Steering-by-wire failure processing method and device and vehicle

Abstract

The application discloses a kind of drive-by-wire steering failure processing method, device and vehicle, the vehicle is equipped with for controlling front wheel steering drive-by-wire steering system, for controlling rear wheel steering rear wheel steering system, the drive-by-wire steering failure processing method includes: the drive-by-wire steering system is detected to failure, obtains fault state;The fault state is judged, and obtains fault processing signal;In response to the fault processing signal control the rear wheel steering system intervention;Obtain the front wheel steering angle required for driving;The front wheel steering angle is input to preset real vehicle calibration model, and obtains rear wheel steering angle;According to the rear wheel steering angle, the rear wheel steering system controls rear wheel steering.When drive-by-wire steering fails and loses steering ability, additional steering ability is provided by rear wheel steering system, cross-system redundancy safety is realized, and the safety of drive-by-wire steering vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a steer-by-wire fault processing method and device and vehicle. BACKGROUND

[0002] Current vehicle intelligent technology is developing rapidly, in which the steer-by-wire cancels the mechanical connection between the steering wheel and the steering gear in the traditional steering system, so that different steering transmission ratios can be flexibly provided for the front wheels according to different driving conditions, improving the maneuverability and stability of the vehicle and providing excellent driving experience for the driver. However, because the mechanical connection between the steering wheel and the steering gear is cancelled and the steering intention of the driver is transmitted by electrical signals, the risk of failure of the steer-by-wire system is increased, so it is necessary to provide a redundant safety strategy to ensure the safety of the vehicle when the steering system fails. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a steer-by-wire fault processing method, which realizes cross-system redundancy by the intervention of the rear wheel steering system, so as to ensure that the vehicle still has certain steering ability when the steer-by-wire system fails completely, and improve the safety of the vehicle.

[0004] According to the steer-by-wire fault processing method of the first aspect of the embodiment of the present application, applied to a vehicle, the vehicle is provided with a steer-by-wire system for controlling the steering of the front wheels and a rear wheel steering system for controlling the steering of the rear wheels, and the steer-by-wire fault processing method comprises:

[0005] Fault detection is performed on the steer-by-wire system to obtain a fault state;

[0006] The fault state is judged to obtain a fault processing signal;

[0007] The rear wheel steering system is controlled to intervene in response to the fault processing signal;

[0008] The front wheel steering angle required for driving is obtained;

[0009] The front wheel steering angle is input to a preset real vehicle calibration model to obtain a rear wheel steering angle;

[0010] The rear wheel is controlled to steer by the rear wheel steering system according to the rear wheel steering angle.

[0011] The steer-by-wire fault processing method according to the embodiment of the present application has at least the following beneficial effects:

[0012] The application detects the fault of the steer-by-wire system, obtains the fault state, judges the fault state, obtains the fault handling signal, controls the rear wheel steering system to intervene in response to the fault handling signal, then obtains the front wheel steering angle required for driving, inputs the front wheel steering angle into the preset real vehicle calibration model to obtain the rear wheel steering angle, and then controls the rear wheel steering system to drive the rear wheel steering according to the rear wheel steering angle, so that the vehicle maintains the steering effect required by the driver. When the steer-by-wire system fails and loses the steering ability, the rear wheel steering system provides additional steering ability, realizes cross-system redundant safety, and improves the safety of the steer-by-wire vehicle.

[0013] According to some embodiments of the application, the steer-by-wire system comprises a road feel feedback subsystem and a steering execution subsystem, the road feel feedback subsystem is provided with a system steering angle sensor for detecting the steering wheel steering angle, the road feel feedback subsystem obtains the driver's steering intention through the system steering angle sensor to obtain a steering angle signal, and the steering execution subsystem is used to control the front wheel steering according to the steering angle signal.

[0014] The fault detection of the steer-by-wire system to obtain the fault state comprises:

[0015] Detecting whether the road feel feedback subsystem, the steering execution subsystem and the signal transmission therebetween have faults.

