A vehicle steer-by-wire control method, device and storage medium

Abstract

The present invention discloses a vehicle's steer-by-wire control method, device and storage medium. The steer-by-wire control method includes: in an automatic driving mode, a control module obtains driving environment information and determines a first steering angle of a steering gear 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 obtains 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 status information to determine a second steering angle; the control module outputs the second steering angle to the steering gear and a road sensing motor respectively, and while controlling the steering wheel to steer, the steering wheel can follow the steering wheel to rotate, so as to achieve a 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.

Description

Technical Field

[0001] The present invention relates to the field of vehicle steering technology, 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 wheel steering angle 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; but in wire-controlled steering mode, the vehicle steering is controlled by the intelligent driving controller. The intelligent driving controller is directly connected to the steering gear, and the angle signal is directly given to the steering gear through the CAN bus signal. The steering gear executes the corresponding 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. That is, 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 angle, and the driver cannot take over the vehicle safely and quickly. Summary of the Invention

[0004] The present invention provides a vehicle's steer-by-wire control method, device, and storage medium to address vehicle driving safety issues caused by inconsistent angles between the steering wheel and the steering wheel in emergency situations, resulting in the inability to smoothly switch from automatic driving mode to 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 includes 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 steer-by-wire control method comprises:

[0008] In the automatic driving mode, the control module obtains 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 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.

[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 gear 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 feeling control unit;

[0018] The vehicle control unit obtains 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 gear 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 includes a driving assistance unit, wherein 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 obtains 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, the method further includes:

[0034] The road sense control unit receives the third steering angle of the steering gear 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 includes: 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 based on 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 feel control unit obtains the torque through the torque sensor;

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

[0049] The vehicle control unit obtains 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 feel control unit determines a road feel 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 feel control unit outputs the road feel torque to the road feel 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 perform the steer-by-wire control method according to 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 steer-by-wire control method according to 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. While controlling the steering wheel to steer, 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 content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily 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 2 is a schematic structural diagram of a first type of vehicle steer-by-wire control system provided by an embodiment of the present invention;

[0065] Figure 2 is a flow chart of a first vehicle steer-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 in an embodiment of the present invention;

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

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

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

[0073] Figure 10 is a flowchart of a fifth vehicle steer-by-wire control method provided by an embodiment of the present invention;

[0074] Figure 11 is a flowchart of a sixth vehicle steer-by-wire control method provided according to an embodiment of the present invention;

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

[0076] Figure 13 is a flowchart of a seventh vehicle steer-by-wire control method provided by an embodiment of the present invention;

[0077] Figure 14 2 is a schematic structural diagram of a steer-by-wire control device for a vehicle according to an embodiment of the present invention;

[0078] Figure 15 2 is a schematic structural diagram of a steer-by-wire control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0079] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0080] It should be noted that the terms "first," "second," and the like 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 precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, any variations of the terms "including" and "having" are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[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 This is a flow chart of a first type of vehicle steer-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. This method can be executed by a steer-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 steer-by-wire 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 gear according to the driving environment information.

[0084] Specifically, such as Figure 1As shown, driving environment information includes lane markings, inter-vehicle distances, and the speed of the preceding vehicle. In autonomous driving mode, when turning, the desired steering angle (first steering angle) of the steering gear 2 is calculated based on the curvature and direction of the lane markings. This is then used to control the steering angle of the steering wheel 4 to ensure a smooth turn along the lane markings. During the turn, if there is a vehicle ahead, the inter-vehicle distance between the vehicle and the preceding vehicle is determined. If the distance is small, to maintain a safe distance, the control module 1 can reduce the first steering angle, thereby reducing the steering angle of the steering wheel 4, making the turn smoother and avoiding a collision with the preceding vehicle. Conversely, if the distance is large, the control module 1 can adjust the first steering angle more freely to achieve a more precise turning path. Furthermore, the speed of the preceding vehicle must be considered during the turn. If the preceding vehicle is moving faster, the control module 1 can increase the first steering angle, thereby increasing the steering angle of the steering wheel 4 for a faster turn. Conversely, if the preceding vehicle is moving slower, the control module 1 can reduce the first steering angle, thereby reducing the steering angle of the steering wheel 4 for a slower turn, to avoid 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, such as Figure 1 As shown, vehicle status information includes vehicle speed and yaw angle information. The yaw angle refers to the angle of rotation of the vehicle perpendicular to the vehicle axis. When the vehicle is turning, an excessively large yaw angle can cause significant roll and jolting during the turn. Adjusting the yaw angle requires adjusting the steering angle of the steering wheel 4.

[0087] When the vehicle turns, the steering angle required by the steering wheel 4 varies at different speeds. At lower speeds, the turning radius is smaller, so the steering angle can be increased to allow the vehicle to turn more flexibly. As the speed increases, the turning radius increases. Maintaining a large steering angle at this point can lead to oversteering and loss of control.

