurately execute the steering command under any driving conditions. In city driving and highway driving, this precise control is crucial to avoid accidents and improve driving comfort.

[0037] The emergency connection device realizes the mechanical connection between the road sense simulation device and the steering actuator when at least one of the redundant angle torque sensors and redundant angle sensors fails. The activation of the emergency connection device can restore the traditional mechanical steering when the electronic system fails completely, ensuring that the vehicle can still be controlled in an emergency. It is suitable for all vehicles equipped with a wire-controlled steering system, especially in autonomous driving vehicles that rely on electronic control, providing a reliable backup solution.

[0038] The vehicle controller outputs the vehicle speed signal to the road sensor motor controller and the steering actuator controller; the integrated design of the vehicle controller can ensure the information synchronization between the vehicle systems and improve the overall coordination and safety. In the intelligent transportation system, the vehicle controller can interact with external information to achieve a higher level of autonomous driving function.

[0039] The road sense motor controller and steering actuator controller include failure detection logic. When the redundant angle torque sensor and redundant angle sensor fail to verify each other's signals, the warning flag is raised and the control strategy is switched according to the failure of the sensor signal. This logic design can detect sensor failure at the first time and adjust the control strategy in time to avoid potential safety risks. It is suitable for all vehicles using wire control steering technology, especially in autonomous vehicles, and can quickly respond to sensor failures to ensure vehicle safety.

[0040] Optionally, the specific algorithm for processing the speed signal limit value in the wire-controlled steering system includes dynamically adjusting the limit value based on the speed signal, and automatically adjusting the limit value to a preset safety range when the redundant angle sensor signal fails. This dynamic adjustment mechanism can adjust the range of steering control according to the actual driving speed of the vehicle, avoid the risk of oversteering caused by sensor failure when driving at high speed, and ensure driving safety. It is suitable for highway driving and high-speed autonomous driving scenarios, and can effectively reduce the risk of loss of control due to sensor failure.

[0041] Optionally, the emergency connection device includes a built-in electromagnetic clutch and a mechanical locking mechanism. When the sensor signal fails, the electromagnetic clutch is activated, and the mechanical locking mechanism ensures a reliable mechanical connection between the road sense simulation device and the steering actuator. This design can quickly switch to the mechanical connection mode when the electronic system fails, providing the driver with direct steering control and ensuring that the vehicle can be driven safely in any situation. It is suitable for all steer-by-wire vehicles, especially in autonomous vehicles, providing necessary backup for the electronic system and ensuring driving safety.

[0042] Optionally, the specific algorithms for adjusting the road feel simulation strategy and steering control strategy include interpolation, which is used to estimate and complete the steering command based on the signals of another set of sensors when a single sensor signal fails. The application of the interpolation method can make reasonable predictions using existing data when a sensor fails, ensuring the smoothness and continuity of the steering operation. It is applicable to all wire-controlled steering systems, especially in autonomous vehicles, and can effectively deal with sensor failures and maintain stable driving of the vehicle.

[0043] Optionally, the flag pull-up logic includes independent warning flags and error flags. The warning flag is activated when the signal abnormality is initially detected, and the error flag is activated when the signal failure is confirmed. The two have different triggering conditions to distinguish between minor abnormalities and serious faults. This logic design can more finely identify the system status and report abnormal conditions to the driver or the autonomous driving system in a timely manner to avoid misoperation caused by inaccurate information. It is applicable to all wire-controlled steering systems using redundant sensors, especially in autonomous vehicles, and can provide more accurate information for system decision-making and enhance safety.

[0044] Optionally, the redundant mechanism of the redundant angle sensor and redundant angle torque sensor includes at least two groups of sensors, one group is the main sensor and the other group is the backup sensor. When the main sensor signal fails, the system automatically switches to the backup sensor. This mechanism can seamlessly switch to the backup sensor when the main sensor fails, ensuring the continuity and safety of steering control. It is applicable to all wire control steering systems, especially in autonomous vehicles, and can effectively deal with sensor failures and maintain stable driving of the vehicle.

[0045] Optionally, the torque verification method includes real-time comparison of the difference between the two sets of sensor signals. When the difference exceeds the preset threshold, the verification logic is triggered to determine the reliability of the signal. This verification method can detect abnormalities in sensor data in a timely manner and avoid steering control errors caused by signal errors. It is suitable for all wire-controlled steering systems, especially in autonomous vehicles, to ensure the accurate execution of steering commands and improve driving safety.