[0016] According to some embodiments of the application, the judgment of the fault state to obtain the fault handling signal comprises:

[0017] When any one of the road feel feedback subsystem, the steering execution subsystem and the signal transmission therebetween has a fault, it is determined that additional steering ability needs to be provided by the rear wheel steering, and the fault handling signal is generated.

[0018] According to some embodiments of the application, the obtaining of the front wheel steering angle required for driving comprises:

[0019] Detecting the current steering wheel steering angle of the steering wheel.

[0020] Detecting the vehicle speed of the vehicle driving;

[0021] Confirming the front wheel steering angle according to the current steering wheel steering angle and the vehicle speed.

[0022] According to some embodiments of the application, the detection of the current steering wheel steering angle of the steering wheel comprises:

[0023] Judging whether the system steering angle sensor is valid.

[0024] According to some embodiments of the application, the detection of the current steering wheel steering angle of the steering wheel further comprises:

[0025] determining that the system rotation angle sensor is valid, and taking the rotation angle signal of the system rotation angle sensor as the current steering wheel rotation angle;

[0026] According to some embodiments of the present application, the detecting the current steering wheel rotation angle of the steering wheel further comprises:

[0027] determining that the system rotation angle sensor is invalid, and detecting the rotation angle of the steering wheel through an external rotation angle sensor to obtain the current steering wheel rotation angle.

[0028] According to some embodiments of the present application, the preset real vehicle calibration model is a corresponding relationship between individually controlling the rear wheel angle and individually controlling the front wheel rotation angle under the same steering effect.

[0029] According to some embodiments of the present application, the steer-by-wire fault processing method further comprises: presetting a modeling mode of a real vehicle calibration model.

[0030] The modeling mode of the preset real vehicle calibration model comprises:

[0031] under different vehicle driving conditions;

[0032] individually controlling the front wheel steering to make the vehicle generate different preset steering effects, and calibrating the current front wheel rotation angle;

[0033] individually controlling the rear wheel steering to make the vehicle generate the preset steering effect, and calibrating the current rear wheel rotation angle;

[0034] collecting and sorting the current front wheel rotation angle and the current rear wheel rotation angle to form the preset real vehicle calibration model.

[0035] According to a steer-by-wire fault processing device according to the second aspect of the embodiments of the present application, comprising:

[0036] a fault detection module for detecting faults of the steer-by-wire system to obtain a fault state, judging the fault state to obtain a fault processing signal;

[0037] a control module for controlling the rear wheel steering system to intervene in response to the fault processing signal, and controlling the rear wheel steering through the rear wheel steering system according to the rear wheel rotation angle.

[0038] a rotation angle acquisition module for acquiring a required front wheel rotation angle, and inputting the front wheel rotation angle into a preset real vehicle calibration model to obtain a rear wheel rotation angle.

[0039] According to some embodiments of the present application, the fault detection module is further configured to detect whether the road feel feedback subsystem, the steering execution subsystem, and the signal transmission therebetween have faults.

[0040] According to some embodiments of the present application, the fault detection module is further configured to determine that additional steering capability needs to be provided by rear wheel steering when any one of the road feel feedback subsystem, the steering execution subsystem and signal transmission therebetween is faulty, and generate the fault handling signal.

[0041] According to some embodiments of the present application, the steering angle acquisition module is further configured to detect a current steering wheel angle of a steering wheel, detect a vehicle speed at which the vehicle is travelling, and determine the front wheel angle based on the current steering wheel angle and the vehicle speed.

[0042] A vehicle according to a third aspect of the present application comprises the steer-by-wire fault handling device.

[0043] A computer readable storage medium according to a fourth aspect of the present application stores computer executable instructions for causing a computer to perform the steer-by-wire fault handling method.