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

[0089] Specifically, after obtaining 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 optimal steering angle, namely 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, such as Figure 1 As shown, during a vehicle cornering process, the control module 1 can simultaneously transmit the second steering angle to the steering gear 2 and the road sensing motor 3, enabling the steering gear 2 to control the steering wheel 4 to rotate to an appropriate angle based on the second steering angle for stable cornering. Simultaneously, the road sensing motor 3 can also control the steering wheel 5 to rotate in accordance with the second steering angle.

[0092] In an embodiment of the present invention, by electrically connecting a control module to a steering gear and a road sensing motor respectively, the control module can simultaneously output a second steering angle to the steering gear and the road sensing motor when the vehicle is turning in the automatic driving mode. While controlling the steering wheel to steer, the steering wheel can follow the steering wheel to achieve a smooth switch 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 steer-by-wire control method 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 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 respectively;

[0094] like Figure 4 As shown, the steer-by-wire 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 gear according to the driving environment information, and outputs the first steering angle to the road sense control unit.

[0096] Specifically, such as Figure 3 As shown, the intelligent driving control unit 12 is connected to the road feeling control unit 11 via a controller area network (CAN). The road feeling control unit 11 can be a road feeling 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 via the CAN bus.

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

[0099] Specifically, such as 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, such as 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 through 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 a second steering angle.

[0103] Specifically, such as Figure 3 As shown, the road sense control unit 11 receives yaw angle information and vehicle speed information via 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, such as 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 can transmit the second steering angle 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 in this embodiment of the present invention, the road sense control unit 11 is the most important control unit. In existing vehicle steering architectures, the road sense control unit 11 is a subordinate structure to the steering gear 2. The steering gear 2 exchanges signals with the vehicle, and the road sense control unit 11 has no information exchange with the entire vehicle. It only sends steering angle signals to the steering gear 2 in manual driving mode. In this embodiment of the present invention, however, the road sense control unit 11 exchanges signals with the entire vehicle, 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 an embodiment of the present invention, in autonomous driving mode, while the vehicle is turning, the intelligent driving control unit obtains driving environment information, determines a first steering angle of the steering gear based on the driving environment information, and outputs the first steering angle to the road sense control unit. The braking control unit obtains yaw angle information and outputs the yaw angle information to the road sense control unit. The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit. Finally, the road sense control unit corrects the first steering angle based on vehicle status information to determine a second steering angle, and outputs the second steering angle to the steering gear and road sense motor. The above technical solution allows the steering wheel to follow the steering wheel while controlling the steering wheel to turn. This avoids the problem of an unsmooth vehicle switch from autonomous driving mode to manual driving mode due to an inconsistency between the steering wheel and steering wheel angles in an emergency, thereby improving vehicle driving safety.

[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 This is a flow chart of a third vehicle steer-by-wire control method provided in accordance with an embodiment of the present invention. This 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 steer-by-wire 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 gear according to the driving environment information, and outputs the first steering angle to the road sense control unit.

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

[0112] S320: The brake 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 a 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 steer-by-wire control system for a vehicle 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 explains how to obtain the yaw 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 steer-by-wire 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 gear 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, such as Figure 7 As shown, the yaw rate sensor 7 is mounted near the vehicle's center of gravity and monitors the vehicle's rotation rate about its vertical axis in real time. When the vehicle turns or yaws, the Coriolis force acts on the sensor's sensitive elements, generating an electrical signal proportional to the yaw rate. This signal is transmitted to the brake control unit 13. Using specific algorithms and models, the brake control unit 13 uses the data provided by the yaw rate sensor to calculate the vehicle's yaw angle.

[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, such as Figure 7 As shown, the vehicle speed sensor 6 is installed in the vehicle's transmission to monitor the rotational speed of the transmission output shaft. The vehicle speed sensor 6 uses the magnetic or Hall effect principle to generate a vehicle speed signal according to the shaft rotational speed. 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 a 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] Figure 9 is a schematic structural diagram of a fifth vehicle steer-by-wire control system provided in an embodiment of the present invention. Figure 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 embodiment of the present invention describes the signal feedback unit of the steering machine. Figure 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 Figure 10 As shown, the steer-by-wire 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 gear 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 a 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 the third steering angle of the steering gear sent by the signal feedback unit.

[0135] Specifically, such as Figure 9 As shown, after the steering gear receives a steering signal carrying the second steering angle, the signal feedback unit 8 outputs a feedback signal to the road sense control unit 11. The road sense control unit 11 detects the feedback signal from the signal feedback unit 8 to determine whether the steering gear 2 is functioning properly. The signal feedback unit 8 may comprise a torque sensor and a rotation angle sensor, both of which are integrated within the steering gear 2. The torque sensor detects torque information output by the steering gear 2, and the feedback signal may comprise information about the third steering angle and speed 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] For example, a comparative analysis can be performed on the third steering angle carried in the feedback signal. The third steering angle is the steering angle actually output by steering gear 2 after receiving the steering angle signal carrying the second steering angle. The second steering angle is the desired steering angle of steering gear 2, calculated by control module 1 based on the vehicle's driving environment and vehicle status information. When the difference between the second and third steering angles is greater than a preset difference, it indicates a significant discrepancy between the desired and actual steering angles, meaning that steering gear 2 is unable to accurately execute the steering command issued by control module 1. This can cause the vehicle to deviate from its intended 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 a second preset difference, the intelligent driving control unit controls the vehicle to switch from automatic driving mode to manual driving mode; the second preset difference is greater than the first preset difference.

