Steer-by-wire control system and vehicle simulation system

Abstract

The invention provides a steer-by-wire control system and a vehicle simulation system. The steer-by-wire control system comprises a first acquisition unit, a first steering controller, a first execution control unit, a second acquisition unit, a second steering controller and a second execution control unit. The first acquisition unit and the second acquisition unit are arranged on the steering wheel assembly, the first acquisition unit acquires steering data and sends the steering data to the first steering controller, and the second acquisition unit acquires steering data and sends the steering data to the second steering controller; the first steering controller generates a driving instruction at least based on the steering data and sends the driving instruction to the first execution control unit, or the second steering controller generates a driving instruction at least based on the steering data and sends the driving instruction to the second execution control unit; and the first execution control unit and the second execution control unit control the executor to execute according to the received driving instruction. The vehicle simulation system includes a steer-by-wire control system. According to the invention, the working stability of the steer-by-wire control system can be improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle engineering technology, and in particular to a steer-by-wire control system and a vehicle simulation system. Background Art

[0002] The steer-by-wire test bench is a test platform for testing the vehicle's steer-by-wire system. The steer-by-wire test bench generally includes: a set of steering devices, actuators, controllers and resistance loading devices, etc. The steering device includes sensors to collect vehicle speed signals, the hand force input by the driver, and the angle and speed of the steering wheel, etc. The actuator includes a steering actuator motor and a road sense motor to drive the rotation of the wheels and generate a suitable road feel for the driver, respectively. The resistance simulation device simulates the steering resistance encountered by the vehicle when driving. The controller is used to process the signals collected by the sensor and then output instructions to control the actuator action.

[0003] In the current steer-by-wire control system, if one of the components fails in communication or other faults, the entire steer-by-wire control system will fail and not work properly, resulting in poor working stability. Summary of the invention

[0004] The present application provides a steer-by-wire control system and a vehicle simulation system to solve the above-mentioned technical problems in the prior art.

[0005] According to a first aspect of the present application, there is provided a steer-by-wire control system, comprising a first acquisition unit, a first steering controller, a first execution control unit, a second acquisition unit, a second steering controller, and a second execution control unit;

[0006] The first acquisition unit and the second acquisition unit are arranged on the steering wheel assembly, the first acquisition unit is connected to the first steering controller, and is used to acquire steering data and send it to the first steering controller; the second acquisition unit is connected to the second steering controller, and is used to acquire steering data and send it to the second steering controller;

[0007] The first steering controller is also connected to the first execution control unit, and the second steering controller is also connected to the second execution control unit. The first steering controller generates a driving instruction based on at least the steering data and sends it to the first execution control unit, or the second steering controller generates a driving instruction based on at least the steering data and sends it to the second execution control unit;

[0008] The first execution control unit and the second execution control unit are also connected to the actuator, and are used to control the actuator to execute according to the received driving instruction.

[0009] In some embodiments, the first steering controller is also connected to the second steering controller;

[0010] When the first acquisition unit is in a fault state and the first steering controller and the first execution control unit are in a normal state, the second steering controller sends the steering data to the first steering controller, and the first steering controller generates a driving instruction based at least on the steering data and sends it to the first execution control unit; or the second steering controller generates a driving instruction based at least on the steering data and sends it to the second execution control unit;

[0011] When the first execution control unit is in a fault state and the first steering controller is in a normal state, the first steering controller generates a driving instruction based on at least the steering data and sends it to the second steering controller to be forwarded to the second execution control unit, or the second steering controller generates a driving instruction based on at least the steering data and sends it to the second execution control unit;

[0012] When the first steering controller is in a fault state, the second steering controller generates a driving instruction based at least on the steering data and sends the driving instruction to the second execution control unit.

[0013] In some embodiments, the steer-by-wire control system further includes a steering wheel angle sensor connected to the first steering controller and the second steering controller, the first acquisition unit includes a first torque sensor connected to the first steering controller, the second acquisition unit includes a second torque sensor connected to the second steering controller, and the steering data includes a steering torque;

[0014] The steering wheel angle sensor, the first torque sensor and the second torque sensor are arranged on the steering wheel assembly, the steering wheel angle sensor collects the steering wheel angle and sends it to the first steering controller and the second steering controller, the first torque sensor and the second torque sensor collect the steering torque and send it to the correspondingly connected first steering controller / second steering controller, and the first steering controller / the second steering controller generates a driving instruction according to the steering torque and the steering wheel angle.