[0044] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0045] The present application will be further described with reference to the drawings and embodiments in which:

[0046] Figure 1 A flowchart of the steer-by-wire fault handling method of the present application;

[0047] Figure 2 A flowchart of acquiring the front wheel angle required for travelling of the present application;

[0048] Figure 3 A flowchart of detecting the current steering wheel angle of the steering wheel of the present application;

[0049] Figure 4 A modeling diagram of the preset real vehicle calibration model of the present application;

[0050] Figure 5 A schematic diagram of the steer-by-wire fault handling device of the present application. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0052] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc., is based on the orientation or position relationship shown in the drawings, only for the purpose of facilitating the description of the present application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0053] In the description of the present application, more refers to more than two. If there is a description of first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0054] In the description of the present application, unless otherwise explicitly limited, the words such as arrangement, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0055] The technical solutions of the present application will be described below in conjunction with the drawings. Obviously, the following described embodiments are part of the embodiments of the present application, not all embodiments.

[0056] The current vehicle intelligent technology develops rapidly. The steer-by-wire cancels the mechanical connection between the steering wheel and the steering gear in the traditional steering system, so that different steering transmission ratios can be flexibly provided according to different driving conditions to drive the front wheels to turn, improve the maneuverability and stability of the vehicle, and provide excellent driving experience for the driver. However, because the mechanical connection between the steering wheel and the steering gear is cancelled and the steering intention of the driver is transmitted by electrical signals, the risk of failure of the steering system is increased, so a steer-by-wire fault handling method is needed to ensure the safety of the vehicle when the steer-by-wire system fails.

[0057] The steer-by-wire fault handling method of the embodiment of the present application is applied to a vehicle with a rear wheel steering system and a steer-by-wire system. The steer-by-wire system is used to control the front wheel steering, and the rear wheel steering system is used to control the rear wheel steering. It can be understood that the steer-by-wire fault handling method takes corresponding measures when the front wheel steering fails due to the failure of the steer-by-wire system.

[0058] The steer-by-wire system includes a road feel feedback subsystem and a steering execution subsystem. The road feel feedback subsystem is provided with a system steering angle sensor for detecting the steering angle of the steering wheel. The road feel feedback subsystem obtains the steering intention of the driver through the system steering angle sensor, and transmits the steering angle signal to the steering execution subsystem through the steer-by-wire variable transmission ratio. The steering execution subsystem receives the steering angle signal of the road feel feedback subsystem to control the steering gear to realize the front wheel steering. The road feel feedback subsystem and the steering execution subsystem transmit the steering angle information through electrical signals.

[0059] As Figure 1 shown, the method of the embodiment of the application comprises the following steps:

[0060] Step S100: detecting faults of the steer-by-wire system to obtain a fault state;

[0061] Step S200: judging the fault state to obtain a fault handling signal;

[0062] Step S300: controlling the rear wheel steering system to intervene in response to the fault handling signal;

[0063] Step S400: obtaining a front wheel steering angle required for driving;

[0064] Step S500: inputting the front wheel steering angle into a preset real vehicle calibration model to obtain a rear wheel steering angle;

[0065] Step S600: controlling the rear wheel steering system to steer the rear wheel according to the rear wheel steering angle.

[0066] The embodiment of the application detects faults of the steer-by-wire system to obtain a fault state of the steer-by-wire system, judges the fault state of the steer-by-wire system to obtain a fault handling signal, controls the rear wheel steering system to intervene in response to the fault handling signal, then obtains a front wheel steering angle required for driving, wherein the front wheel steering angle required for driving is a steering intention of a driver to the vehicle, inputs the front wheel steering angle into a preset real vehicle calibration model to obtain a rear wheel steering angle, and then controls the rear wheel steering system to steer the rear wheel according to the rear wheel steering angle, so that the vehicle maintains the steering effect required by the driver. When the steer-by-wire system fails and loses the steering capability, the rear wheel steering system provides additional steering capability, realizes cross-system redundant safety, and improves the safety of the steer-by-wire vehicle.

[0067] In step S100, the road feel feedback subsystem and the steering execution subsystem in the steer-by-wire system are detected for faults. While detecting whether the road feel feedback subsystem and the steering execution subsystem themselves have faults, it is also necessary to detect whether the signal transmission between the road feel feedback subsystem and the steering execution subsystem has a fault, to obtain a fault state of the steer-by-wire system.

