Steer-by-wire control method and device of vehicle and storage medium

Abstract

The invention discloses a steer-by-wire control method and device of a vehicle and a storage medium, and the steer-by-wire control method comprises the steps that in an automatic driving mode, a control module obtains driving environment information, and determines a first steering angle of a steering engine according to the driving environment information; the driving environment information comprises a lane line, a vehicle distance and a front vehicle speed; the control module obtains vehicle state information; the vehicle state information comprises vehicle speed information and yaw angle information; the control module corrects the first steering angle according to the vehicle state information to determine a second steering angle; and the control module outputs a second steering angle to the steering engine and the road sensing motor, and the steering wheel can rotate along with the steering wheel while the steering wheel is controlled to steer, so that the vehicle can be smoothly switched from the automatic driving mode to the manual driving mode in an emergency, and the driving safety of the vehicle is improved.

Description

Technical Field

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

[0002] In manual driving mode, the driver turns the steering wheel by applying steering force to it, and the road feel simulator collects the steering angle of the steering wheel and transmits it to the actuator below - the steering gear through the CAN bus signal. The steering gear executes the driver's desired steering angle. However, in wire-controlled steering mode, the vehicle steering is controlled by the intelligent driving controller, which is directly connected to the steering gear. The steering angle signal is directly given to the steering gear through the CAN bus signal. The steering gear executes the corresponding steering angle signal. At this time, the road feel simulator is inactive, that is, the steering wheel is in a silent state.

[0003] There is a big problem with silent steering wheel, which is that when switching from automatic driving mode to manual driving mode in an emergency, since the steering wheel is always in the 0° position, there will be an inconsistency between the steering wheel and the steering wheel, and the driver cannot take over the vehicle safely and quickly. Summary of the invention

[0004] The present invention provides a vehicle's wire-controlled steering method, device and storage medium to solve the problem of vehicle driving safety caused by the inconsistency between the steering wheel and the steering wheel angle in an emergency situation, and the inability to smoothly switch from the automatic driving mode to the manual driving mode.

[0005] According to one aspect of the present invention, a steer-by-wire control method for a vehicle is provided, wherein the vehicle comprises a control module, a steering gear, a road sensing motor, a steering wheel and a steering wheel;

[0006] The control module is electrically connected to the steering gear and the road sensing motor respectively, the steering gear is connected to the steering wheel, and the road sensing motor is connected to the steering wheel;

[0007] The steering-by-wire control method comprises:

[0008] In the automatic driving mode, the control module acquires driving environment information and determines a first steering angle of the steering gear according to the driving environment information; the driving environment information includes lane lines, vehicle spacing, and the speed of the preceding vehicle;

[0009] The control module acquires vehicle status information; the vehicle status information includes vehicle speed information and yaw angle information;

[0010] The control module corrects the first steering angle according to the vehicle state information to determine a second steering angle;

[0011] The control module outputs the second steering angle to the steering machine and the road sensing motor respectively, so that the steering machine controls the rotation angle of the steering wheel according to the second steering angle, and the road sensing motor controls the rotation angle of the steering wheel according to the second steering angle.

[0012] Optionally, the control module includes a road sense control unit, an intelligent driving control unit, a braking control unit and a vehicle control unit;

[0013] The road sense control unit is respectively connected to the intelligent driving control unit, the braking control unit, the vehicle control unit, the steering gear and the road sense motor;

[0014] The control module acquires driving environment information and determines a first steering angle of the steering machine according to the driving environment information, including:

[0015] The intelligent driving control unit acquires driving environment information, determines a first steering angle of the steering gear according to the driving environment information, and outputs the first steering angle to the road sense control unit;

[0016] The control module obtains vehicle status information, including:

[0017] The braking control unit acquires the yaw angle information and outputs the yaw angle information to the road sense control unit;

[0018] The vehicle control unit acquires the vehicle speed information and outputs the vehicle speed information to the road sense control unit;

[0019] The control module corrects the first steering angle according to the vehicle state information to determine a second steering angle, including:

[0020] The road sense control unit corrects the first steering angle according to the vehicle state information to determine a second steering angle;

[0021] The control module outputs the second steering angle to the steering machine and the road sensing motor respectively, including:

[0022] The road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively.

[0023] Optionally, the vehicle further comprises a driving assistance unit, and the driving assistance unit is electrically connected to the intelligent driving control unit;

[0024] The intelligent driving unit obtains driving environment information, including:

[0025] The intelligent driving control unit obtains the driving environment information through the driving assistance unit.

[0026] Optionally, the vehicle further includes a vehicle speed sensor and a yaw rate sensor;

[0027] The vehicle speed sensor is connected to the vehicle control unit, and the yaw rate sensor is connected to the brake control unit;

[0028] The braking control unit acquires the yaw angle information, including:

[0029] The braking control unit acquires the yaw angle information through the yaw angular velocity sensor;

[0030] The vehicle control unit obtains the vehicle speed information, including:

[0031] The vehicle control unit obtains the vehicle speed information through the vehicle speed sensor.

[0032] Optionally, the vehicle further comprises a signal feedback unit; the signal feedback unit is electrically connected to the steering motor and the road sense control unit respectively;

[0033] After the road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, it also includes:

[0034] The road sense control unit receives a third steering angle of the steering machine sent by the signal feedback unit;

[0035] When the difference between the second steering angle and the third steering angle is greater than a preset difference, the intelligent driving control unit controls the vehicle to switch the driving mode.

