Steering-by-wire system, calibration method and device thereof, storage medium and vehicle

Abstract

The invention relates to the technical field of vehicle testing, and particularly discloses a steer-by-wire system and a calibration method and device thereof, a storage medium and a vehicle, the steer-by-wire system comprises a steering wheel actuator and a front wheel actuator, the steering wheel actuator and the front wheel actuator are controllably connected, and the method comprises the steps of obtaining calibration request information; controlling the steering wheel actuator to be kept in a zero position state according to the calibration request information, and releasing the association between the steering wheel actuator and the front wheel actuator; receiving calibration information of the steer-by-wire system; calibrating the steer-by-wire system according to the calibration information; after calibration of the steer-by-wire system is completed, the zero position state of the steering wheel actuator is relieved, the steering wheel actuator is controlled to be in communication connection with the front wheel actuator, calibration is completed, and steering linkage is guaranteed, so that the calibration precision and calibration efficiency of the steer-by-wire system can be improved, and meanwhile the calibration difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a steer-by-wire system and a calibration method and device thereof, a storage medium, and a vehicle. Background Art

[0002] In order to ensure that the vehicle can drive normally, the vehicle's steering system needs to be calibrated to prevent problems such as vehicle deviation.

[0003] For traditional steering structures, related technologies require the use of fixtures to fix the steering wheel and other equipment to ensure that the steering wheel does not rotate during the calibration process. For steer-by-wire, since the intermediate shaft between the steering wheel and the steering gear is eliminated, although the calibration difficulty is reduced, the steering wheel can rotate by itself, so the calibration accuracy and efficiency of the steer-by-wire system are also greatly reduced. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first object of the present invention is to provide a calibration method for a steer-by-wire system, which can improve the calibration accuracy and calibration efficiency of the steer-by-wire system and reduce the calibration difficulty.

[0005] A second object of the present invention is to provide a computer-readable storage medium.

[0006] A third object of the present invention is to provide a calibration device for a steer-by-wire system.

[0007] A fourth objective of the present invention is to provide a steer-by-wire system.

[0008] A fifth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present invention proposes a calibration method for a wire-controlled steering system, wherein the wire-controlled steering system includes a steering wheel actuator and a front wheel actuator, and the steering wheel actuator and the front wheel actuator are controllably connected, and the method includes: obtaining calibration request information; controlling the steering wheel actuator to remain in a zero position state according to the calibration request information, and releasing the association between the steering wheel actuator and the front wheel actuator; receiving the calibration information of the wire-controlled steering system; calibrating the wire-controlled steering system according to the calibration information; after the wire-controlled steering system completes the calibration, releasing the zero position state of the steering wheel actuator, and controlling the steering wheel actuator to communicate with the front wheel actuator.

[0010] The steer-by-wire system of an embodiment of the present invention includes a steering wheel actuator and a front wheel actuator that are communicatively connected. The calibration method of the steer-by-wire system first obtains calibration request information, and then controls the steering wheel actuator to remain in a zero position state according to the calibration request information, and releases the communication connection between the steering wheel actuator and the front wheel actuator. The front wheel actuator is then calibrated until the calibration is completed, and the steering wheel actuator and the front wheel actuator are controlled to continue to be communicatively connected to complete the calibration and ensure steering linkage, thereby improving the calibration accuracy and efficiency of the steer-by-wire system and reducing the difficulty of calibration.

[0011] In some embodiments of the present invention, calibrating the steer-by-wire system includes: performing positioning and steering calibration on wheels corresponding to the steer-by-wire system.

[0012] In some embodiments of the present invention, calibrating the steer-by-wire system further includes: performing mid-position calibration and relative zero-position calibration on the steering wheel actuator and the front wheel actuator, and recording mid-position information of the steering wheel actuator and the front wheel actuator.

[0013] In some embodiments of the present invention, the steer-by-wire system is applied to a vehicle, and the vehicle further includes a vehicle control module. After obtaining the calibration request information, the method further includes: confirming, through the vehicle control module, that the vehicle is in a preset state.

[0014] In some embodiments of the present invention, the preset state includes the vehicle being in a horizontally stable parking state, the vehicle being in an unloaded state, and the tire pressure of the vehicle being in a preset range.