[0015] In some embodiments, the first execution control unit includes a first front steering motor controller, a first rear steering motor controller, and a first road sensing motor controller connected to the first steering controller;

[0016] The second execution control unit includes a second front steering motor controller, a second rear steering motor controller and a second road sensing motor controller connected to the second steering controller;

[0017] The actuator includes a front steering motor, a rear steering motor and a road sensing motor. The first front steering motor controller and the second front steering motor controller are also used to connect the front steering motor. The first rear steering motor controller and the second rear steering motor controller are also used to connect the rear steering motor. The first road sensing motor controller and the second road sensing motor controller are also used to connect the road sensing motor.

[0018] In some embodiments, the above-mentioned steer-by-wire control system further includes a first power supply and a second power supply, wherein the first power supply is connected to the first steering controller, and the second power supply is connected to the second steering controller.

[0019] In some embodiments, the above-mentioned steer-by-wire control system further includes a wheel angle sensor connected to the first steering controller and the second steering controller, and the wheel angle sensor is disposed on the wheel rotation mechanism.

[0020] According to a second aspect of the present application, a vehicle simulation system is provided, comprising a simulation host computer, a resistance simulation device and the above-mentioned wire-controlled steering control system, wherein the simulation host computer is connected to the resistance simulation device, the first steering controller and the second steering controller of the wire-controlled steering control system, and is also connected to an accelerator pedal and a brake pedal;

[0021] The simulation host computer performs simulation based on the steering signal sent by the first steering controller / the second steering controller, the acceleration signal transmitted by the accelerator pedal and the braking signal transmitted by the brake pedal, and outputs resistance parameters to the resistance simulation device, and the steering signal includes steering data.

[0022] In some implementations, the simulation host computer uses a HIL simulation system and a Carsim vehicle dynamics model for simulation.

[0023] In some embodiments, the vehicle simulation system further includes a communication slave computer, the resistance simulation device includes a servo motor, and the servo motor communicates with the simulation host computer via Ethernet via the communication slave computer.

[0024] In some implementations, the vehicle simulation system further includes a display screen connected to the simulation host computer.

[0025] In summary, the steer-by-wire control system and vehicle simulation system provided by the present application have at least the following beneficial effects:

[0026] Two systems are provided. The first system includes a first acquisition unit, a first steering controller and a first execution control unit. The second system includes a second acquisition unit, a second steering controller and a second execution control unit. When one of the two systems fails, the other system can drive the actuator to work, and the working reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the specific implementation methods of the present application, the drawings required for use in the specific implementation methods will be briefly introduced below in conjunction with the accompanying drawings. It is obvious that the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings or solutions can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a structural block diagram of a steer-by-wire control system in one embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of a steer-by-wire control system in one embodiment of the present application;

[0030] Figure 3 A schematic diagram of a vehicle simulation system provided by one embodiment of the present application;

[0031] Figure 4 A structural block diagram of the components in a vehicle simulation system provided by one embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the above and other features and advantages of the present application more clear, the present application is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0033] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it is apparent to those skilled in the art that specific details need not be adopted to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid blurring the present application.

[0034] The present application provides a wire-controlled steering control system, such as Figure 1 As shown, the steer-by-wire control system includes a first acquisition unit 110 , a first steering controller 120 , a first execution control unit 130 , a second acquisition unit 210 , a second steering controller 220 and a second execution control unit 230 .

[0035] The first acquisition unit 110 and the second acquisition unit 210 are arranged on the steering wheel assembly, wherein the steering wheel assembly includes a steering wheel and a steering column, specifically, the first acquisition unit 110 and the second acquisition unit 210 are arranged on the steering column. The first acquisition unit 110 is connected to the first steering controller 120, and is used to acquire steering data and send it to the first steering controller 120; the second acquisition unit 210 is connected to the second steering controller 220, and is used to acquire steering data and send it to the second steering controller 220.