[0141] For example, Figure 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, and the intelligent driving control unit 12 controls the vehicle from the automatic driving mode to the manual 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 apply more than 4nm of force to the steering wheel 5 for 0.2 seconds, and then the wire-controlled steering system switches to manual driving mode. Since the driver sends 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] Figure 11 1 is a flow chart of a sixth vehicle steer-by-wire control method according to an embodiment of the present invention. The embodiment of the present invention describes the manual driving mode. Figure 11 As shown, the steer-by-wire control method includes:

[0146] S610: In the manual driving mode, the control module obtains a fourth steering angle of the steering wheel, a steering wheel torque, 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 a road feel torque based on the torque and the vehicle speed.

[0149] Specifically, such as 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, thereby making 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, such as 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, such as 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 based on 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 enhance the driver's driving experience.

[0155] Figure 12 is a schematic structural diagram of a sixth vehicle steer-by-wire control system according to an embodiment of the present invention. Figure 13 This is a flow chart of a seventh vehicle steer-by-wire control method according to an embodiment of the present invention. The vehicle includes 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 Figure 13 As shown, the steer-by-wire control method based on the above structure includes:

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

[0158] Specifically, such as Figure 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 feel 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, such as Figure 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, such as Figure 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 through 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, road feel torque refers to the feedback torque transmitted to the driver's hands through the steering system when operating the steering wheel. This torque reflects the interaction between the wheels and the road surface, as well as the vehicle's driving state. Road feel torque can help the driver better perceive the vehicle's driving state and road conditions, allowing them to make more accurate driving decisions. In manual driving mode, the road feel control unit 11 determines the road feel torque based on torque and vehicle speed.

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

[0166] Specifically, such as Figure 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, such as Figure 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. The vehicle control unit obtains vehicle speed information and outputs the vehicle speed information to the road sense control unit. Furthermore, the road sense control unit determines a road sense torque based on the torque and vehicle speed, and controls the road sense motor to output a damping force based on the road sense torque to enhance the driver's driving experience.

[0170] Figure 14 FIG. 1 is a schematic structural diagram of a vehicle steer-by-wire control device according to an embodiment of the present invention. Figure 14 As shown, the device includes:

[0171] A first steering angle determination module 710 is configured to obtain driving environment information in the autonomous driving mode and determine a first steering angle of the steering gear based on 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 is configured to modify the first steering angle according to 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 gear and the road sensing motor, 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.

[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] Figure 15A schematic diagram of a steer-by-wire control device 90 is shown that can be used to implement an embodiment of the present invention. 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 assistants, 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 Figure 15 As shown, the steer-by-wire control device 90 includes at least one processor 91 and a memory, such as a read-only memory (ROM) 92 and a random access memory (RAM) 93, communicatively connected to the at least one processor 91. The memory stores a computer program executable by the at least one processor, and the processor 91 can perform various appropriate actions and processes based on the computer program stored in the ROM 92 or loaded from a storage unit 98 into the RAM 93. The RAM 93 can also store various programs and data required for the operation of the steer-by-wire control device 90. The processor 91, ROM 92, and RAM 93 are interconnected via a bus 94. An input / output (I / O) interface 95 is also connected to the bus 94.

[0178] Several components in the steer-by-wire control device 90 are connected to an 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0179] The processor 11 can be any general-purpose and / or specialized processing component 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 specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 91 executes the various methods and processes described above, such as the steer-by-wire control method.

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

[0181] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0183] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0184] To provide interaction with a user, the systems and techniques described herein can 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 can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0185] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0187] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0188] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle steer-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 steer-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 gear 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 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; 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 gear 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 feeling control unit; The vehicle control unit obtains 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 gear 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; The vehicle further includes a signal feedback unit; the signal feedback unit is electrically connected to the steering gear 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, the method further includes: The road sense control unit receives the third steering angle of the steering gear 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; 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.

2. The steer-by-wire control method according to claim 1, wherein: The vehicle further includes a driving assistance unit, wherein the driving assistance unit is electrically connected to the intelligent driving control unit; The intelligent driving control unit obtains driving environment information, including: The intelligent driving control unit obtains the driving environment information through the driving assistance unit.

3. The steer-by-wire control method according to claim 1, wherein: The vehicle further 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 obtains 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.

4. The steer-by-wire control method according to claim 1, wherein: include: In a 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 based on 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.

5. The steer-by-wire control method according to claim 4, wherein: The vehicle includes 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 feel control unit obtains the torque through the torque sensor; The road sense control unit obtains the fourth steering angle through the steering angle sensor; The vehicle control unit obtains 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 feel control unit determines a road feel 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 feel control unit outputs the road feel torque to the road feel motor.

6. 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 steer-by-wire control method as described in any one of claims 1 to 5.

7. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steer-by-wire control method according to any one of claims 1 to 5 is implemented.

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