[0015] In some embodiments of the present invention, after controlling the steering wheel actuator to remain in the zero position state according to the calibration request information and releasing the association between the steering wheel actuator and the front wheel actuator, the method further includes: feeding back the status information of the steering wheel actuator and the front wheel actuator to determine that the steering wheel actuator is in the zero position state and the association between the steering wheel actuator and the front wheel actuator has been released; if the steering wheel actuator is not in the zero position state, or the association between the steering wheel actuator and the front wheel actuator has not been released, reacquiring the calibration request information.

[0016] To achieve the above-mentioned purpose, a second aspect of the present invention proposes a computer-readable storage medium on which a calibration program for a steer-by-wire system is stored. When the calibration program is executed by a processor, the calibration method for the steer-by-wire system described in any one of the above-mentioned embodiments is implemented.

[0017] The computer-readable storage medium of the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system and reduce the difficulty of calibration by executing the calibration program of the steer-by-wire system stored thereon through a processor.

[0018] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present invention proposes a calibration device for a wire-controlled steering system, wherein the wire-controlled steering system includes a steering wheel actuator and a front wheel actuator, and the steering wheel actuator and the front wheel actuator are controllably connected, and the device includes: an acquisition module, used to acquire calibration request information; a control module, used to control the steering wheel actuator to remain in a zero position state according to the calibration request information, and to release the association between the steering wheel actuator and the front wheel actuator; a receiving module, used to receive the calibration information of the wire-controlled steering system; a calibration module, used to calibrate the wire-controlled steering system according to the calibration information; the control module is also used to release the zero position state of the steering wheel actuator after the wire-controlled steering system completes the calibration, and to control the steering wheel actuator to communicate with the front wheel actuator.

[0019] The wire-controlled steering system of an embodiment of the present invention includes a steering wheel actuator and a front wheel actuator that are communicatively connected. The calibration device of the wire-controlled steering system includes an acquisition module, a control module, a receiving module and a calibration module, wherein the acquisition module first acquires calibration request information, and then the control module can control the steering wheel actuator to remain in a zero position state according to the calibration request information, and release the communication connection between the steering wheel actuator and the front wheel actuator. After that, when the receiving module receives the calibration information, the calibration module is used to calibrate the front wheel actuator. After the calibration is completed, the steering wheel actuator is released through the control module, and the steering wheel actuator and the front wheel actuator are controlled to continue to be communicatively connected to complete the calibration, thereby ensuring steering linkage, thereby improving the calibration accuracy and calibration efficiency of the wire-controlled steering system and reducing the difficulty of calibration.

[0020] To achieve the above-mentioned object, a fourth aspect of an embodiment of the present invention provides a steer-by-wire system, which includes a calibration device for the steer-by-wire system described in the above-mentioned embodiment.

[0021] The steer-by-wire system of the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system and reduce the difficulty of calibration through the calibration device of the steer-by-wire system in the above embodiment.

[0022] To achieve the above objective, a fifth aspect of the present invention provides a vehicle, which includes the steer-by-wire system of the above embodiment.

[0023] The vehicle of the embodiment of the present invention can improve the calibration accuracy and calibration efficiency of the steer-by-wire system through the steer-by-wire system of the above embodiment, while reducing the difficulty of calibration.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a steer-by-wire system according to an embodiment of the present invention;

[0026] Figure 2 is a flow chart of a calibration method of a steer-by-wire system in one embodiment of the present invention;

[0027] Figure 3 is a flow chart of a calibration method of a steer-by-wire system in a specific embodiment of the present invention;

[0028] Figure 4 is a schematic diagram of a calibration device for a steer-by-wire system according to an embodiment of the present invention;

[0029] Figure 5 is a structural block diagram of a steer-by-wire system according to an embodiment of the present invention;

[0030] Figure 6 4 is a structural block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0032] The following describes a steer-by-wire system and a calibration method and apparatus thereof, a storage medium, and a vehicle according to an embodiment of the present invention with reference to the accompanying drawings.

[0033] like Figure 1 As shown, the wire-controlled steering system 10 of the present invention includes a steering wheel actuator 11 and a front wheel actuator 12. There is no mechanical intermediate shaft hard connection between the steering wheel actuator 11 and the front wheel actuator 12, and they are bound and linked through a signal line. When the whole vehicle is powered off or the steering wheel actuator 11 and the front wheel actuator 12 are disconnected, the steering wheel of the vehicle can rotate by itself.

[0034] Figure 2 It is a flow chart of a calibration method of a steer-by-wire system in one embodiment of the present invention.

[0035] like Figure 2 As shown, the present invention proposes a calibration method for a wire-controlled steering system, which comprises the following steps:

[0036] S10, obtaining calibration request information.