[0036] The first steering controller 120 is also connected to the first execution control unit 130, and the second steering controller 220 is also connected to the second execution control unit 230. The first steering controller 120 generates a driving instruction based on at least the steering data and sends it to the first execution control unit 130, or the second steering controller 220 generates a driving instruction based on at least the steering data and sends it to the second execution control unit 230. The first execution control unit 130 and the second execution control unit 230 are also connected to the actuator 30, and are used to control the actuator 30 to execute according to the received driving instruction.

[0037] Among them, the actuator 30 refers to an actuator in a vehicle system, for example, at least including a steering motor for driving steering. Correspondingly, the first execution control unit 130 and the second execution control unit 230 are devices for controlling the execution of instructions by the actuator 30, such as an MCU (motor controller). Specifically, the drive instruction generated by the first steering controller 120 or the second steering controller 220 includes at least a steering drive instruction for driving steering. Specifically, the first steering controller 120 or the second steering controller 220 can generate a drive instruction based on at least the steering data and adopt an existing steering control method, and send the drive instruction to the corresponding connected execution control unit, so that one of the first execution control unit 130 and the second execution control unit 230 controls the execution of the actuator 30 according to the received drive instruction.

[0038] Existing wire-controlled steering systems mostly use separate signal acquisition and controllers, and a single controller performs algorithm control. If one of the components fails, the entire system fails. The wire-controlled steering control system of the present application includes two independent systems. The first system includes a first acquisition unit 110, a first steering controller 120, and a first execution control unit 130. The second system includes a second acquisition unit 210, a second steering controller 220, and a second execution control unit 230. When one of the two systems fails, the other drive actuator 30 can work, which has high working reliability.

[0039] In one embodiment, the first steering controller 120 is also connected to the second steering controller 220. The first steering controller 120 and the second steering controller 220 can transmit data to each other through communication, and can also transmit status information representing their own working status to each other. Specifically, the first steering controller 110 and the second steering controller 220 can communicate via CANFD (CAN with Flexible Data rate).

[0040] Specifically, taking the first steering controller 120 as an example of preferentially using the first steering controller for steering control, when the working state of the first acquisition unit 110 is a fault state, and the working states of the first steering controller 120 and the first execution control unit 130 are normal states, the second steering controller 220 sends the steering data sent by the second acquisition unit 210 to the first steering controller 120, and the first steering controller 120 generates a driving instruction based on at least the steering data and sends it to the first execution control unit 130. At this time, the steering data collected by the second acquisition unit 210 in the second system is used, and the first system controls the actuator 30 to work. It can be understood that the second steering controller 220 can also generate a driving instruction based on at least the steering data and send it to the second execution control unit 230. At this time, the actuator 30 is controlled by the second system.

[0041] Similarly, in an embodiment where the second steering controller 220 is used preferentially for steering control, when the working state of the second acquisition unit 210 is a fault state and the second steering controller 220 and the second execution control unit 230 are in a normal state, the first steering controller 120 can transmit the steering data output by the first acquisition unit 110 to the second steering controller 220, which converts and calculates the data, generates a driving instruction based on at least the steering data, and sends the instruction to the second execution control unit 230. Alternatively, the first steering controller 120 can also generate a driving instruction based on at least the steering data and send the instruction to the first execution control unit 130.

[0042] Specifically, when the first execution control unit 130 is in a fault state and the first steering controller 120 is in a normal state, the first steering controller 120 generates a driving instruction based on at least the steering data and sends it to the second steering controller 220 to be forwarded to the second execution control unit 230. Further, if the first acquisition unit 110 is in a normal state, the first steering controller 120 receives the steering data sent by the first acquisition unit 110, and if the first acquisition unit 110 is in a fault state, the first steering controller 120 may receive the steering data sent by the second steering controller 220. It can be understood that in other embodiments, the second steering controller 220 may directly generate a driving instruction based on at least the steering data and send it to the second execution control unit 230.

[0043] Specifically, when the first steering controller 120 is in a fault state, the second steering controller 220 in a normal state generates a driving instruction based on at least the steering data and sends it to the second execution control unit 230 in a normal state. For example, the first steering controller 120 and the second steering controller 220 can transmit working state signals to each other, such as transmitting a high level in a normal state and a low level in a fault state; when the second steering controller 120 detects that the working state signal of the first steering controller 120 is in a fault state, it takes over the control right, generates a driving instruction and sends it to the second execution control unit 230.