[0036] Optionally, when the difference between the third steering angle and the second steering angle is greater than a preset difference, switching the driving mode includes:

[0037] When the difference between the second steering angle and the third steering angle is greater than a first preset difference, the intelligent driving control unit controls the vehicle to enter a degraded driving mode from the automatic driving mode;

[0038] When the difference between the second steering angle and the third steering angle is greater than a second preset difference, the intelligent driving control unit controls the vehicle to switch from the automatic driving mode to the manual driving mode; the second preset difference is greater than the first preset difference.

[0039] Optionally, the steer-by-wire control method comprises: in a manual driving mode, the control module acquiring a fourth steering angle of the steering wheel, a torque of the steering wheel, and the vehicle speed;

[0040] The control module determines a road feel torque according to the torque and the vehicle speed;

[0041] The control module outputs the fourth steering angle to the steering gear, so that the steering gear controls the rotation angle of the steering wheel according to the fourth steering angle;

[0042] The control module outputs the road sense torque to the road sense motor, so that the road sense motor controls the damping force output by the steering wheel according to the road sense torque.

[0043] Optionally, the vehicle includes a torque sensor and a rotation angle sensor;

[0044] The torque sensor is electrically connected to the steering wheel, and the rotation angle sensor is electrically connected to the steering wheel;

[0045] The road sense control unit is electrically connected to the torque sensor and the rotation angle sensor respectively;

[0046] The control module acquires the fourth steering angle of the steering wheel, the torque of the steering wheel and the vehicle speed, including:

[0047] The road sense control unit obtains the torque through the torque sensor;

[0048] The road sense control unit acquires the fourth steering angle through the steering angle sensor;

[0049] The vehicle control unit acquires the vehicle speed information and outputs the vehicle speed information to the road sense control unit;

[0050] The control module determines the road feel torque according to the torque and the vehicle speed, including:

[0051] The road feeling control unit determines the road feeling torque according to the torque and the vehicle speed;

[0052] The control module outputs the fourth steering angle to the steering machine, including:

[0053] The road sense control unit outputs the fourth steering angle to the steering gear;

[0054] The control module outputs the road sense torque to the road sense motor, including:

[0055] The road sense control unit outputs the road sense torque to the road sense motor.

[0056] According to another aspect of the present invention, there is provided a steer-by-wire control device, the steer-by-wire control device comprising:

[0057] at least one processor; and

[0058] a memory communicatively connected to the at least one processor; wherein,

[0059] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the wire-controlled steering control method described in any embodiment of the present invention.

[0060] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the wire-controlled steering control method described in any embodiment of the present invention when executed.

[0061] The technical solution of the embodiment of the present invention is to electrically connect the control module to the steering gear and the road sensing motor respectively, so that when the vehicle is turning in the automatic driving mode, the control module can simultaneously output the second steering angle to the steering gear and the road sensing motor, and at the same time control the steering wheel to turn, the steering wheel can follow the steering wheel to achieve smooth switching of the vehicle from the automatic driving mode to the manual driving mode in an emergency, thereby improving the driving safety of the vehicle.

[0062] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0064] Figure 1 is a schematic structural diagram of a first type of vehicle steer-by-wire control system provided according to an embodiment of the present invention;

[0065] Figure 2 is a flow chart of a first vehicle steering-by-wire control method provided by an embodiment of the present invention;

[0066] Figure 3 is a schematic structural diagram of a second type of steer-by-wire control system for a vehicle provided according to an embodiment of the present invention;

[0067] Figure 4 is a flow chart of a second vehicle steering-by-wire control method provided in an embodiment of the present invention;

[0068] Figure 5 is a schematic structural diagram of a third type of steer-by-wire control system for a vehicle provided according to an embodiment of the present invention;

[0069] Figure 6 is a flow chart of a third vehicle steering-by-wire control method provided in an embodiment of the present invention;

[0070] Figure 7 is a schematic structural diagram of a fourth type of steer-by-wire control system for a vehicle provided according to an embodiment of the present invention;

[0071] Figure 8 is a flow chart of a fourth vehicle steer-by-wire control method provided according to an embodiment of the present invention;

[0072] Fig. 9 is a schematic structural diagram of a fifth type of steer-by-wire control system for a vehicle provided according to an embodiment of the present invention;

[0073] Fig.10 is a flowchart of a fifth vehicle steering-by-wire control method provided according to an embodiment of the present invention;

[0074] Fig.11 is a flow chart of a sixth vehicle steering-by-wire control method provided in an embodiment of the present invention;

[0075] Fig.12 is a schematic structural diagram of a sixth type of steer-by-wire control system for a vehicle provided according to an embodiment of the present invention;

[0076] Fig.13 is a flow chart of a seventh vehicle steering-by-wire control method provided according to an embodiment of the present invention;

[0077] Fig.14 is a structural schematic diagram of a steer-by-wire control device for a vehicle provided according to an embodiment of the present invention;

[0078] Fig.15 is a schematic structural diagram of a steer-by-wire control device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0079] 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.

