Steer-by-wire control method, electronic equipment and vehicle

Abstract

The embodiment of the invention provides a steering-by-wire control method, electronic equipment and a vehicle. The method comprises the steps that after a vehicle enters a parking state, steer-by-wire parameters of the vehicle are obtained in real time, and the steer-by-wire state of the vehicle is determined in real time according to the steer-by-wire parameters; according to the steer-by-wire state, the gear force release requirement of a steer-by-wire system of the vehicle is determined; a gear force release demand indicating that a release gear force is required or not required; if the gear force release demand indicates that the gear force needs to be released, the steering-by-wire system is controlled to conduct gear force release processing according to the steering-by-wire state. The method is used for achieving the effect of reducing the aging speed of the rack and the tire.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a control method, electronic equipment and vehicle for steering by wire. Background Art

[0002] The steer-by-wire solution is similar to the traditional steering solution. The driver turns the handwheel steering wheel, and the controller of the handwheel steering wheel converts the steering wheel rotation angle to generate a target angle request and sends it to the road wheel controller in real time through the CAN network. The road wheel controller parses the received target angle request and drives the road wheel rack to move the tire to turn left and right.

[0003] When the handwheel turns to any position and stops, the road wheel will stop at the position corresponding to the handwheel. Due to the friction between the tire and the ground, when the handwheel turns to an angle and stops, the tire will be deformed due to friction. At this time, the rack needs to continuously output a force to keep the tire from rebounding. However, the continuous output of force will accelerate the aging of the rack, and the continuous maintenance of the non-rebound state will also accelerate the aging of the tire.

[0004] Therefore, there is an urgent need for a steer-by-wire control method to reduce the aging speed of the rack and the tire. Summary of the invention

[0005] The embodiments of the present application provide a control method, an electronic device and a vehicle for steer-by-wire, so as to achieve the effect of reducing the aging speed of a rack and a tire.

[0006] In a first aspect, an embodiment of the present application provides a control method for steering by wire, comprising:

[0007] After the vehicle enters a parking state, obtaining a steer-by-wire parameter of the vehicle in real time, and determining a steer-by-wire state of the vehicle in real time according to the steer-by-wire parameter;

[0008] determining a gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state; the gear force release requirement indicating whether the gear force needs to be released or not;

[0009] If the gear force release requirement indicates that the gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing according to the steer-by-wire state.

[0010] In a possible implementation, the steering-by-wire state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; according to the steering-by-wire state, determining the gear force release requirement of the vehicle's steering-by-wire system, including: if the vehicle sequentially enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state, then determining that the gear force release requirement indicates that the gear force needs to be released; otherwise, determining that the gear force release requirement indicates that the gear force does not need to be released.

[0011] In a possible implementation manner, the steer-by-wire parameters include: handwheel angular velocity, handwheel angular acceleration, handwheel force, and road wheel rack force.

[0012] In a possible implementation, the steering-by-wire state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; according to the steering-by-wire parameters, the steering-by-wire state of the vehicle is determined in real time, including: if it is determined that the handwheel angular velocity is greater than a first angular velocity threshold, and the handwheel angular acceleration is greater than a first angular acceleration threshold, then it is determined that the vehicle enters the steering wheel deceleration judgment state; otherwise, it is determined that the vehicle stays in the steering wheel acceleration judgment state; after the vehicle enters the steering wheel deceleration judgment state, if it is determined that the handwheel angular velocity is less than a second angular velocity threshold, the handwheel angular acceleration is less than a second angular acceleration threshold, and the handwheel hand force is less than a hand force threshold, then it is determined that the vehicle enters the rack force judgment state. state; otherwise, determining that the vehicle stays in the steering wheel deceleration judgment state; wherein the first angular velocity threshold is greater than the second angular velocity threshold; the first angular acceleration threshold is greater than the second angular acceleration threshold; after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, then determining that the vehicle enters the rack force release judgment state; otherwise, determining that the vehicle returns to the steering wheel acceleration judgment state; after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, then determining that the vehicle returns to the steering wheel acceleration judgment state; otherwise, determining that the vehicle stays in the rack force release judgment state; wherein the first rack force threshold is greater than the second rack force threshold.

[0013] In a possible implementation, the steer-by-wire parameters include: road wheel rack force; controlling the steer-by-wire system to perform gear force release processing according to the steer-by-wire state includes: determining a reverse handwheel force according to the road wheel rack force included in the steer-by-wire parameters; and controlling the steering wheel and road wheel of the steer-by-wire system to perform rotational motion according to the reverse handwheel force to perform gear force release processing.

[0014] In a possible implementation, the reverse handwheel force is determined according to the road wheel rack force included in the steering control parameter, including: based on an interpolation table lookup algorithm, the reverse handwheel force is determined according to a correspondence table of the road wheel rack force and a pre-calibrated road wheel rack force and reverse handwheel force.

[0015] In a possible implementation, the method further includes: optimizing the reverse handwheel force according to a pre-constructed time function to obtain an optimized reverse handwheel force.