[0068] It can be understood that the fault state of the steer-by-wire system includes a fault of the road feel feedback subsystem itself, a fault of the steering execution subsystem itself, and a fault of the signal transmission between the road feel feedback subsystem and the steering execution subsystem.

[0069] In step S200, the failure state of the steer-by-wire system is judged to determine whether additional steering capability needs to be provided by the rear wheel steering, if the additional steering capability needs to be provided by the rear wheel steering, a failure handling signal is generated and the process goes to step S300, the rear wheel steering system is controlled to intervene in response to the failure handling signal, otherwise the rear wheel steering does not intervene in the failure degradation of the steer-by-wire system.

[0070] In the judgment of the failure state, the embodiment of the application determines that the additional steering capability needs to be provided by the rear wheel steering when any one of the road feel feedback subsystem, the steering execution subsystem and the signal transmission therebetween fails, and generates a failure handling signal, it can be understood that when any one of the road feel feedback subsystem, the steering execution subsystem and the signal transmission therebetween fails, the steer-by-wire system loses part of the steering function, and when all of the road feel feedback subsystem, the steering execution subsystem and the signal transmission therebetween fail, the steer-by-wire system loses all of the steering function.

[0071] After the intervention of the rear wheel steering system, the front wheel steering angle required for driving needs to be obtained, it can be understood that at this time the driver still needs to control the steering of the vehicle, and in the normal state the steering intention of the driver is based on the steer-by-wire system, obtaining the front wheel steering angle required for driving is equivalent to obtaining the steering intention of the driver, as shown in Figure 2 The following steps are adopted for obtaining the front wheel steering angle required for driving:

[0072] Step S410: detecting the current steering wheel angle of the steering wheel;

[0073] Step S420: detecting the vehicle speed of the vehicle;

[0074] Step S430: confirming the front wheel steering angle according to the current steering wheel angle and the vehicle speed.

[0075] The embodiment of the application obtains the current steering wheel angle by detecting the rotation angle of the steering wheel controlled by the driver, and then confirms the front wheel steering angle in combination with the vehicle speed of the vehicle, the relationship between the current steering wheel angle and the vehicle speed and the front wheel steering angle is realized through real vehicle calibration, for different vehicle models, a limited number of tests are performed on the vehicle model to obtain the model between the front steering wheel angle and the vehicle speed and the front wheel steering angle.

[0076] When detecting the current steering wheel angle of the steering wheel, the following steps are adopted, as shown in Figure 3

[0077] Step S411: judging whether the system steering angle sensor is valid;

[0078] Step S412: determining that the system steering angle sensor is valid, and taking the steering angle signal of the system steering angle sensor as the current steering wheel angle;​

[0079] Step S413: judging that the system rotation angle sensor is invalid, detecting the rotation angle of the steering wheel through the external rotation angle sensor to obtain the current steering wheel rotation angle.

[0080] The embodiment of the application further provides an external rotation angle sensor on the steering wheel, and in normal driving, the steer-by-wire system detects the rotation angle of the steering wheel through the system rotation angle sensor, and when the system rotation angle sensor is invalid, the rotation angle of the steering wheel is detected through the external rotation angle sensor.

[0081] In step S500, the rear wheel rotation angle is determined according to the front wheel rotation angle obtained in the foregoing and a preset real vehicle calibration model, the preset real vehicle calibration model is a corresponding relationship between the rear wheel rotation angle controlled alone and the front wheel rotation angle controlled alone under the same steering effect, and it can be understood that the corresponding relationship between the front wheel rotation angle and the rear wheel rotation angle under the same steering effect generated by the front wheel rotation angle controlled alone and the rear wheel rotation angle controlled alone, the same steering effect can be realized whether the front wheel rotation angle or the rear wheel rotation angle is controlled, which is equivalent to taking the steering effect as a reference, confirming the front wheel rotation angle, and then confirming the rear wheel rotation angle according to the steering effect, at this time, the steering effect generated by the rear wheel rotation angle is the same as the steering effect generated by the front wheel rotation angle.

[0082] The preset real vehicle calibration model of the embodiment of the application is a corresponding relationship between the rear wheel rotation angle controlled alone and the front wheel rotation angle controlled alone under the same steering effect.