[0037] Specifically, the calibration request information of this embodiment can set multiple trigger conditions, for example, the vehicle driving time reaches a preset time, or the steering wheel deviation angle reaches a preset angle, etc. Of course, the calibration request can also be actively issued by the diagnostic equipment, and the specific trigger conditions are not limited in this embodiment.

[0038] In some embodiments of the present invention, the steer-by-wire system is applied to a vehicle, and the vehicle further includes a vehicle control module. After obtaining the calibration request information, the method further includes: confirming, through the vehicle control module, that the vehicle is in a preset state.

[0039] Specifically, in order to ensure that subsequent calibration steps can be executed smoothly, this embodiment also limits the status of the vehicle after obtaining the calibration request information. Specifically, it can be confirmed that the vehicle is in a horizontal and stable parking state, the vehicle is in an unloaded state, and the tire pressure of the vehicle is within a preset range.

[0040] More specifically, after obtaining the calibration request information, the vehicle can be parked steadily on the four-post debugging equipment, the debugging tools and equipment can be prepared, the steering wheel and wheels can be determined to be in a straight position, and the tire pressure of the wheels can be determined to be within a preset range, which can be 2.3-2.5bar, and the preparatory work such as installing a wheel alignment instrument prepared in advance can be performed.

[0041] It should also be noted that in this embodiment, controlling the vehicle in a preset state can also be done before obtaining the calibration request information, that is, after the vehicle completes the preliminary preparations, and then sending the calibration request information to the wire-controlled steering system through the diagnostic equipment. This processing order is also possible.

[0042] S20 , controlling the steering wheel actuator 11 to remain in a zero position state according to the calibration request information, and releasing the association between the steering wheel actuator 11 and the front wheel actuator 12 .

[0043] Specifically, in order to ensure that the steering wheel actuator 11 is not affected during the calibration of the front wheel actuator 12, this embodiment can keep the steering wheel actuator 11 in a zero position after obtaining the calibration request information, and at the same time release the association between the steering wheel actuator 11 and the front wheel actuator 12 to prevent the steering of the steering wheel actuator 11 from being affected during the calibration of the front wheel actuator 12.

[0044] S30, receiving calibration information of the steer-by-wire system.

[0045] S40: calibrate the steer-by-wire system according to the calibration information.

[0046] Specifically, after the steering wheel actuator 11 is controlled to be in the zero position state and the steering wheel actuator 11 and the front wheel actuator 12 are disassociated, the calibration step can be performed, and specifically, the calibration information of the wire control steering system sent by the diagnostic device can be received, and the calibration information can include information such as the adjustment direction and the adjustment angle. The calibration can be completed based on this information, and specifically, the steering calibration of the front wheel actuator 12 is performed. In the process of adjusting the front wheel actuator 12, since the steering wheel actuator 11 has been disassociated from the front wheel actuator 12, no matter how the front wheel actuator 12 is adjusted, it will not affect the steering wheel actuator 11, and the steering wheel actuator 11 is always in the zero position state.

[0047] S50 , after the steer-by-wire system has completed calibration, the zero position state of the steering wheel actuator 11 is released, and the steering wheel actuator 11 is controlled to communicate with the front wheel actuator 12 .

[0048] Specifically, during the calibration of the steering-by-wire system, the calibration results can be obtained in real time. After determining that the steering-by-wire system has completed the calibration based on the calibration results, it means that the calibration has been completed. Then the steering wheel actuator 11 can be controlled to be in normal operation. Specifically, the zero position state of the steering wheel actuator 11 can be released, and the steering wheel actuator 11 can be controlled to communicate with the front wheel actuator 12 to ensure the steering linkage between the steering wheel actuator 11 and the front wheel actuator 12, so that the vehicle can be used normally.

[0049] In some embodiments of the present invention, calibrating the steer-by-wire system includes: performing positioning and steering calibration on wheels corresponding to the steer-by-wire system.

[0050] Specifically, the example of four wheels corresponding to the steer-by-wire system is used for explanation. In other embodiments, the number of wheels corresponding to the steer-by-wire system may also be two wheels, six wheels, etc. In order to ensure that the vehicle can correspond to the steering wheel, that is, when the driver controls the steering wheel to be in a zero position, the vehicle can travel in a straight line, the calibration of the steer-by-wire system of this embodiment needs to include four-wheel alignment steering calibration, because after obtaining the calibration request information, the steering wheel controller has been kept in a zero position state, so when calibrating the four-wheel alignment steering, the four wheels can be positioned at the zero steering position, that is, the position heading straight ahead.