[0046] The optional redundant displacement sensor algorithm converts the rack travel signal into the steering angle signal, including a feedback loop based on PID control to ensure the accuracy and real-time performance of the converted signal. The introduction of PID control can improve the accuracy and response speed of signal conversion, ensuring the smoothness and continuity of steering operation. It is suitable for all steer-by-wire systems, especially in autonomous vehicles, to ensure the accurate execution of steering commands and improve driving safety.

[0047] In addition, according to an embodiment of the present invention, an embodiment of a method for controlling a wire-controlled steering system is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system comprising at least one set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0048] The method embodiment can also be executed in an electronic device including a memory and a processor, a similar control device or a cloud. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It can be understood by those of ordinary skill in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0049] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0050] The memory can be used to store computer programs, such as storing a computer program corresponding to the control method of the wire steering system in the embodiment of the present invention. The processor implements the above-mentioned control method of the wire steering system by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0051] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (radio frequency, RF) module, which is used to communicate with the Internet wirelessly. In some embodiments of the present solution, the communication device is used to connect to mobile devices such as mobile phones and tablets, and instructions can be sent to electronic devices through the mobile device.

[0052] The display device may be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the electronic device. In some embodiments, the electronic device has a graphical user interface (GUI), and a user may interact with the GUI by touching a finger release and / or gestures on a touch-sensitive surface, and executable instructions for executing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0053] Figure 2 is a flow chart of a control method of a wire-controlled steering system according to one embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0054] Step S101, detecting the driver's steering angle torque signal and the steering wheel's steering angle signal; through the redundant sensor signal detection, the accuracy and reliability of the steering command can be ensured under any driving conditions. It is applicable to all steer-by-wire vehicles, especially in autonomous driving vehicles, and can ensure the continuity and safety of steering control.

[0055] Step S102, execute the road feeling simulation strategy and steering control strategy; adjust the steering feedback in real time according to the driver's operating force and angle to provide a more realistic driving experience. In high-performance sports cars and racing cars, this precise control can significantly improve the driver's control and safety.

[0056] Step S103, start the emergency connection device to achieve the mechanical connection between the road feeling simulation device and the steering actuator; in the case of complete failure of the electronic system, restore the traditional mechanical steering to ensure that the vehicle can still be controlled in an emergency. It is applicable to all steer-by-wire vehicles, especially in autonomous vehicles, providing necessary backup for the electronic system to ensure driving safety.

[0057] Step S104: output the vehicle speed signal to the road sensor motor controller and the steering actuator controller; the integrated design of the vehicle controller can ensure information synchronization between the vehicle systems and improve overall coordination and safety. In the intelligent transportation system, this information synchronization mechanism can support a higher level of autonomous driving functions.

[0058] Step S105, execute the failure detection logic. When the signal mutual verification fails, the warning flag is raised and the control strategy is changed according to the failure of the sensor signal. This logic design can detect sensor failure at the first time and adjust the control strategy in time to avoid potential safety risks. It is suitable for all vehicles using wire control steering technology, especially in autonomous vehicles, and can quickly respond to sensor failures to ensure vehicle safety.

[0059] The wire-controlled steering system and control method of the present application significantly improve the safety and reliability of the system by adopting redundant sensors and emergency mechanical connections. In the event of sensor signal failure, the system can respond quickly to ensure that the driver's control instructions are accurately executed, and at the same time effectively avoid potential dangers through limit value processing and control strategy adjustment. In addition, the independent warning flag and error flag design can more accurately identify and respond to system anomalies, further enhancing the safety performance of the system. On the whole, this solution not only improves the driving experience, but also provides a solid foundation for the development of autonomous driving technology, thereby solving the technical problem that the wire-controlled steering system will not work in extreme cases where redundant signals fail in related technologies.

[0060] Optionally, the specific steps of processing the vehicle speed signal limit value in the control method include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

[0061] Optionally, the startup logic of the emergency connection device includes activating a built-in electromagnetic clutch and a mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

[0062] Optionally, specific steps of adjusting the road feel simulation strategy and the steering control strategy in the control method include using an interpolation method to estimate missing steering instructions based on available sensor signals.

[0063] Optionally, the implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

[0064] Optionally, the implementation step of the redundancy mechanism in the control method includes detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when primary sensor signals fail.

[0065] Optionally, the specific steps of the torque verification method in the control method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic to ensure the reliability of the signal.

[0066] Optionally, the specific step of converting the rack travel signal into the rotation angle signal in the control method includes converting based on a feedback loop of PID control to improve the accuracy and real-time performance of the signal.