[0083] For the modeling method of the preset real vehicle calibration model, as shown in the following steps: Figure 4

[0084] Step 1: under different vehicle driving conditions,

[0085] Step 2: control the front wheel steering alone, calibrate the current front wheel rotation angle after the vehicle generates different preset steering effects,

[0086] Step 3: control the rear wheel steering alone, calibrate the current rear wheel rotation angle after the vehicle is in the corresponding preset steering effect,

[0087] Step 4: collect and arrange the current front wheel rotation angle and the current rear wheel rotation angle to form the preset real vehicle calibration model.

[0088] As shown in the following, Figure 5 The application further provides a steer-by-wire fault processing device, which comprises a fault detection module, a control module and a rotation angle acquisition module.

[0089] The fault detection module is used for detecting the fault of the steer-by-wire system to obtain a fault state, judging the fault state to obtain a fault processing signal.​

[0090] The corner acquisition module is configured to acquire a front wheel corner required for driving, and input the front wheel corner into a preset real vehicle calibration model to obtain a rear wheel corner.

[0091] The control module is configured to control the rear wheel steering system to intervene in response to the fault handling signal, and control the rear wheel steering by the rear wheel steering system according to the rear wheel corner.

[0092] Further, the fault detection module is further configured to detect whether a road feeling feedback subsystem, a steering execution subsystem, and signal transmission therebetween have a fault, and determine that additional steering capability needs to be provided by the rear wheel steering when any one of the road feeling feedback subsystem, the steering execution subsystem, and the signal transmission therebetween has a fault, and generate the fault handling signal.

[0093] The corner acquisition module is further configured to detect a current steering wheel corner of a steering wheel, detect a vehicle speed at which the vehicle is driving, and confirm the front wheel corner according to the current steering wheel corner and the vehicle speed.

[0094] The embodiment of the application further provides a vehicle comprising the steer-by-wire fault handling device, and it can be understood that the contents in the above steer-by-wire fault handling device embodiments are all applicable to the vehicle embodiment, the vehicle embodiment specifically implements the same functions as the above steer-by-wire fault handling device embodiments, and achieves the same beneficial effects as the above steer-by-wire fault handling device embodiments.

[0095] Specifically, the vehicle can be a private car, such as a sedan, an SUV, an MPV, or a pickup truck, etc. The vehicle can also be an operating vehicle, such as a van, a bus, a small truck, or a large trailer, etc. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0096] The vehicle of the embodiment of the application further comprises a memory, a processor, and a program stored in the memory and executable on the processor, and the program is executed by the processor to implement the steer-by-wire fault handling method, wherein the modeling method of the preset real vehicle calibration model is completed in advance by a worker through operation, and is not executed by the processor.

[0097] The processor can be implemented in a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute related programs to implement the technical solutions provided by the embodiments of the application.

[0098] The memory can be realized in the form of a read-only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM), etc. The memory can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are saved in the memory and are called and executed by the processor to execute the method of the embodiments of the present application.

[0099] A computer readable storage medium according to an embodiment of the present application has a computer program stored thereon, which, when executed by a processor, implements the above-mentioned steer-by-wire failure processing method.

[0100] The computer readable storage medium of the embodiments of the present application can adopt any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiments of the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus.

[0101] The computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, in which a computer readable program code is carried. Such a propagated data signal can take multiple forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus.

[0102] The program code contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0103] It can be understood that the contents in the above vehicle top shielding device embodiments are all applicable to the present vehicle embodiment, the present vehicle embodiment specifically realizes the same functions as the above vehicle top shielding device embodiments, and achieves the same beneficial effects as the above vehicle top shielding device embodiments.

[0104] It should be understood that portions of the application can be realized with hardware, software, firmware or a combination thereof. In the above described embodiments, a plurality of steps or methods can be realized with software or firmware stored in memory and executed by a suitable instruction execution system. For example, if realized with hardware, and as in another embodiment, it can be realized with any one or a combination of the following technologies known in the art: discrete logic circuit having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

[0105] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0106] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.