[0080] 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 data used in this way can be interchanged 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, any variation of the terms "including" and "having" is 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0081] Figure 1 is a schematic structural diagram of a first vehicle steer-by-wire control system according to an embodiment of the present invention, Figure 2 1 is a flow chart of a first vehicle steering-by-wire control method according to an embodiment of the present invention. This embodiment is applicable to situations where a vehicle needs to switch from an automatic driving mode to a manual driving mode in an emergency. The method can be executed by a steering-by-wire control device. Figure 1 As shown, the vehicle includes a control module 1, a steering gear 2, a road sensing motor 3, a steering wheel 4 and a steering wheel 5; the control module 1 is electrically connected to the steering gear 2 and the road sensing motor 3 respectively, the steering gear 2 is connected to the steering wheel 4, and the road sensing motor 3 is connected to the steering wheel 5;

[0082] like Figure 2 As shown, the wire steering control method based on the above structure includes:

[0083] S110. In the automatic driving mode, the control module obtains driving environment information and determines a first steering angle of the steering machine according to the driving environment information.

[0084] Specifically, Figure 1As shown, the driving environment information includes lane lines, vehicle spacing, and the speed of the preceding vehicle; in the automatic driving mode, when the vehicle turns, it is necessary to calculate the desired steering angle of the steering machine 2, i.e., the first steering angle, according to the curvature and direction of the lane lines, and then control the turning angle of the steering wheel 4 so that the vehicle can turn smoothly along the lane lines. During the turning process, if there is another vehicle in front, it is necessary to obtain the vehicle spacing between the vehicle and the preceding vehicle. If the spacing between the preceding vehicles is small, in order to maintain a safe distance, the control module 1 can reduce the first steering angle, and then control the steering angle of the steering wheel 4 to decrease, so that the vehicle turns more smoothly and avoids collision with the preceding vehicle. On the contrary, if the spacing between the preceding vehicles is large, the control module 1 can adjust the first steering angle more freely to achieve a more accurate path through the turn. In addition, the speed of the preceding vehicle also needs to be considered during the turning process. When the speed of the preceding vehicle is fast, the control module 1 can increase the first steering angle, and then control the steering angle of the steering wheel 4 to increase the speed of the turning. On the contrary, if the speed of the preceding vehicle is slow, the control module 1 can reduce the first steering angle, and then control the steering angle of the steering wheel 4 to decrease the speed of the turning, so as to avoid the occurrence of rear-end collisions. Therefore, when the vehicle is turning, the first steering angle of the steering gear 2 needs to be determined by comprehensively considering factors such as lane lines, vehicle spacing, and the speed of the preceding vehicle.

[0085] S120. The control module obtains vehicle status information.

[0086] Specifically, Figure 1 As shown, the vehicle state information includes vehicle speed information and yaw angle information; the yaw angle information refers to the angle at which the vehicle rotates in a direction perpendicular to the vehicle axis. When the vehicle is turning, a large yaw angle will cause the vehicle to have a large roll and bump during the turning process, and the yaw angle needs to be adjusted by adjusting the steering angle of the steering wheel 4.

[0087] When the vehicle turns, the steering angle required by the steering wheel 4 is different at different vehicle speeds. When the vehicle speed is low, the turning radius of the vehicle is small. At this time, the steering angle can be appropriately increased so that the vehicle can complete the turn more flexibly. As the vehicle speed increases, the turning radius of the vehicle will increase. If a large steering angle is still maintained at this time, the vehicle may over-steer and lose control.

[0088] S130. The control module corrects the first steering angle according to the vehicle state information to determine the second steering angle.

[0089] Specifically, after acquiring the vehicle state information, the control module 1 needs to correct the first steering angle according to the current vehicle speed information and yaw angle information to determine the best steering angle, ie, the second steering angle, in order to ensure safe and stable cornering of the vehicle.

[0090] S140, the control module outputs the second steering angle to the steering gear and the road sensing motor respectively, so that the steering gear controls the rotation angle of the steering wheel according to the second steering angle, and the road sensing motor controls the rotation angle of the steering wheel according to the second steering angle.

[0091] Specifically, Figure 1 As shown, during the vehicle turning process, the control module 1 can send the second steering angle to the steering machine 2 and the road sensing motor 3 at the same time, so that the steering machine 2 can control the steering wheel 4 to rotate to a suitable angle according to the second steering angle to stabilize the turning. At the same time, the road sensing motor 3 can also control the steering wheel 5 to rotate with the steering wheel 4 according to the second steering angle.

[0092] In the embodiment of the present invention, the control module is electrically connected to the steering gear and the road sensing motor respectively, so that when the vehicle is turning in the automatic driving mode, the control module can simultaneously output the second steering angle to the steering gear and the road sensing motor, and while controlling the steering wheel to turn, the steering wheel can follow the steering wheel to achieve smooth switching of the vehicle from the automatic driving mode to the manual driving mode in an emergency, thereby improving the driving safety of the vehicle.

[0093] Figure 3 is a schematic structural diagram of a second vehicle steer-by-wire control system according to an embodiment of the present invention, Figure 4 1 is a flow chart of a second vehicle steering-by-wire control method provided according to an embodiment of the present invention. The embodiment of the present invention further describes the steps performed by each control unit in the control module. Figure 3 As shown, the control module 1 includes a road sense control unit 11, an intelligent driving control unit 12, a braking control unit 13 and a vehicle control unit 14; the road sense control unit 11 is respectively connected to the intelligent driving control unit 12, the braking control unit 13, the vehicle control unit 14, the steering gear 2 and the road sense motor 3;

[0094] like Figure 4 As shown, the wire steering control method based on the above structure includes:

[0095] S210. In the automatic driving mode, the intelligent driving control unit obtains driving environment information, determines a first steering angle of the steering machine according to the driving environment information, and outputs the first steering angle to the road sense control unit.