[0051] In some embodiments, calibrating the steer-by-wire system may further include: performing mid-position calibration and relative zero-position calibration on the steering wheel actuator 11 and the front wheel actuator 12 , and recording mid-position information of the steering wheel actuator 11 and the front wheel actuator 12 .

[0052] Specifically, after completing the four-wheel alignment steering calibration, in order to prevent the vehicle from running off the track, the positions of the steering wheel actuator 11 and the front wheel actuator 12 can also be calibrated, specifically the mid-position calibration and the relative zero-position calibration to ensure that the steering angle difference between the steering wheel actuator 11 and the front wheel actuator 12 is within an acceptable error. After the calibration of the wire control steering system is completed, it is also necessary to record the mid-position information of the steering wheel actuator 11 and the front wheel actuator 12 to facilitate subsequent corrections and update the zero-position state of the steering wheel actuator during the next calibration.

[0053] In some embodiments of the present invention, after the steer-by-wire system completes calibration, the method further includes: feeding back calibration completion information to the diagnostic device.

[0054] Specifically, after the calibration is completed, the steer-by-wire system may also feed back calibration completion information to the diagnostic device, so that the diagnostic device stops sending correction instructions to the steer-by-wire system after receiving the calibration completion information.

[0055] In some embodiments of the present invention, after controlling the steering wheel actuator 11 to remain in a zero position state according to the calibration request information and releasing the association between the steering wheel actuator 11 and the front wheel actuator 12, the method further includes: feeding back status information of the steering wheel actuator 11 and the front wheel actuator 12 to determine that the steering wheel actuator 11 is in a zero position state and the association between the steering wheel actuator 11 and the front wheel actuator 12 has been released; if the steering wheel actuator 11 is not in a zero position state, or the association between the steering wheel actuator 11 and the front wheel actuator 12 has not been released, reacquiring the calibration request information.

[0056] In some embodiments of the present invention, after the calibration request information is obtained, the steering wheel actuator 11 and the front wheel actuator 12 can be controlled accordingly according to the calibration request information. The specific method can be found in the specific description of the above embodiment and will not be repeated here. After the steering wheel actuator 11 and the front wheel actuator 12 complete the control, the steering wheel actuator 11 and the front wheel actuator 12 can also feedback the status information, and then determine whether the steering wheel actuator 11 is in the zero position state and whether the association between the steering wheel actuator 11 and the front wheel actuator 12 has been released through the status information. If the steering wheel actuator 11 is already in the zero position state, and the steering wheel actuator 11 and the front wheel actuator 12 have been disassociated, it means that the steering wheel actuator 11 and the front wheel actuator 12 have completed the preparations before calibration; if the steering wheel actuator 11 is not yet in the zero position state, or the steering wheel actuator 11 and the front wheel actuator 12 have not been disassociated, it means that the steering wheel actuator 11 and the front wheel actuator 12 have not completed the preparations before calibration and need to be re-controlled. Therefore, the diagnostic device is required to re-send the calibration request information to the wire-controlled steering system so that the wire-controlled steering system can control the steering wheel actuator 11 and the front wheel actuator 12 to perform corresponding operations according to the calibration request information.

[0057] In a specific embodiment of the present invention, Figure 3As shown, firstly, the positioning device is installed to ensure the calibration accuracy, reduce the calibration error, and improve the calibration success rate. After the installation is completed, the diagnostic device can send the calibration request information to the vehicle control module. The vehicle control module first identifies and determines the vehicle state, and when it is confirmed that the vehicle is in a preset state, it sends a confirmation instruction to the wire steering system. After receiving the confirmation instruction, the wire steering system can control the steering wheel actuator 11 to start the holding mode, so that the steering wheel actuator 11 is kept in the zero position state, and also releases the steering wheel actuator 11 and the front wheel actuator 12. , and then the wire steering system can also send a control completion instruction to the diagnostic device, and then the diagnostic device can send a four-wheel alignment calibration instruction to the wire steering system. After the wire steering system completes the calibration, it can send feedback information to the diagnostic device. After receiving the feedback information, the diagnostic device can send a four-wheel alignment completion instruction to the wire steering system, so that the wire steering system can release the holding mode of the steering wheel actuator 11 according to the instruction, and control the steering wheel actuator 11 and the front wheel actuator 12 to associate. After that, the wire steering system feeds back the calibration completion instruction to the diagnostic device, thereby completing the calibration. It can be understood that the present invention does not require the steering wheel fixing related fixture equipment used in the traditional calibration four-wheel alignment steering process. It only relies on the linkage between the steering wheel actuator and the front wheel actuator to complete the calibration of the wire steering system, solves the problem of difficult fixture fixing during the calibration of the wire steering system, greatly simplifies the calibration process and calibration tools, and avoids the risk of damage to the vehicle interior and other parts by the steering wheel fixing fixture, and can also improve the calibration accuracy and calibration efficiency, eliminating the deviation caused by human subjective judgment.