[0067] Exemplarily, the control method provided by the present invention performs the following steps:

[0068] Step 1: When the redundant steering angle sensor is normal and the redundant steering angle torque sensor angle and torque signals are normal, the steer-by-wire system normally executes the road feel simulation strategy and steering execution strategy without raising any flags and without limiting the received vehicle speed value.

[0069] Step 2: When the redundant steering angle sensor is normal, the redundant steering angle torque sensor steering angle signal is normal and one torque signal fails, the road sense simulation controller can receive three torque signals at this time, two of which are normal signals. The road sense simulation controller recombines the other signal and the complementary signals of the remaining two torque signals into a group of signals. In this way, the redundant steering angle torque sensor can still output two groups of torque signals, but the controller pulls up the redundant steering angle torque sensor torque warning flag to remind the driver that the redundant steering angle torque sensor is abnormal at this time. Please replace parts in time to ensure driving safety.

[0070] Step three: When the redundant steering angle sensor is normal, the redundant steering angle torque sensor steering angle signal is normal and the two torque signals fail, the road sense simulation controller can receive two signals at this time. If the two complementary torque signals are received by the road sense simulation controller, the two torques are a group of signals at this time, and the redundant steering angle torque sensor torque warning flag is pulled high, and the received vehicle speed value is not limited; if two non-complementary torque signals are received by the road sense simulation controller, the road sense simulation controller changes the torque verification method, recalculates the two signals and outputs a group of signals, pulls high the redundant steering angle torque sensor torque warning flag, and does not limit the received vehicle speed value.

[0071] Step 4: When the redundant steering angle sensor is normal, the redundant steering angle torque sensor steering angle signal is normal and three or four torque signals fail, the torque signals cannot form mutual verification between signals. If the signal is disturbed and the value suddenly changes, serious consequences will occur. At this time, the redundant steering angle torque sensor torque error flag is raised, and the road feel simulation strategy of the wire-controlled steering system executes the default strategy, that is, the driver maintains a certain road feel according to the steering angle range to prevent the driver from finding the center position.

[0072] Step 5: When the redundant steering angle sensor is normal, one steering angle or two steering angle signals of the redundant steering torque sensor in the same group fail and the torque signal is normal, the road sense simulation controller can receive a set of signals at this time, pull up the steering angle warning flag of the redundant steering torque sensor, and do not limit the received vehicle speed value.

[0073] Step 6: When the redundant angle sensor is normal, one angle signal of the redundant angle torque sensor or two angle signals of the same group fail and one torque signal fails, the redundant angle torque sensor torque and angle warning flags are raised, and the received vehicle speed value is not limited.

[0074] Step 7: When the redundant angle sensor is normal, one angle signal of the redundant angle torque sensor or two angle signals of the same group fail and both torque signals fail, the redundant angle torque sensor torque and angle warning flags are raised, and the received vehicle speed value is not limited.

[0075] Step 8: When the redundant steering angle sensor is normal, one steering angle signal or two steering angle signals of the same group of redundant steering angle torque sensors fail and three or four torque signals fail, the redundant steering angle torque sensor steering angle warning flag is raised, the redundant steering angle torque sensor torque error flag is raised, and the road feel simulation strategy of the steer-by-wire system executes the default strategy, that is, the driver is kept at a certain road feel according to the steering angle range to prevent the driver from finding the center position.

[0076] Step nine: When the redundant steering angle sensor is normal, two, three or four steering angle signals of different groups of redundant steering angle torque sensors fail and the torque signal is normal, the steering angle error flag of the redundant steering angle torque sensor is pulled high, the control-by-wire system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device to ensure normal driving.

[0077] Step 10: When the redundant steering angle sensor is normal, two, three or four steering angle signals of different groups of redundant steering angle torque sensors fail and one torque signal fails, the torque warning flag of the redundant steering angle torque sensor is pulled high, the steering angle error flag of the redundant steering angle torque sensor is pulled high, the control-by-wire system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0078] Step 11: When the redundant steering angle sensor is normal, two, three or four steering angle signals of different groups of redundant steering angle torque sensors fail and two torque signals fail, the torque warning flag of the redundant steering angle torque sensor is pulled high, the steering angle error flag of the redundant steering angle torque sensor is pulled high, the control-by-wire system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0079] Step 12: When the redundant steering angle sensor is normal, two, three or four steering angle signals of different groups of redundant steering angle torque sensors fail, and three or four torque signals fail, the steering angle and torque error flags of the redundant steering angle torque sensors are pulled high, the control-by-wire system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0080] Step 13: When one angle signal of the redundant angle sensor or two angle signals of the same group fail and the angle and torque signals of the redundant angle torque sensor are normal, the redundant angle sensor warning flag is pulled high, and the wire-controlled steering system executes the road feel simulation strategy and steering execution strategy normally without limiting the received vehicle speed value.