[0096] Specifically, Figure 3 As shown, the intelligent driving control unit 12 is connected to the road sense control unit 11 via a controller area network (CAN). The road sense control unit 11 may be a road sense simulator.

[0097] When the vehicle turns, the intelligent driving control unit 12 obtains driving environment information, determines a first steering angle of the steering gear 2 according to the driving environment information, and then transmits the first steering angle to the road sense control unit 11 through the CAN bus.

[0098] S220, the braking control unit obtains yaw angle information and outputs the yaw angle information to the road sense control unit.

[0099] Specifically, Figure 3 As shown, the braking control unit 13 is connected to the road sense control unit 11 via the CAN bus. When the vehicle turns, it is also necessary to obtain yaw angle information. The yaw angle information is obtained by the braking control unit 13, and the braking control unit 13 can send the obtained yaw angle information to the road sense control unit 11 via the CAN bus.

[0100] S230: The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit.

[0101] Specifically, Figure 3 As shown, the vehicle control unit 14 is connected to the road sense control unit 11 via the CAN bus. When the vehicle turns, it is also necessary to obtain vehicle speed information. The vehicle speed information is obtained by the vehicle control unit 14, and the vehicle control unit 14 can send the obtained vehicle speed information to the road sense control unit 11 via the CAN bus.

[0102] S240: The road sense control unit corrects the first steering angle according to the vehicle state information to determine the second steering angle.

[0103] Specifically, Figure 3 As shown, the road sense control unit 11 receives yaw angle information and vehicle speed information through the CAN bus, and corrects the first steering angle to determine the second steering angle.

[0104] S250, the road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, so that the steering gear controls the rotation angle of the steering wheel according to the second steering angle, and the road sense motor controls the rotation angle of the steering wheel according to the second steering angle.

[0105] Specifically, Figure 3 As shown, the road sense control unit 11 is connected to the steering gear 2 and the road sense motor 3 respectively through the CAN bus, and the second steering angle can be transmitted to the steering gear 2 and the road sense motor 3 respectively through the CAN bus, so that the steering gear 2 controls the rotation angle of the steering wheel 4 according to the second steering angle, and the road sense motor 11 controls the rotation angle of the steering wheel 5 according to the second steering angle, so that the steering wheel 5 can rotate with the steering wheel 4 while the steering wheel 4 is turning.

[0106] It should be noted that the road sense control unit 11 is the most important control unit in the embodiment of the present invention. In the existing vehicle steering architecture, the road sense control unit 11 is a subordinate structure of the steering gear 2. The steering gear 2 interacts with the vehicle by signal. The road sense control unit 11 has no information interaction with the whole vehicle and only sends a steering angle signal to the steering gear 2 in the manual driving mode. In the embodiment of the present invention, the road sense control unit 11 interacts with the whole vehicle by signal, and the steering gear 2 becomes a subordinate structure of the road sense control unit 11, and the steering gear 2 becomes an actuator.

[0107] In the embodiment of the present invention, in the automatic driving mode, during the vehicle turning process, the intelligent driving control unit obtains the driving environment information, determines the first steering angle of the steering gear according to the driving environment information and outputs the first steering angle to the road sense control unit, the braking control unit obtains the yaw angle information and outputs the yaw angle information to the road sense control unit, the vehicle control unit obtains the vehicle speed information and outputs the vehicle speed information to the road sense control unit, and finally the road sense control unit corrects the first steering angle according to the vehicle state information to determine the second steering angle, and outputs the second steering angle to the steering gear and the road sense motor. The above technical solution controls the steering wheel to turn while allowing the steering wheel to follow the steering wheel, thereby avoiding the problem of the vehicle switching from the automatic driving mode to the manual driving mode not being smooth due to the inconsistency between the steering wheel and the steering wheel angle in an emergency, thereby improving the driving safety of the vehicle.

[0108] Figure 5 is a schematic structural diagram of a third type of vehicle steer-by-wire control system according to an embodiment of the present invention, Figure 6 is a flow chart of a third vehicle steering-by-wire control method provided according to an embodiment of the present invention. The embodiment of the present invention further describes the steps performed by each control unit in the control module. It further describes how the intelligent driving unit obtains driving environment information. Figure 3 As shown, the vehicle further includes a driving assistance unit 4, which is electrically connected to the intelligent driving control unit 12;

[0109] like Figure 6 As shown, the wire steering control method based on the above structure includes:

[0110] S310. In the automatic driving mode, the intelligent driving control unit obtains driving environment information through the driving assistance unit, determines a first steering angle of the steering machine according to the driving environment information, and outputs the first steering angle to the road sense control unit.

[0111] Specifically, Figure 5As shown, the driving assistance unit 4 may be an advanced driver assistance system (ADAS). The driving assistance unit 4 may monitor the vehicle distance, the vehicle speed and the lane line with the vehicle in front through a radar or a camera, and send the driving environment information such as the vehicle distance, the vehicle speed and the lane line to the intelligent driving control unit 12.

[0112] S320, the braking control unit obtains yaw angle information and outputs the yaw angle information to the road sense control unit.

[0113] S330: The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit.

[0114] S340: The road sense control unit corrects the first steering angle according to the vehicle state information to determine the second steering angle.

[0115] S350, the road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, so that the steering gear controls the rotation angle of the steering wheel according to the second steering angle, and the road sense motor controls the rotation angle of the steering wheel according to the second steering angle.