[0058] In summary, the calibration method of the steer-by-wire system according to the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system while reducing the difficulty of calibration.

[0059] Furthermore, the present invention proposes a computer-readable storage medium on which a calibration program for a steer-by-wire system is stored. When the calibration program is executed by a processor, the calibration method for a steer-by-wire system of any one of the above-mentioned embodiments is implemented.

[0060] The computer-readable storage medium of the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system and reduce the difficulty of calibration by executing the calibration program of the steer-by-wire system stored thereon through a processor.

[0061] Figure 4 Schematic diagram of a calibration device for a steer-by-wire system according to an embodiment of the present invention.

[0062] Furthermore, if Figure 4As shown, the present invention further proposes a calibration device 400 for a steer-by-wire system. The calibration device 400 includes an acquisition module 401, a control module 402, a receiving module 403 and a calibration module.

[0063] Among them, the wire-controlled steering system includes a steering wheel actuator 11 and a front wheel actuator 12, and the steering wheel actuator 11 and the front wheel actuator 12 are controllably connected. The acquisition module 401 is used to obtain calibration request information; the control module 402 is used to control the steering wheel actuator 11 to remain in a zero position state according to the calibration request information, and to release the association between the steering wheel actuator 11 and the front wheel actuator 12; the receiving module 403 is used to receive the calibration information of the wire-controlled steering system; the calibration module 404 is used to calibrate the wire-controlled steering system according to the calibration information; the control module 402 is also used to release the zero position state of the steering wheel actuator 11 after the wire-controlled steering system completes the calibration, and to control the steering wheel actuator 11 to communicate with the front wheel actuator 12.

[0064] In some embodiments of the present invention, the calibration module 404 is specifically used to perform positioning and steering calibration on wheels corresponding to the steer-by-wire system.

[0065] In some embodiments of the present invention, the calibration module 404 is further used to perform mid-position calibration and relative zero-position calibration on the steering wheel actuator 11 and the front wheel actuator 12 , and record mid-position information of the steering wheel actuator 11 and the front wheel actuator 12 .

[0066] In some embodiments of the present invention, after the steer-by-wire system completes calibration, the control module 402 is further configured to: feed back calibration completion information to the diagnostic device.

[0067] In some embodiments of the present invention, the steer-by-wire system is applied to a vehicle, and the vehicle also includes a vehicle control module. After obtaining the calibration request information, the control module 402 is also used to: confirm whether the vehicle is in a preset state through the vehicle control module, and when confirming that the vehicle is in the preset state, the control module 402 controls the vehicle to enter a calibration mode to calibrate the steer-by-wire system.

[0068] In some embodiments of the present invention, the preset state includes the vehicle being in a horizontal and stable parking state, the vehicle being in an unloaded state, and the tire pressure of the vehicle being in a preset range.

[0069] In some embodiments of the present invention, after controlling the steering wheel actuator 11 to remain in the zero position state according to the calibration request information and releasing the association between the steering wheel actuator 11 and the front wheel actuator 12, the control module 402 is also used to: feedback the status information of the steering wheel actuator 11 and the front wheel actuator 12 to determine that the steering wheel actuator 11 is in the zero position state and the association between the steering wheel actuator 11 and the front wheel actuator 12 has been released; if the steering wheel actuator 11 is not in the zero position state, or the association between the steering wheel actuator 11 and the front wheel actuator 12 has not been released, then re-acquire the calibration request information.

[0070] It should be noted that the specific implementation of the calibration device of the wire-controlled steering system in the embodiment of the present invention can refer to the specific implementation of the calibration method of the wire-controlled steering system in the above embodiment, and will not be described again here to avoid redundancy.

[0071] In summary, the calibration device for a steer-by-wire system in the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system while reducing the difficulty of calibration.