[0081] Step 14: When one angle signal of the redundant angle sensor or two angle signals of the same group fail, and the angle signal of the redundant angle torque sensor is normal and one torque signal fails, the redundant angle sensor warning flag is pulled high, and the redundant angle torque sensor torque warning flag is pulled high.

[0082] Step 15: When one angle signal of the redundant angle sensor or two angle signals of the same group fail, and the angle signal of the redundant angle torque sensor is normal and two torque signals fail, the redundant angle sensor warning flag is pulled high, and the redundant angle torque sensor torque warning flag is pulled high.

[0083] Step 16: When one corner signal of the redundant angle sensor or two corner signals in the same group fail, the angle signal of the redundant angle torque sensor is normal and three or four torque signals fail, the redundant angle sensor warning flag is pulled high and the redundant angle torque sensor torque error flag is pulled high, and the road feel simulation strategy of the wire-controlled steering system executes the default strategy.

[0084] Step 17: When one corner signal of the redundant angle sensor or two corner signals of the same group fail, or one corner signal of the redundant angle torque sensor or two corner signals of the same group fail and the torque signal is normal, pull up the redundant angle sensor warning flag and pull up the redundant angle torque sensor angle warning flag.

[0085] Step 18: When one angle signal of the redundant angle sensor or two angle signals of the same group fail, one angle signal of the redundant angle torque sensor or two angle signals of the same group fail and one torque signal fails, pull up the redundant angle sensor warning flag, and pull up the redundant angle torque sensor torque and angle warning flags.

[0086] Step 19: When one angle signal of the redundant angle sensor or two angle signals of the same group fail, one angle signal of the redundant angle torque sensor or two angle signals of the same group fail and both torque signals fail, pull up the redundant angle sensor warning flag, and pull up the redundant angle torque sensor torque and angle warning flags.

[0087] Step 20: When one corner signal of the redundant angle sensor or two corner signals in the same group fail, one corner signal of the redundant angle torque sensor or two corner signals in the same group fail and three or four torque signals fail, the redundant angle sensor warning flag is pulled high, the angle warning flag of the redundant angle torque sensor is pulled high, the torque error flag of the redundant angle torque sensor is pulled high, and the road feel simulation strategy of the wire-controlled steering system executes the default strategy.

[0088] Step 21: When one corner signal of the redundant angle sensor or two corner signals in the same group fail, and two, three or four corner signals of different groups of redundant angle torque sensors fail but the torque signals are normal, the redundant angle sensor warning flag is pulled high, the redundant angle torque sensor angle error flag is pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0089] Step 22: When one corner signal of the redundant angle sensor or two corner signals in the same group fail, two, three or four corner signals of different groups of redundant angle torque sensors fail and one torque signal fails, the redundant angle sensor warning flag is pulled high, the redundant angle torque sensor angle error flag is pulled high, the redundant angle torque sensor torque warning flag is pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0090] Step 23: When one corner signal of the redundant angle sensor or two corner signals in the same group fail, two, three or four corner signals of different groups of redundant angle torque sensors fail and two torque signals fail, the redundant angle sensor warning flag is pulled high, the redundant angle torque sensor angle error flag is pulled high, the redundant angle torque sensor torque warning flag is pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0091] Step 24: When one angle signal of the redundant angle sensor or two angle signals in the same group fail, two angle signals of different groups of the redundant angle torque sensor fail, and three or four torque signals fail, the redundant angle sensor warning flag is pulled high, the redundant angle torque sensor angle and torque error flags are pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device.

[0092] Step 25: When two different groups or three or four corner signals of the redundant steering angle sensor fail, the redundant steering angle sensor error flag is pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, and the road feel simulation controller outputs a control signal to control the emergency connection device to achieve a mechanical connection between the road feel simulation device and the steering execution device to ensure normal driving.

[0093] Step 26: When a vehicle speed signal fails, raise the vehicle speed warning flag and perform the above 25 steps normally.

[0094] Step 27: When the two vehicle speed signals fail, the vehicle speed error flag is raised, the received vehicle speed signal is limited, and the above 25 steps are executed normally.