[0116] In an embodiment of the present invention, the auxiliary driving unit monitors the vehicle driving environment in real time and sends the driving environment information to the intelligent driving unit so that the intelligent driving unit can judge the steering angle of the vehicle according to the driving environment, thereby increasing the safety of the vehicle driving in the automatic driving mode.

[0117] Figure 7 is a schematic structural diagram of a fourth type of vehicle steer-by-wire control system according to an embodiment of the present invention, Figure 8 FIG. 1 is a flow chart of a fourth vehicle steer-by-wire control method according to an embodiment of the present invention. The embodiment of the present invention further describes how to obtain the sway angle information and the vehicle speed information. Figure 7 As shown, the vehicle further includes a vehicle speed sensor 6 and a yaw rate sensor 7; the vehicle speed sensor 6 is connected to the vehicle control unit 14, and the yaw rate sensor 7 is connected to the brake control unit 13;

[0118] like Figure 8 As shown, the wire steering control method based on the above structure includes:

[0119] S410: In the automatic driving mode, the intelligent driving control unit obtains driving environment information, determines a first steering angle of the steering machine according to the driving environment information, and outputs the first steering angle to the road sense control unit.

[0120] S420: The brake control unit obtains yaw angle information through the yaw angular velocity sensor and outputs the yaw angle information to the road sense control unit.

[0121] Specifically, Figure 7 As shown, the yaw rate sensor 7 is installed near the center of gravity of the vehicle to monitor the rotation rate of the vehicle around its vertical axis in real time. When the vehicle turns or yaws, the sensitive element in the sensor is affected by the Coriolis force, thereby generating an electrical signal proportional to the yaw rate. This electrical signal is transmitted to the brake control unit 13. The brake control unit 13 calculates the yaw angle information of the vehicle using the data provided by the yaw rate sensor through specific algorithms and models.

[0122] S430: The vehicle control unit obtains vehicle speed information through the vehicle speed sensor and outputs the vehicle speed information to the road sense control unit.

[0123] Specifically, Figure 7 As shown, the vehicle speed sensor 6 is installed in the vehicle's transmission to monitor the rotation speed of the transmission output shaft. The vehicle speed sensor 6 generates a vehicle speed signal according to the shaft rotation speed using the magnetic or Hall effect principle. The vehicle control unit receives the vehicle speed signal and calculates the vehicle speed information through a specific algorithm.

[0124] S440: The road sense control unit corrects the first steering angle according to the vehicle state information to determine the second steering angle.

[0125] S450: The road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, so that the steering gear controls the rotation angle of the steering wheel according to the second steering angle, and the road sense motor controls the rotation angle of the steering wheel according to the second steering angle.

[0126] In an embodiment of the present invention, the vehicle control unit obtains vehicle speed information through a vehicle speed sensor and outputs the vehicle speed information to a road sense control unit, so that the road sense control unit corrects the first steering angle according to the vehicle speed information and yaw angle information to determine the second steering angle, thereby further improving the safety of the vehicle's automatic driving mode.

[0127] Fig. 9 is a schematic structural diagram of a fifth vehicle steer-by-wire control system provided in accordance with an embodiment of the present invention, Fig.10 FIG. 1 is a flow chart of a fifth vehicle steer-by-wire control method according to an embodiment of the present invention. The signal feedback unit of the steering machine is described in the embodiment of the present invention. Fig. 9 As shown, the vehicle further includes a signal feedback unit 8; the signal feedback unit 8 is electrically connected to the steering motor 2 and the road sense control unit 11 respectively;

[0128] like Fig.10 As shown, the wire steering control method based on the above structure includes:

[0129] S510: In the automatic driving mode, the intelligent driving control unit obtains driving environment information, determines a first steering angle of the steering machine according to the driving environment information, and outputs the first steering angle to the road sense control unit.

[0130] S520: The brake control unit obtains yaw angle information and outputs the yaw angle information to the road sense control unit.

[0131] S530: The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit.

[0132] S540: The road sense control unit corrects the first steering angle according to the vehicle state information to determine the second steering angle.

[0133] S550: The road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, so that the steering gear controls the rotation angle of the steering wheel according to the second steering angle, and the road sense motor controls the rotation angle of the steering wheel according to the second steering angle.

[0134] S560: The road sense control unit receives a third steering angle of the steering machine sent by the signal feedback unit.

[0135] Specifically, Fig. 9 As shown, the signal feedback unit 8 is used to output a feedback signal to the road sense control unit 11 after the steering gear receives the steering signal carrying the second steering angle, and the road sense control unit 11 detects the feedback signal of the signal feedback unit 8 to determine whether the steering gear 2 is working normally. The signal feedback unit 8 can be a torque sensor and a rotation angle sensor, which are integrated in the steering gear 2. The torque sensor is used to detect the torque information output by the steering gear 2, and the feedback signal can be the third steering angle and speed information output by the steering gear 2.

[0136] S570: When the difference between the second steering angle and the third steering angle is greater than a preset difference, the intelligent driving control unit controls the vehicle to switch the driving mode.

[0137] Exemplarily, a third steering angle carried in the feedback signal can be compared and analyzed. The third steering angle is the steering angle actually output by the steering machine 2 after receiving the steering angle signal carrying the second steering angle. The second steering angle is the expected steering angle of the steering machine 2 calculated by the control module 1 in combination with the vehicle driving environment and vehicle status information. When the difference between the second steering angle and the third steering angle is greater than the preset difference, it means that there is a large difference between the expected steering angle and the actual steering angle, which means that the steering machine 2 cannot accurately execute the steering command issued by the control module 1, which will cause the vehicle to deviate from the predetermined trajectory when turning, increasing the risk of collision with road obstacles, other vehicles or pedestrians.