[0044] The first steering controller 120 and the second steering controller 220 communicate with each other. When a component fails, a component in a normal state of another system is used to process the failure, thereby ensuring the normal operation of the steer-by-wire control system and improving the working stability of the steer-by-wire control system.

[0045] In one embodiment, reference Figure 2 The above-mentioned wire-controlled steering control system further includes a steering wheel angle sensor SAS connected to the first steering controller 120 and the second steering controller 220. The first acquisition unit 110 includes a first torque sensor TS1 connected to the first steering controller 120, and the second acquisition unit 120 includes a second torque sensor TS2 connected to the second steering controller 220. The steering data includes a steering torque.

[0046] Among them, the steering wheel angle sensor SAS, the first torque sensor TS1 and the second torque sensor TS2 are arranged in the steering wheel assembly, and can be specifically arranged in the steering column of the steering wheel assembly. The steering wheel angle sensor SAS collects the steering wheel angle and sends it to the first steering controller 120 and the second steering controller 220, and the first torque sensor TS1 and the second torque sensor TS2 collect the steering torque and send it to the correspondingly connected first steering controller 120 / second steering controller 220. Specifically, the first torque sensor TS1 collects the steering torque and sends it to the first steering controller 120, and the second torque sensor TS2 collects the steering torque and sends it to the second steering controller 220; the first steering controller 120 / second steering controller 220 can use the existing steering control calculation method to generate a drive instruction based on the steering torque and the steering wheel angle.

[0047] The steering wheel angle sensor SAS and the first torque sensor TS1 and the second torque sensor TS2 respectively detect the steering wheel angle and the steering torque input by the driver, so as to accurately feed back the steering information to the first steering controller 120 and the second steering controller 220. Optionally, in other embodiments, there may be two steering wheel angle sensors SAS, one for connecting to the first steering controller 120 and the other for connecting to the second steering controller 220.

[0048] Specifically, the first steering controller 120 / the second steering controller 220 can send a steering drive instruction to the first execution control unit 130 / the second execution control unit 230 after calculation based on the steering wheel angle and the steering torque, as well as the current state of the steering motor fed back by the first execution control unit 130 / the second execution control unit 230, to realize wheel steering.

[0049] In one embodiment, reference Figure 2 The first execution control unit 130 includes a first front steering motor controller MCU3 connected to the first steering controller 120 (SBW1), a first rear steering motor controller MCU1 and a first road sensing motor controller MCU5; the second execution control unit 230 includes a second front steering motor controller MCU4 connected to the second steering controller 220 (SBW2), a second rear steering motor controller MCU2 and a second road sensing motor controller MCU6.

[0050] The actuator includes a front steering motor, a rear steering motor and a road sensing motor. The first front steering motor controller MCU3 and the second front steering motor controller MCU4 are also used to connect the front steering motor. The first rear steering motor controller MCU1 and the second rear steering motor controller MCU2 are also used to connect the rear steering motor. The first road sensing motor controller MCU5 and the second road sensing motor controller MCU6 are also used to connect the road sensing motor.

[0051] In this embodiment, one motor is connected to two motor controllers; the front steering motor, the rear steering motor and the road sensing motor are all six-phase redundant motors. The front steering motor can be driven and controlled individually or jointly by the first front steering motor controller MCU3 and the second front steering motor controller MCU4, the rear steering motor can be driven and controlled individually or jointly by the first rear steering motor controller MCU1 and the second rear steering motor controller MCU2, and the road sensing motor can be driven and controlled individually or jointly by the first road sensing motor controller MCU5 and the second road sensing motor controller MCU6.

[0052] Specifically, the first steering controller 120 / the second steering controller 220 sends a steering drive instruction to the first front steering motor controller MCU3 / the second front steering motor controller MCU4, so that the first front steering motor controller MCU3 / the second front steering motor controller MCU4 controls the front steering motor to work to realize the front wheel steering action, and sends a steering drive instruction to the first rear steering motor controller MCU1 / the second rear steering motor controller MCU2, so that the first rear steering motor controller MCU1 / the second rear steering motor controller MCU2 controls the rear steering motor to work to realize the rear wheel steering action; and sends a road sense drive instruction to the first road sense motor controller MCU5 / the second road sense motor controller MCU6.