[0095] It should be noted that, in the above steps, if only the corresponding warning flag is pulled high, it only serves as a warning and does not affect the functions of the wire control steering system, but the driver should go to the service station for repair in time; if the error flag is pulled high, the wire control system does not execute the road sense simulation strategy and the steering execution strategy, preventing some normal signals from being received by the controller and executing the corresponding control strategy, causing the driver's driving intention to be contrary to the action of the strategy execution, affecting driving safety. At the same time, after the road sense simulation controller detects that the corresponding error flag is pulled high, the road sense simulation controller outputs the corresponding current by controlling the corresponding interface to make the emergency connection device work, realize the connection between the road sense simulation column and the steering actuator, and ensure that the vehicle still has the steering function; for limiting the received vehicle speed value, because the power strategy, return strategy, mid-position compensation strategy, and damping strategy of the road sense simulation device are all current values ​​obtained by interpolation method in combination with the vehicle speed and the corresponding parameters, the road sense simulation strategy is limited by limiting the vehicle speed value to ensure that the steering wheel has a certain road sense.

[0096] Reference Figure 3 , an example of failure detection logic:

[0097] OK-normal, War_V-speed warning, Err_V-speed error, Ang1_OK-redundant angle sensor signal is normal, Ang1_1_F-redundant angle sensor A1_1 failed, Ang1_2_F-redundant angle sensor A1_2 failed, Ang1_3_F-redundant angle sensor A1_3 failed, Ang1_4_F-redundant angle sensor A1_4 failed, C_4^3〖A1〗_x_F-redundant angle sensor has 3 angle signals failed, C_4^4〖A1〗_x_F-redundant angle sensor has 4 angle signals failed Ang2_OK-redundant angle torque sensor signal is normal, Ang2_1_F-redundant angle torque sensor A2_1 fails, Ang2_2_F-redundant angle torque sensor A2_2 fails, Ang2_3_F-redundant angle torque sensor A2_3 fails, Ang2_4_F-redundant angle torque sensor A2_4 fails, C_4^3〖A2〗_x_F-redundant angle torque sensor has 3 angle signals failed, C_4^4〖A2〗_x_F-redundant angle torque sensor has 4 angle signals failed; Tor_OK-redundant angle Torque sensor torque is normal, Tor_1_1_F- redundant angle torque sensor T1_failed, Tor_1_2_F- redundant angle torque sensor T1_2 failed, Tor_1_3_F- redundant angle torque sensor T1_3 failed, Tor_1_4_F- redundant angle torque sensor T1_4 failed, C_4^3T_x_F- redundant angle torque sensor has 3 torque signals failed, C_4^4T_x_F- redundant angle torque sensor has 4 torque signals failed; Stry_Conv- torque strategy conversion, Tor_War- redundant angle torque sensor Angle torque sensor torque signal warning, Tor_Tro-redundant angle torque sensor torque signal error, A1_War-redundant angle sensor angle signal warning, A1_Tro-redundant angle sensor angle signal error, A2_War-redundant angle torque sensor angle signal warning, A2_Tro-redundant angle torque sensor angle signal error, Stry_OK-road feel simulation and steering execution strategy are executed normally, Stry_Def-road feel simulation and steering execution strategy are executed according to the default strategy, Stry_Nul-road feel simulation and steering execution strategy are not executed.

[0098] It is understandable that when the driver is driving the vehicle, if the redundant steering angle sensor is normal, the redundant steering angle torque sensor steering angle signal is normal and three or four torque signals fail, the redundant steering angle torque sensor torque error flag is pulled high, the wire control system does not execute the road feel simulation strategy and the steering execution strategy, the received speed value is limited, and at the same time, the road feel simulation controller detects that the corresponding error flag is pulled high, and the road feel simulation controller outputs the corresponding current by controlling the corresponding interface to make the emergency connection device work, realize the connection between the road feel simulation column and the steering actuator, and ensure that the vehicle still has a steering function. The wire control system does not execute the road feel simulation strategy and the steering execution strategy, that is, the output current of the road feel simulation column and the steering actuator is zero, so as to prevent some strategies from being executable and interfering with the driver's correct decision-making intention, thereby ensuring normal driving.

[0099] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0100] In this embodiment, a wire-controlled steering signal processing system is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" is a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0101] An embodiment of the present invention further provides a vehicle, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the control method of the steer-by-wire system described in any of the above embodiments.