[0138] Therefore, when the difference between the second steering angle and the third steering angle is greater than the preset difference, in order to avoid safety problems when turning, the road sense control unit sends fault information to the intelligent driving control unit, and the intelligent driving control unit switches the driving mode according to the fault information.

[0139] Optionally, when the difference between the second steering angle and the third steering angle is greater than a first preset difference, the intelligent driving control unit controls the vehicle to enter a degraded driving mode from the automatic driving mode;

[0140] When the difference between the second steering angle and the third steering angle is greater than the second preset difference, the intelligent driving control unit controls the vehicle to switch from the automatic driving mode to the manual driving mode; the second preset difference is greater than the first preset difference.

[0141] For example, Fig. 9 As shown, the first preset difference is 5 degrees. When the second steering angle is 35, the third steering angle is detected to be 30 degrees, which indicates a minor fault in the steering system. At this time, the intelligent driving control unit 12 controls the vehicle from the automatic driving mode to the degraded driving mode, pulls over, and inspects the cause of the vehicle failure.

[0142] The first preset difference is 10 degrees. When the second steering angle is 35, the third steering angle is detected to be 25 degrees. This indicates that a serious fault has occurred in the steering system. The intelligent driving control unit 12 controls the vehicle to enter the manual driving mode from the automatic driving mode.

[0143] In addition, the road sense control unit 11 is also connected to the vehicle dashboard to send fault information to the dashboard so that the user can understand the fault situation.

[0144] When the driver sees that the vehicle has a serious fault and needs to take over the vehicle manually, he needs to keep a hand force of more than 4nm on the steering wheel 5 for 0.2s continuously, and then the wire-controlled steering system switches to manual driving mode. Since the driver issues a turning angle signal through the steering wheel 5, the road sense control unit 11 no longer responds to the control request of the intelligent driving control unit 12.

[0145] Fig.11 1 is a flow chart of a sixth vehicle steering-by-wire control method provided according to an embodiment of the present invention. The embodiment of the present invention describes the manual driving mode. Fig.11 As shown, the wire steering control method includes:

[0146] S610: In the manual driving mode, the control module obtains a fourth steering angle of the steering wheel, a torque of the steering wheel, and vehicle speed information;

[0147] In the manual driving mode, the control module 1 can directly obtain the fourth steering angle of the steering wheel, the torque of the steering wheel and the vehicle speed information.

[0148] S620, the control module determines the road feel torque according to the torque and the vehicle speed;

[0149] Specifically, Figure 1 As shown, the road feel torque refers to the feedback torque transmitted to the driver's hands through the steering system when the driver operates the steering wheel 5. This torque can reflect the interaction between the wheel and the road surface and the driving state of the vehicle. The road feel torque can help the driver better perceive the driving state of the vehicle and the road conditions, so as to make more accurate driving decisions.

[0150] S630, the control module outputs a fourth steering angle to the steering gear, so that the steering gear controls the rotation angle of the steering wheel according to the fourth steering angle;

[0151] Specifically, Figure 1 As shown, in the manual driving mode, the control unit 1 directly obtains the fourth steering angle and outputs the fourth steering angle to the steering machine 2 so that the steering machine 2 controls the rotation angle of the steering wheel 4 according to the fourth steering angle.

[0152] S640: The control module outputs the road sense torque to the road sense motor, so that the road sense motor outputs the damping force according to the road sense torque.

[0153] Specifically, Figure 1 As shown, the driver feels the simulated road feel on the steering wheel 5 , and the control module 1 outputs the road feel torque to the road feel motor 3 , so that the road feel motor 3 outputs the damping force to the steering shaft according to the road feel torque.

[0154] In an embodiment of the present invention, the control module directly obtains the fourth steering angle of the steering wheel and outputs it to the steering gear so that the steering gear controls the rotation angle of the steering wheel according to the fourth steering angle. The control module can also calculate the road feel torque according to the torque on the steering wheel and the vehicle speed, and control the road feel motor to output the damping force according to the road feel torque to increase the driver's driving experience.

[0155] Fig.12 is a schematic structural diagram of a sixth vehicle steer-by-wire control system provided according to an embodiment of the present invention, Fig.13 1 is a flow chart of a seventh vehicle steer-by-wire control method according to an embodiment of the present invention. The vehicle comprises a torque sensor 9 and a rotation angle sensor 10; the torque sensor 9 is electrically connected to the steering wheel 5, and the rotation angle sensor 10 is electrically connected to the steering wheel 5; a road sense control unit 11 is electrically connected to the torque sensor 9 and the rotation angle sensor 10 respectively;

[0156] like Fig.13 As shown, the wire steering control method based on the above structure includes:

[0157] S710: The road sense control unit obtains torque through a torque sensor.

[0158] Specifically, Fig.12 As shown, the steering wheel 5 is used to receive the steering torque issued by the driver, the torque sensor 9 is electrically connected to the steering wheel 5 to collect the torque signal of the steering wheel 5, and the road sense control unit 11 is electrically connected to the torque sensor 9 to obtain the torque signal collected by the torque sensor 9.

[0159] S720: The road sense control unit obtains a fourth steering angle through a steering angle sensor.