[0053] Specifically, after the power-on initialization of the steer-by-wire control system is completed, if the first road sense motor controller MCU5 does not work properly, the second road sense motor controller MCU6 will work. The first steering controller 120 (SBW1) and the second steering controller 220 (SBW2) calculate the road sense torque based on the steering feedback and output it to the first road sense motor controller MCU5 / the second road sense motor controller MCU6. The first road sense motor controller MCU5 / the second road sense motor controller MCU6 drive the road sense motor to work, transmit the simulated road sense to the steering wheel assembly, and then transmit it to the driver, providing the driver with steering hand force.

[0054] By using two motor controllers to connect the front steering motor, two motor controllers to connect the rear steering motor, and two motor controllers to connect the road sensing motor, redundant backup of the motor controller is achieved. When one of the motor controllers fails, the other motor controller can control the connected motor to work, and the working stability is high.

[0055] In one embodiment, reference Figure 2 The above-mentioned wire-controlled steering control system also includes a first power supply BATT1 and a second power supply BATT2. The first power supply BATT1 is connected to the first steering controller 120 and is used to power the first steering controller 120. The second power supply BATT2 is connected to the second steering controller 220 and is used to power the second steering controller 220.

[0056] By using two power supplies to independently power the first steering controller 120 and the second steering controller 220, when one of the power supplies is disconnected or fails, the other power supply can be used to power the connected steering controller to ensure the normal operation of the wire-controlled steering control system, thereby further improving the working stability.

[0057] In one of the embodiments, the above-mentioned wire-controlled steering control system also includes a wheel angle sensor connected to the first steering controller 120 and the second steering controller 220. The wheel angle sensor is arranged in the wheel rotation mechanism, and is used to collect the steering angle of the wheel and send it to the first steering controller 120 and the second steering controller 220, so that the first steering controller 120 and the second steering controller 220 can obtain the steering angle of the wheel.

[0058] Specifically, refer to Figure 2 The wheel angle sensor may include a front wheel angle sensor RAS and a rear wheel angle sensor R_RAS. The front wheel angle sensor RAS is arranged at the rotating mechanism of the front wheel to collect the steering angle of the front wheel. The rear wheel angle sensor R_RAS is arranged at the rotating mechanism of the rear wheel to collect the steering angle of the rear wheel.

[0059] like Figure 2 As shown, the wire-controlled steering control system includes two independent redundant systems, wherein the first system includes a first torque sensor TS1, a first steering controller 120 (SBW1), a first road-sensing motor controller MCU5, a first front steering motor controller MCU3, a first rear steering motor controller MCU1, and a 12V first power supply BATT1; the first torque sensor TS1, the first road-sensing motor controller MCU5, the first front steering motor controller MCU3, the first rear steering motor controller MCU1, and the 12V first power supply BATT1 are all connected to the first steering controller 120 (SBW1); the first road-sensing motor controller MCU5 and the first steering controller 120 (SBW1) can communicate via CAN or CAN FD; the first road-sensing motor controller MCU5 is connected to the road-sensing motor, the first front steering motor controller MCU3 is connected to the front steering motor, and the first rear steering motor controller MCU1 is connected to the rear steering motor. The second system includes a second torque sensor TS2, a second steering controller 220 (SBW2), a second road sensing motor controller MCU6, a second front steering motor controller MCU4, a second rear steering motor controller MCU2, and a 12V second power supply BATT2. The second torque sensor TS2, the second road sensing motor controller MCU6, the second front steering motor controller MCU4, the second rear steering motor controller MCU2, and the 12V second power supply BATT2 are all connected to the second steering controller 220 (SBW2). The second road sensing motor controller MCU6 and the second steering controller 220 (SBW2) can communicate via CAN or CAN FD. The second road sensing motor controller MCU6 is connected to the road sensing motor, the second front steering motor controller MCU4 is connected to the front steering motor, and the second rear steering motor controller MCU2 is connected to the rear steering motor.