[0102] Optionally, in this embodiment, the processor in the vehicle may be configured to run a computer program to perform the following steps:

[0103] Step S101, detecting the driver's steering angle torque signal and the steering wheel's steering angle signal; through the redundant sensor signal detection, the accuracy and reliability of the steering command can be ensured under any driving conditions. It is applicable to all steer-by-wire vehicles, especially in autonomous driving vehicles, and can ensure the continuity and safety of steering control.

[0104] Step S102, execute the road feeling simulation strategy and steering control strategy; adjust the steering feedback in real time according to the driver's operating force and angle to provide a more realistic driving experience. In high-performance sports cars and racing cars, this precise control can significantly improve the driver's control and safety.

[0105] Step S103, start the emergency connection device to achieve the mechanical connection between the road feeling simulation device and the steering actuator; in the case of complete failure of the electronic system, restore the traditional mechanical steering to ensure that the vehicle can still be controlled in an emergency. It is applicable to all steer-by-wire vehicles, especially in autonomous vehicles, providing necessary backup for the electronic system to ensure driving safety.

[0106] Step S104: output the vehicle speed signal to the road sensor motor controller and the steering actuator controller; the integrated design of the vehicle controller can ensure information synchronization between the vehicle systems and improve overall coordination and safety. In the intelligent transportation system, this information synchronization mechanism can support a higher level of autonomous driving functions.

[0107] Step S105, execute the failure detection logic. When the signal mutual verification fails, the warning flag is raised and the control strategy is changed according to the failure of the sensor signal. This logic design can detect sensor failure at the first time and adjust the control strategy in time to avoid potential safety risks. It is suitable for all vehicles using wire control steering technology, especially in autonomous vehicles, and can quickly respond to sensor failures to ensure vehicle safety.

[0108] Optionally, the specific steps of processing the vehicle speed signal limit value in the control method include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

[0109] Optionally, the startup logic of the emergency connection device includes activating a built-in electromagnetic clutch and a mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

[0110] Optionally, specific steps of adjusting the road feel simulation strategy and the steering control strategy in the control method include using an interpolation method to estimate missing steering instructions based on available sensor signals.

[0111] Optionally, the implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

[0112] Optionally, the implementation step of the redundancy mechanism in the control method includes detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when primary sensor signals fail.

[0113] Optionally, the specific steps of the torque verification method in the control method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic to ensure the reliability of the signal.

[0114] Optionally, the specific step of converting the rack travel signal into the rotation angle signal in the control method includes converting based on a feedback loop of PID control to improve the accuracy and real-time performance of the signal.

[0115] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0116] An embodiment of the present invention further provides a non-volatile storage medium, in which a computer program is stored, wherein the computer program is configured to execute the control method of the wire-controlled steering system described in any of the above embodiments when running on a computer or a processor.

[0117] Optionally, in this embodiment, the above-mentioned computer program may be configured to store a computer program for performing the following steps:

[0118] Step S101, detecting the driver's steering angle torque signal and the steering wheel's steering angle signal; through the redundant sensor signal detection, the accuracy and reliability of the steering command can be ensured under any driving conditions. It is applicable to all steer-by-wire vehicles, especially in autonomous driving vehicles, and can ensure the continuity and safety of steering control.

[0119] Step S102, execute the road feeling simulation strategy and steering control strategy; adjust the steering feedback in real time according to the driver's operating force and angle to provide a more realistic driving experience. In high-performance sports cars and racing cars, this precise control can significantly improve the driver's control and safety.

[0120] Step S103, start the emergency connection device to achieve the mechanical connection between the road feeling simulation device and the steering actuator; in the case of complete failure of the electronic system, restore the traditional mechanical steering to ensure that the vehicle can still be controlled in an emergency. It is applicable to all steer-by-wire vehicles, especially in autonomous vehicles, providing necessary backup for the electronic system to ensure driving safety.

[0121] Step S104: output the vehicle speed signal to the road sensor motor controller and the steering actuator controller; the integrated design of the vehicle controller can ensure information synchronization between the vehicle systems and improve overall coordination and safety. In the intelligent transportation system, this information synchronization mechanism can support a higher level of autonomous driving functions.

[0122] Step S105, execute the failure detection logic. When the signal mutual verification fails, the warning flag is raised and the control strategy is changed according to the failure of the sensor signal. This logic design can detect sensor failure at the first time and adjust the control strategy in time to avoid potential safety risks. It is suitable for all vehicles using wire control steering technology, especially in autonomous vehicles, and can quickly respond to sensor failures to ensure vehicle safety.