[0160] Specifically, Fig.12 As shown, the steering angle sensor 10 is electrically connected to the steering wheel 5 to collect the fourth steering angle of the steering wheel 5 , and the road sense control unit 11 is electrically connected to the steering angle sensor 10 to obtain the fourth steering angle collected by the steering angle sensor 10 .

[0161] S730: The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit.

[0162] Specifically, Fig.12 As shown, the vehicle control unit 14 is connected to the road sense control unit 11 via the CAN bus. When the vehicle turns, it is also necessary to obtain vehicle speed information. The vehicle speed information is obtained by the vehicle control unit 14, and the vehicle control unit 14 can send the obtained vehicle speed information to the road sense control unit 11 via the CAN bus.

[0163] S740: The road feel control unit determines the road feel torque according to the torque and the vehicle speed.

[0164] Specifically, the road sense torque refers to the feedback torque transmitted to the driver's hands through the steering system when the driver operates the steering wheel. This torque can reflect the interaction between the wheels and the road surface and the driving state of the vehicle. The road sense torque can help the driver better perceive the driving state of the vehicle and the road conditions, so as to make more accurate driving decisions. In the manual driving mode, the road sense control unit 11 can determine the road sense torque according to the torque and the vehicle speed.

[0165] S750: The road sense control unit outputs a fourth steering angle to the steering gear.

[0166] Specifically, Fig.12 As shown, in the manual driving mode, the road sense control unit 11 directly obtains the fourth steering angle and outputs the fourth steering angle to the steering machine 2 so that the steering machine 2 controls the rotation angle of the steering wheel 5 according to the fourth steering angle.

[0167] S760: The road sense control unit outputs the road sense torque to the road sense motor.

[0168] Specifically, Fig.12As shown, in the manual driving mode, in order to make the driver feel the simulated road feel on the steering wheel 5, the road feel control unit 11 outputs the road feel torque to the road feel motor 3, so that the road feel motor 3 outputs the damping force to the steering shaft according to the road feel torque.

[0169] In an embodiment of the present invention, in a manual driving mode, a road sense control unit obtains a fourth steering angle through a steering angle sensor and directly outputs it to a steering gear so that the steering gear controls the steering angle of the steering wheel according to the fourth steering angle, and then obtains torque through a torque sensor, and a vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to a road sense control unit; further, the road sense control unit determines a road sense torque according to the torque and vehicle speed, and controls the road sense motor to output a damping force according to the road sense torque to increase the driver's driving experience.

[0170] Fig.14 1 is a schematic diagram of the structure of a vehicle steering-by-wire control device according to an embodiment of the present invention. Fig.14 As shown, the device comprises:

[0171] The first steering angle determination module 710 is used to obtain driving environment information in the automatic driving mode, and determine the first steering angle of the steering machine according to the driving environment information; the driving environment information includes lane lines, vehicle spacing and the speed of the preceding vehicle;

[0172] The vehicle status information acquisition module 720 is used to acquire vehicle status information; the vehicle status information includes vehicle speed information and yaw angle information;

[0173] A second steering angle determination module 730, configured to modify the first steering angle according to the vehicle state information to determine a second steering angle;

[0174] The second steering angle sending module 740 is used to output the second steering angle to the steering machine and the road sensing motor, so that the steering machine controls the rotation angle of the steering wheel according to the second steering angle, and the road sensing motor controls the rotation angle of the steering wheel according to the second steering angle.

[0175] The steer-by-wire control device provided in the embodiment of the present invention can execute the steer-by-wire control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0176] Fig.15A schematic diagram of a steer-by-wire control device 90 that can be used to implement an embodiment of the present invention is shown. The steer-by-wire control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The steer-by-wire control device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0177] like Fig.15 As shown, the steer-by-wire control device 90 includes at least one processor 91, and a memory connected to the at least one processor 91 in communication, such as a read-only memory (ROM) 92, a random access memory (RAM) 93, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 91 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 92 or the computer program loaded from the storage unit 98 to the random access memory (RAM) 93. In the RAM 93, various programs and data required for the operation of the steer-by-wire control device 90 can also be stored. The processor 91, the ROM 92, and the RAM 93 are connected to each other through a bus 94. An input / output (I / O) interface 95 is also connected to the bus 94.

[0178] A number of components in the steer-by-wire control device 90 are connected to the I / O interface 95, including: an input unit 96, such as a keyboard, a mouse, etc.; an output unit 97, such as various types of displays, speakers, etc.; a storage unit 98, such as a disk, an optical disk, etc.; and a communication unit 99, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 99 allows the steer-by-wire control device 90 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0179] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 91 executes the various methods and processes described above, such as a wire-controlled steering control method.

[0180] In some embodiments, the steer-by-wire control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 98. In some embodiments, part or all of the computer program may be loaded and / or installed on the steer-by-wire control device 90 via the ROM 92 and / or the communication unit 99. When the computer program is loaded into the RAM 93 and executed by the processor 91, one or more steps of the steer-by-wire control method described above may be performed. Alternatively, in other embodiments, the processor 91 may be configured to perform the steer-by-wire control method in any other suitable manner (e.g., by means of firmware).

[0181] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0182] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0183] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, 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 foregoing.