[0060] The present application provides a vehicle simulation system, including a simulation host computer, a resistance simulation device and a wire-controlled steering control system in any of the above-mentioned embodiments. The simulation host computer is connected to the resistance simulation device, the first steering controller 120 and the second steering controller 220 of the wire-controlled steering control system, and is also connected to an accelerator pedal and a brake pedal.

[0061] The simulation host computer performs simulation based on the steering signal sent by the first steering controller 120 / the second steering controller 220, the acceleration signal transmitted by the accelerator pedal, and the braking signal transmitted by the brake pedal, and outputs the resistance parameter to the resistance simulation device, so that the resistance simulation device can realize the resistance simulation during driving. Among them, the steering signal includes steering data. Further, the steering data can also include a steering wheel angle.

[0062] The above vehicle simulation system, because it adopts the steer-by-wire control system with high working stability in the above-mentioned embodiment, can improve the stability of vehicle simulation.

[0063] In one embodiment, reference Figure 3 ,The simulation host computer uses the HIL (hardware-in-the-loop test) simulation system and the Carsim vehicle dynamics model for ,simulation.

[0064] The HIL simulation system can use Simulink to build the HIL environment model. Specifically, the HIL simulation system maps the steering signal, acceleration signal, brake signal, etc. through software and transmits them to the Carsim vehicle dynamics model. The Carsim vehicle dynamics model performs performance simulation based on the above inputs, and provides simulation results of steering-related parameters based on the set vehicle parameters and road surface information. The HIL simulation system calculates the steering load torque based on the steering-related parameters simulated and output by the Carsim vehicle dynamics model, controls the resistance simulation device to output the steering load, and simulates the road resistance. By using the Carsim vehicle dynamics model and the HIL simulation system for joint simulation, the resistance under various road conditions and vehicle speeds can be simulated, and the resistance simulation is realistic.

[0065] In one embodiment, reference Figure 3 and Figure 4 The vehicle simulation system further includes a communication lower computer, and the resistance simulation device includes a servo motor, and the servo motor communicates with the simulation upper computer through Ethernet via the communication lower computer. Specifically, the servo motor communicates with the communication lower computer through Ether CAT, and the communication lower computer can use a PXI controller, and the communication lower computer communicates with the simulation upper computer through Ethernet.

[0066] Traditional resistance simulation devices are mostly controlled by voltage simulation signals, and their precision is easily disturbed, resulting in poor resistance simulation precision and accuracy. In this embodiment, the load motor of the resistance simulation device is a servo motor with Ethernet communication, and the resistance simulation is more efficient and flexible. Furthermore, the HIL simulation system and the Carsim vehicle dynamics model are used for joint simulation to simulate the resistance under various road conditions and vehicle speeds. The servo motor is controlled through Ethernet output, which has a fast response speed and realistic resistance simulation, and can improve the accuracy of resistance simulation.

[0067] Furthermore, if Figure 4 As shown, the steering wheel assembly, the road sensing motor, the front steering motor and the rear steering motor are arranged on the wire control platform. The vehicle simulation system receives the steering signal transmitted by the first steering controller 120 (SBW1) and the second steering controller 220 (SBW2) through the vehicle CAN, the status signal transmitted by the servo motor through Ether CAT, the acceleration signal and the braking signal input by the driver through the accelerator pedal and the brake pedal hard line, and the signals of the force sensors on the four wheels in real time through the communication lower computer, and transmits them to the HIL environment model of the simulation upper computer.

[0068] In one embodiment, the vehicle simulation system further comprises a display screen, which is connected to a simulation host computer. The simulation host computer can send the simulated data and / or received data to the display screen for display, so that the staff can view the data conveniently.

[0069] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A steer-by-wire control system, characterized in that: It includes a first acquisition unit, a first steering controller, a first execution control unit, a second acquisition unit, a second steering controller and a second execution control unit; The first acquisition unit and the second acquisition unit are arranged on the steering wheel assembly, and the first acquisition unit is connected to the first steering controller for acquiring steering data and sending the steering data to the first steering controller; The second acquisition unit is connected to the second steering controller and is used to acquire steering data and send it to the second steering controller; The first steering controller is also connected to the first execution control unit, and the second steering controller is also connected to the second execution control unit. The first steering controller generates a driving instruction based on at least the steering data and sends it to the first execution control unit, or the second steering controller generates a driving instruction based on at least the steering data and sends it to the second execution control unit; The first execution control unit and the second execution control unit are also connected to the actuator, and are used to control the actuator to execute according to the received driving instruction.