[0123] Optionally, the specific steps of processing the vehicle speed signal limit value in the control method include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

[0124] Optionally, the startup logic of the emergency connection device includes activating a built-in electromagnetic clutch and a mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

[0125] Optionally, specific steps of adjusting the road feel simulation strategy and the steering control strategy in the control method include using an interpolation method to estimate missing steering instructions based on available sensor signals.

[0126] Optionally, the implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

[0127] Optionally, the implementation step of the redundancy mechanism in the control method includes detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when primary sensor signals fail.

[0128] Optionally, the specific steps of the torque verification method in the control method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic to ensure the reliability of the signal.

[0129] Optionally, the specific step of converting the rack travel signal into the rotation angle signal in the control method includes converting based on a feedback loop of PID control to improve the accuracy and real-time performance of the signal.

[0130] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0131] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the control method of the steer-by-wire system described in any of the above embodiments when executed by a processor.

[0132] Optionally, in this embodiment, the above computer program implements the following steps when executed by a processor:

[0133] Step S101, detecting the driver's steering angle torque signal and the steering wheel's steering angle signal; through the redundant sensor signal detection, the accuracy and reliability of the steering command can be ensured under any driving conditions. It is applicable to all steer-by-wire vehicles, especially in autonomous driving vehicles, and can ensure the continuity and safety of steering control.

[0134] Step S102, execute the road feeling simulation strategy and steering control strategy; adjust the steering feedback in real time according to the driver's operating force and angle to provide a more realistic driving experience. In high-performance sports cars and racing cars, this precise control can significantly improve the driver's control and safety.

[0135] Step S103, start the emergency connection device to achieve the mechanical connection between the road feeling simulation device and the steering actuator; in the case of complete failure of the electronic system, restore the traditional mechanical steering to ensure that the vehicle can still be controlled in an emergency. It is applicable to all steer-by-wire vehicles, especially in autonomous vehicles, providing necessary backup for the electronic system to ensure driving safety.

[0136] Step S104: output the vehicle speed signal to the road sensor motor controller and the steering actuator controller; the integrated design of the vehicle controller can ensure information synchronization between the vehicle systems and improve overall coordination and safety. In the intelligent transportation system, this information synchronization mechanism can support a higher level of autonomous driving functions.

[0137] Step S105, execute the failure detection logic. When the signal mutual verification fails, the warning flag is raised and the control strategy is changed according to the failure of the sensor signal. This logic design can detect sensor failure at the first time and adjust the control strategy in time to avoid potential safety risks. It is suitable for all vehicles using wire control steering technology, especially in autonomous vehicles, and can quickly respond to sensor failures to ensure vehicle safety.

[0138] Optionally, the specific steps of processing the vehicle speed signal limit value in the control method include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

[0139] Optionally, the startup logic of the emergency connection device includes activating a built-in electromagnetic clutch and a mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

[0140] Optionally, specific steps of adjusting the road feel simulation strategy and the steering control strategy in the control method include using an interpolation method to estimate missing steering instructions based on available sensor signals.

[0141] Optionally, the implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

[0142] Optionally, the implementation step of the redundancy mechanism in the control method includes detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when primary sensor signals fail.

[0143] Optionally, the specific steps of the torque verification method in the control method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic to ensure the reliability of the signal.

[0144] Optionally, the specific step of converting the rack travel signal into the rotation angle signal in the control method includes converting based on a feedback loop of PID control to improve the accuracy and real-time performance of the signal.

[0145] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] In some embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the modules can be a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, 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, modules or indirect coupling or communication connection of modules, which can be electrical or other forms.

[0147] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0148] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0149] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0150] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A steer-by-wire system, characterized in that: include: Redundant angular torque sensor for detecting the driver's angular torque signal; Redundant steering angle sensor, used to detect steering wheel angle signal; a road sense motor controller connected to the redundant steering angle torque sensor and the redundant steering angle sensor, and executing a road sense simulation strategy according to the steering angle torque signal and the steering angle signal; A steering actuator controller connected to the redundant steering angle sensor and executing a steering control strategy according to the steering angle signal; An emergency connection device, which realizes a mechanical connection between the road feeling simulation device and the steering actuator when at least one set of sensor signals of the redundant rotation angle torque sensor and the redundant rotation angle sensor fails; A vehicle controller, which outputs a vehicle speed signal to the road sensing motor controller and the steering actuator controller; Among them, the road sensing motor controller and the steering actuator controller include failure detection logic, and the failure detection logic is used to raise the warning flag when the signal mutual verification between the redundant steering angle torque sensor and the redundant steering angle sensor fails, and to switch the control strategy according to the failure status of the sensor signal.