[0184] To provide interaction with a user, the systems and techniques described herein may be implemented on a steer-by-wire control device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the steer-by-wire control device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0185] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0186] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0187] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0188] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle steering-by-wire control method, characterized in that: The vehicle includes a control module, a steering gear, a road sensing motor, a steering wheel and a steering wheel; The control module is electrically connected to the steering gear and the road sensing motor respectively, the steering gear is connected to the steering wheel, and the road sensing motor is connected to the steering wheel; The steering-by-wire control method comprises: In the automatic driving mode, the control module obtains driving environment information and determines a first steering angle of the steering machine according to the driving environment information; The driving environment information includes lane lines, vehicle spacing, and the speed of the preceding vehicle; The control module acquires vehicle status information; the vehicle status information includes vehicle speed information and yaw angle information; The control module corrects the first steering angle according to the vehicle state information to determine a second steering angle; The control module outputs the second steering angle to the steering machine and the road sensing motor respectively, so that the steering machine controls the rotation angle of the steering wheel according to the second steering angle, and the road sensing motor controls the rotation angle of the steering wheel according to the second steering angle.

2. The steer-by-wire control method according to claim 1, characterized in that: The control module includes a road sense control unit, an intelligent driving control unit, a braking control unit and a vehicle control unit; The road sense control unit is respectively connected to the intelligent driving control unit, the braking control unit, the vehicle control unit, the steering gear and the road sense motor; The control module acquires driving environment information and determines a first steering angle of the steering machine according to the driving environment information, including: The intelligent driving control unit acquires driving environment information, determines a first steering angle of the steering gear according to the driving environment information, and outputs the first steering angle to the road sense control unit; The control module obtains vehicle status information, including: The braking control unit acquires the yaw angle information and outputs the yaw angle information to the road sense control unit; The vehicle control unit acquires the vehicle speed information and outputs the vehicle speed information to the road sense control unit; The control module corrects the first steering angle according to the vehicle state information to determine a second steering angle, including: The road sense control unit corrects the first steering angle according to the vehicle state information to determine a second steering angle; The control module outputs the second steering angle to the steering machine and the road sensing motor respectively, including: The road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively.

3. The steer-by-wire control method according to claim 2, characterized in that: The vehicle further comprises a driving assistance unit, wherein the driving assistance unit is electrically connected to the intelligent driving control unit; The intelligent driving unit obtains driving environment information, including: The intelligent driving control unit obtains the driving environment information through the driving assistance unit.

4. The steer-by-wire control method according to claim 2, characterized in that: The vehicle also includes a vehicle speed sensor and a yaw rate sensor; The vehicle speed sensor is connected to the vehicle control unit, and the yaw rate sensor is connected to the brake control unit; The braking control unit acquires the yaw angle information, including: The braking control unit acquires the yaw angle information through the yaw angular velocity sensor; The vehicle control unit obtains the vehicle speed information, including: The vehicle control unit obtains the vehicle speed information through the vehicle speed sensor.

5. The steer-by-wire control method according to claim 2, characterized in that: The vehicle further comprises a signal feedback unit; the signal feedback unit is electrically connected to the steering motor and the road sense control unit respectively; After the road sense control unit outputs the second steering angle to the steering gear and the road sense motor respectively, it also includes: The road sense control unit receives a third steering angle of the steering machine sent by the signal feedback unit; When the difference between the second steering angle and the third steering angle is greater than a preset difference, the intelligent driving control unit controls the vehicle to switch the driving mode.

6. The steer-by-wire control method according to claim 5, characterized in that: When the difference between the third steering angle and the second steering angle is greater than a preset difference, switching the driving mode includes: When the difference between the second steering angle and the third steering angle is greater than a first preset difference, the intelligent driving control unit controls the vehicle to enter a degraded driving mode from the automatic driving mode; When the difference between the second steering angle and the third steering angle is greater than a second preset difference, the intelligent driving control unit controls the vehicle to switch from the automatic driving mode to the manual driving mode; the second preset difference is greater than the first preset difference.

7. The steer-by-wire control method according to claim 2, characterized in that: include: In the manual driving mode, the control module obtains the fourth steering angle of the steering wheel, the torque of the steering wheel and the vehicle speed information; The control module determines a road feel torque according to the torque and the vehicle speed; The control module outputs the fourth steering angle to the steering gear, so that the steering gear controls the rotation angle of the steering wheel according to the fourth steering angle; The control module outputs the road sense torque to the road sense motor, so that the road sense motor outputs a damping force according to the road sense torque.

8. The steer-by-wire control method according to claim 7, characterized in that: The vehicle comprises a torque sensor and a rotation angle sensor; the torque sensor is electrically connected to the steering wheel, and the rotation angle sensor is electrically connected to the steering wheel; the road sense control unit is electrically connected to the torque sensor and the rotation angle sensor respectively; The control module acquires the fourth steering angle of the steering wheel, the torque of the steering wheel and the vehicle speed, including: The road sense control unit obtains the torque through the torque sensor; The road sense control unit acquires the fourth steering angle through the steering angle sensor; The vehicle control unit acquires the vehicle speed information and outputs the vehicle speed information to the road sense control unit; The control module determines the road feel torque according to the torque and the vehicle speed, including: The road feeling control unit determines the road feeling torque according to the torque and the vehicle speed; The control module outputs the fourth steering angle to the steering machine, including: The road sense control unit outputs the fourth steering angle to the steering gear; The control module outputs the road sense torque to the road sense motor, including: The road sense control unit outputs the road sense torque to the road sense motor.

9. A steer-by-wire control device, characterized in that: The steering control device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the wire-controlled steering method as described in any one of claims 1-8.

10. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the wire-controlled steering control method as described in any one of claims 1-8 is implemented.

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