2. The steer-by-wire control system according to claim 1, characterized in that: The first steering controller is also connected to the second steering controller; When the first acquisition unit is in a fault state and the first steering controller and the first execution control unit are in a normal state, the second steering controller sends the steering data to the first steering controller, and the first steering controller generates a driving instruction based at least on the steering data and sends it to the first execution control unit; or the second steering controller generates a driving instruction based at least on the steering data and sends it to the second execution control unit; When the first execution control unit is in a fault state and the first steering controller is in a normal state, the first steering controller generates a driving instruction based on at least the steering data and sends it to the second steering controller to be forwarded to the second execution control unit, or the second steering controller generates a driving instruction based on at least the steering data and sends it to the second execution control unit; When the first steering controller is in a fault state, the second steering controller generates a driving instruction based at least on the steering data and sends the driving instruction to the second execution control unit.

3. The steer-by-wire control system according to claim 1 or 2, characterized in that: The system further comprises a steering wheel angle sensor connected to the first steering controller and the second steering controller, the first acquisition unit comprises a first torque sensor connected to the first steering controller, the second acquisition unit comprises a second torque sensor connected to the second steering controller, and the steering data comprises a steering torque; The steering wheel angle sensor, the first torque sensor and the second torque sensor are arranged on the steering wheel assembly, the steering wheel angle sensor collects the steering wheel angle and sends it to the first steering controller and the second steering controller, the first torque sensor and the second torque sensor collect the steering torque and send it to the correspondingly connected first steering controller / second steering controller, and the first steering controller / the second steering controller generates a driving instruction according to the steering torque and the steering wheel angle.

4. The steer-by-wire control system according to claim 1 or 2, characterized in that: The first execution control unit includes a first front steering motor controller, a first rear steering motor controller and a first road sensing motor controller connected to the first steering controller; The second execution control unit includes a second front steering motor controller, a second rear steering motor controller and a second road sensing motor controller connected to the second steering controller; The actuator includes a front steering motor, a rear steering motor and a road sensing motor. The first front steering motor controller and the second front steering motor controller are also used to connect the front steering motor. The first rear steering motor controller and the second rear steering motor controller are also used to connect the rear steering motor. The first road sensing motor controller and the second road sensing motor controller are also used to connect the road sensing motor.

5. The steer-by-wire control system according to claim 1, characterized in that: It also includes a first power supply and a second power supply, wherein the first power supply is connected to the first steering controller, and the second power supply is connected to the second steering controller.

6. The steer-by-wire control system according to claim 1, characterized in that: It also includes a wheel angle sensor connected to the first steering controller and the second steering controller, and the wheel angle sensor is arranged on the wheel rotation mechanism.

7. A vehicle simulation system, characterized in that: The device comprises a simulation host computer, a resistance simulation device and a wire-controlled steering control system according to any one of claims 1 to 6, wherein the simulation host computer is connected to the resistance simulation device, the first steering controller and the second steering controller of the wire-controlled steering control system, and is also connected to an accelerator pedal and a brake pedal; The simulation host computer performs simulation based on the steering signal sent by the first steering controller / the second steering controller, the acceleration signal transmitted by the accelerator pedal and the braking signal transmitted by the brake pedal, and outputs resistance parameters to the resistance simulation device, and the steering signal includes steering data.

8. The vehicle simulation system according to claim 7, characterized in that: The simulation host computer uses a HIL simulation system and a Carsim vehicle dynamics model for simulation.

9. The vehicle simulation system according to claim 7, characterized in that: The system further comprises a communication lower computer, the resistance simulation device comprises a servo motor, and the servo motor performs Ethernet communication with the simulation upper computer via the communication lower computer.

10. The vehicle simulation system according to claim 7, characterized in that: It also includes a display screen, which is connected to the simulation host computer.

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