Claims

1. A steer-by-wire failure handling method, characterized by, The application is applied to a vehicle, the vehicle is provided with a steer-by-wire system for controlling front wheel steering, a rear wheel steering system for controlling rear wheel steering, the steer-by-wire system comprises a road feel feedback subsystem and a steering execution subsystem, the road feel feedback subsystem is provided with a system steering angle sensor for detecting steering wheel steering angle, the road feel feedback subsystem acquires driver steering intention through the system steering angle sensor to obtain a steering angle signal, the steering execution subsystem is used for controlling front wheel steering according to the steering angle signal, and the steer-by-wire failure processing method comprises: Failure detection is performed on the steer-by-wire system to obtain a failure state, including: detecting whether the road feel feedback subsystem, the steering execution subsystem and signal transmission between the two fail; The failure state is judged to obtain a failure processing signal, including: when any one of the road feel feedback subsystem, the steering execution subsystem and signal transmission between the two fails, it is determined that additional steering capacity needs to be provided through rear wheel steering, and the failure processing signal is generated; The rear wheel steering system is controlled to intervene in response to the failure processing signal; A front wheel steering angle required for driving is acquired, including: detecting a current steering wheel steering angle of a steering wheel; detecting a vehicle driving speed; confirming the front wheel steering angle according to the current steering wheel steering angle and the vehicle speed; wherein the current steering wheel steering angle of the steering wheel is detected, including: judging whether the system steering angle sensor is valid; determining that the system steering angle sensor is valid, and taking the steering angle signal of the system steering angle sensor as the current steering wheel steering angle; and determining that the system steering angle sensor is invalid, and detecting a steering angle of the steering wheel through an external steering angle sensor to obtain the current steering wheel steering angle; The front wheel steering angle is input into a preset real vehicle calibration model to obtain a rear wheel steering angle, wherein the preset real vehicle calibration model is a corresponding relationship between separately controlling a rear wheel angle and separately controlling the front wheel steering angle under the condition of generating the same steering effect; this step includes: under different vehicle driving conditions, separately controlling front wheel steering to make the vehicle generate different preset steering effects, calibrating a current front wheel steering angle, separately controlling rear wheel steering to make the vehicle in the preset steering effect, calibrating a current rear wheel steering angle, and collecting and sorting the current front wheel steering angle and the current rear wheel steering angle to form the preset real vehicle calibration model; The rear wheel steering system is controlled to control rear wheel steering according to the rear wheel steering angle.

2. A steer-by-wire failure handling device adapted to the steer-by-wire failure handling method according to claim 1, characterized in that Comprise: A failure detection module is used for performing failure detection on the steer-by-wire system to obtain a failure state, and judging the failure state to obtain a failure processing signal; A control module is used for controlling the rear wheel steering system to intervene in response to the failure processing signal, and controlling the rear wheel steering system to control rear wheel steering according to the rear wheel steering angle; A steering angle acquisition module is used for acquiring a front wheel steering angle required for driving, and inputting the front wheel steering angle into a preset real vehicle calibration model to obtain a rear wheel steering angle.

3. The steer-by-wire failure processing device according to claim 2, characterized in that: The fault detection module is further configured to detect whether the road feel feedback subsystem, the steering execution subsystem, and signal transmission therebetween are faulty.

4. The steer-by-wire fault handling device according to claim 3, characterized in that: The fault detection module is further configured to determine that additional steering capability needs to be provided by rear wheel steering when any of the road feel feedback subsystem, the steering execution subsystem, and signal transmission therebetween is faulty, and generate the fault handling signal.

5. The steer-by-wire fault handling device according to claim 2, characterized in that: The steering angle acquisition module is further configured to detect a current steering wheel angle of a steering wheel, detect a vehicle speed at which the vehicle is traveling, and determine the front wheel steering angle based on the current steering wheel angle and the vehicle speed.

6. A vehicle characterized by comprising: A vehicle comprising the steer-by-wire fault handling device according to any one of claims 2 to 5.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores computer executable instructions for causing a computer to perform the steer-by-wire fault handling method according to claim 1.

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