[0072] Figure 5 1 is a structural block diagram of a steer-by-wire system according to an embodiment of the present invention.

[0073] Furthermore, if Figure 5 As shown, the present invention proposes a steer-by-wire system 10, which includes the calibration device 400 of the steer-by-wire system in the above embodiment.

[0074] The steer-by-wire system of the embodiment of the present invention can improve the calibration accuracy and efficiency of the steer-by-wire system and reduce the difficulty of calibration through the calibration device of the steer-by-wire system in the above embodiment.

[0075] Figure 6 4 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0076] Furthermore, if Figure 6 As shown, the present invention proposes a vehicle 600, which includes the steer-by-wire system 10 in the above embodiment.

[0077] The vehicle of the embodiment of the present invention can improve the calibration accuracy and calibration efficiency of the steer-by-wire system through the steer-by-wire system of the above embodiment, while reducing the difficulty of calibration.

[0078] In addition, other components and functions of the vehicle in the embodiment of the present invention are known to those skilled in the art and will not be described in detail here to reduce redundancy.

[0079] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0080] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0082] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0083] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0084] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0085] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0086] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A calibration method for a steer-by-wire system, characterized in that: The steer-by-wire system comprises a steering wheel actuator and a front wheel actuator, wherein the steering wheel actuator and the front wheel actuator are controllably connected, and the method comprises: Get calibration request information; Controlling the steering wheel actuator to remain in a zero position state according to the calibration request information, and releasing the association between the steering wheel actuator and the front wheel actuator; receiving calibration information of the steer-by-wire system; calibrating the steer-by-wire system according to the calibration information; After the steer-by-wire system is calibrated, the zero position state of the steering wheel actuator is released, and the steering wheel actuator is controlled to communicate with the front wheel actuator.

2. The calibration method of the steer-by-wire system according to claim 1, characterized in that: Calibrating the steer-by-wire system includes: Positioning and steering calibration are performed on the wheels corresponding to the wire-controlled steering system.

3. The calibration method of the steer-by-wire system according to claim 2, characterized in that: Also includes: The steering wheel actuator and the front wheel actuator are calibrated at a neutral position and relative to a zero position, and neutral position information of the steering wheel actuator and the front wheel actuator is recorded.

4. The calibration method of the steer-by-wire system according to claim 1, characterized in that: The steer-by-wire system is applied to a vehicle, and the vehicle further includes a vehicle control module. After obtaining the calibration request information, the method further includes: The vehicle control module confirms that the vehicle is in a preset state.

5. The calibration method of the steer-by-wire system according to claim 4, characterized in that: The preset state includes that the vehicle is in a horizontal and stable parking state, the vehicle is in an unloaded state, and the tire pressure of the vehicle is in a preset range.

6. The calibration method of a steer-by-wire system according to any one of claims 1 to 5, characterized in that: After controlling the steering wheel actuator to remain in a zero position state according to the calibration request information and releasing the association between the steering wheel actuator and the front wheel actuator, the method further includes: Feedback status information of the steering wheel actuator and the front wheel actuator to determine that the steering wheel actuator is in the zero position state and the steering wheel actuator and the front wheel actuator are disconnected; If the steering wheel actuator is not in the zero position state, or the steering wheel actuator and the front wheel actuator are not disconnected, the calibration request information is reacquired.

7. A computer-readable storage medium, characterized in that: A calibration program for a steer-by-wire system is stored thereon, and when the calibration program is executed by a processor, the calibration method for a steer-by-wire system described in any one of claims 1-6 is implemented.

8. A calibration device for a steer-by-wire system, characterized in that: The steer-by-wire system comprises a steering wheel actuator and a front wheel actuator, wherein the steering wheel actuator and the front wheel actuator are controllably connected, and the device comprises: An acquisition module, used to obtain calibration request information; a control module, configured to control the steering wheel actuator to remain in a zero position state according to the calibration request information, and to release the association between the steering wheel actuator and the front wheel actuator; A receiving module, used for receiving calibration information of the steer-by-wire system; a calibration module, configured to calibrate the steer-by-wire system according to the calibration information; The control module is further used to release the zero position state of the steering wheel actuator after the wire control steering system completes calibration, and control the steering wheel actuator to communicate with the front wheel actuator.

9. A steer-by-wire system, characterized in that: The steer-by-wire system comprises the calibration device of the steer-by-wire system according to claim 8.

10. A vehicle, characterized in that: The vehicle includes the steer-by-wire system of claim 9.

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