2. The steer-by-wire system according to claim 1, characterized in that: The specific algorithm for processing the vehicle speed signal limit value includes dynamically adjusting the limit value based on the vehicle speed signal, and when the redundant steering angle sensor signal fails, the limit value is automatically adjusted to a preset safety range.

3. The steer-by-wire system according to claim 1, characterized in that: The emergency connection device includes a built-in electromagnetic clutch and a mechanical locking mechanism. When a sensor signal failure is detected, the electromagnetic clutch is activated, and the mechanical locking mechanism ensures a reliable mechanical connection between the road feel simulation device and the steering actuator.

4. The steer-by-wire system according to claim 1, characterized in that: The specific algorithm for adjusting the road feel simulation strategy and the steering control strategy includes an interpolation method, which is used to estimate and complete the steering command based on the signal of another group of sensors when a single sensor signal fails.

5. The steer-by-wire system according to claim 1, characterized in that: The flag pull-up logic includes an independent warning flag and an error flag. The warning flag is activated when a signal abnormality is initially detected, and the error flag is activated when the signal failure is confirmed. The trigger conditions of the two are different to distinguish between minor abnormalities and serious faults.

6. The steer-by-wire system according to claim 1, characterized in that: The redundant mechanism of the redundant rotation angle sensor and the redundant rotation angle torque sensor includes at least two groups of sensors, one group is the main sensor and the other group is the backup sensor. When the main sensor signal fails, the system automatically switches to the backup sensor.

7. The steer-by-wire system according to claim 1, characterized in that: The torque verification method includes comparing the difference between two sets of sensor signals in real time, and triggering the verification logic when the difference exceeds a preset threshold.

8. The steer-by-wire system according to claim 1, characterized in that: The algorithm for converting the rack travel signal into the rotation angle signal by the redundant displacement sensor includes a feedback loop based on PID control.

9. A method for controlling a steer-by-wire system, characterized in that: include: Detecting a driver's steering angle torque signal and a steering wheel's steering angle signal through a redundant steering angle torque sensor and a redundant steering angle sensor; Execute a road feeling simulation strategy and a steering control strategy according to the steering angle torque signal and the steering angle signal; When the sensor signal fails, the emergency connection device is activated to achieve the mechanical connection between the road sense simulation device and the steering actuator; Output the vehicle speed signal to the road sensing motor controller and the steering actuator controller through the vehicle controller; Execute the failure detection logic. When the signal mutual verification failure is detected, the warning flag is pulled high and the control strategy is changed according to the failure of the sensor signal.

10. The control method according to claim 9, characterized in that: The specific steps of the vehicle speed signal limit value processing include dynamically adjusting the limit value, and when a signal failure is detected, the limit value is automatically adjusted to a preset safety range.

11. The control method according to claim 9, characterized in that: The startup logic of the emergency connection device includes activating the built-in electromagnetic clutch and mechanical locking mechanism to form a reliable mechanical connection when a sensor signal failure is detected.

12. The control method according to claim 9, characterized in that: The specific steps of adjusting the road feel simulation strategy and the steering control strategy include using an interpolation method to estimate missing steering instructions based on available sensor signals.

13. The control method according to claim 9, characterized in that: The implementation of the flag pull-up logic includes independently setting a warning flag and an error flag, and activating them respectively according to the degree of signal abnormality.

14. The control method according to claim 9, characterized in that: The implementation steps of the redundancy mechanism include detecting signals of at least two groups of sensors, and automatically switching to backup sensor signals when the main sensor signals fail.

15. The control method according to claim 9, characterized in that: The specific steps of the torque verification method include real-time comparison of two sets of sensor signals, and when the difference exceeds a preset threshold, activating the verification logic.

16. The control method according to claim 9, characterized in that: The specific step of converting the rack travel signal into the rotation angle signal includes converting based on a feedback loop of PID control.

17. A vehicle comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the method for controlling a steer-by-wire system as claimed in any one of claims 9 to 16.

18. A non-volatile storage medium, characterized in that: The non-volatile storage medium stores a computer program, wherein the computer program is configured to execute the control method of the steer-by-wire system as claimed in any one of claims 9 to 16 when running on a computer or a processor.

19. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the control method of the steer-by-wire system according to any one of claims 9 to 16.

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