[0016] In a second aspect, an embodiment of the present application provides a control device for wire-controlled steering, comprising:

[0017] A first determination module, configured to obtain, in real time, a steering-by-wire parameter of the vehicle after the vehicle enters a parking state, and determine, in real time, a steering-by-wire state of the vehicle according to the steering-by-wire parameter;

[0018] A second determination module is used to determine a gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state; the gear force release requirement indicates whether the gear force needs to be released or not;

[0019] A control module is used to control the steer-by-wire system to perform gear force release processing according to the steer-by-wire state if the gear force release requirement indicates that the gear force needs to be released.

[0020] In a possible implementation, the wire-controlled steering state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; the second determination module is specifically used to determine that the gear force release requirement indicates that the gear force needs to be released if the vehicle sequentially enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state; otherwise, determining that the gear force release requirement indicates that the gear force does not need to be released.

[0021] In a possible implementation manner, the steer-by-wire parameters include: handwheel angular velocity, handwheel angular acceleration, handwheel force, and road wheel rack force.

[0022] In a possible implementation, the wire control steering state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; the first determination module is specifically used to determine that the vehicle enters the steering wheel deceleration judgment state if it is determined that the hand wheel angular velocity is greater than a first angular velocity threshold, and the hand wheel angular acceleration is greater than a first angular acceleration threshold; otherwise, determine that the vehicle stays in the steering wheel acceleration judgment state; after the vehicle enters the steering wheel deceleration judgment state, if it is determined that the hand wheel angular velocity is less than a second angular velocity threshold, the hand wheel angular acceleration is less than a second angular acceleration threshold, and the hand wheel hand force is less than a hand force threshold, determine that the vehicle enters the rack force judgment state; otherwise, determine The vehicle stays in the steering wheel deceleration judgment state; wherein the first angular velocity threshold is greater than the second angular velocity threshold; the first angular acceleration threshold is greater than the second angular acceleration threshold; after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, then it is determined that the vehicle enters the rack force release judgment state; otherwise, it is determined that the vehicle returns to the steering wheel acceleration judgment state; after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, then it is determined that the vehicle returns to the steering wheel acceleration judgment state; otherwise, it is determined that the vehicle stays in the rack force release judgment state; wherein the first rack force threshold is greater than the second rack force threshold.

[0023] In a possible implementation, the wire-controlled steering parameters include: road wheel rack force; the control module is specifically used to determine the reverse handwheel force according to the road wheel rack force included in the control steering parameters; and according to the reverse handwheel force, control the steering wheel and road wheel of the wire-controlled steering system to perform rotational motion to perform gear force release processing.

[0024] In a possible implementation manner, the control module is further specifically configured to determine the reverse handwheel force based on an interpolation table lookup algorithm according to a correspondence table between the road wheel rack force and a pre-calibrated road wheel rack force and reverse handwheel force.

[0025] In a possible implementation manner, the control module is further specifically configured to optimize the reverse handwheel force according to a pre-constructed time function to obtain the optimized reverse handwheel force.

[0026] In a third aspect, an embodiment of the present application provides a control device for steer-by-wire, including: a memory, a processor;

[0027] The memory stores computer-executable instructions;

[0028] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0030] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0031] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising an electronic device that implements the first aspect above and / or various possible implementations of the first aspect.

[0032] The embodiments of the present application provide a steer-by-wire control method, an electronic device, and a vehicle, which obtain steer-by-wire parameters of the vehicle in real time after the vehicle enters a parking state, and determine the steer-by-wire state of the vehicle in real time based on the steer-by-wire parameters, and determine the gear force release requirement of the steer-by-wire system of the vehicle based on the steer-by-wire state; if the gear force release requirement indicates that gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing based on the steer-by-wire state, wherein, based on the steer-by-wire state, it is determined whether the steer-by-wire system of the vehicle has a gear force release requirement, and when it is determined that there is a gear force release requirement, the steer-by-wire system is controlled to perform gear force release processing, thereby achieving the effect of reducing the aging speed of the rack and the tire. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0034] Figure 1 Schematic diagram of the control method of wire control provided in this application Figure 1 ;

[0035] Figure 2 Schematic diagram of the control method of wire control provided in this application Figure 2 ;

[0036] Figure 3 Schematic diagram of the control method of wire control provided in this application Figure 3 ;

[0037] Figure 4 A schematic diagram of the structure of the control device for steer-by-wire provided in this application;

[0038] Figure 5 A schematic diagram of the structure of the electronic device provided in this application.

[0039] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0041] In the prior art, when the handwheel is turned to any position and stops, the road wheel will stop at a position corresponding to the handwheel. Due to the friction between the tire and the ground, when the handwheel is turned to a certain angle and stops, the tire will be deformed due to the friction. At this time, the rack needs to continuously output a force to keep the tire from rebounding. However, the continuous output of force will accelerate the aging of the rack, and the continuous maintenance of the non-rebound state will also accelerate the aging of the tire.

[0042] The control method of steer-by-wire provided in the present application obtains the steer-by-wire parameters of the vehicle in real time after the vehicle enters a parking state, and determines the steer-by-wire state of the vehicle in real time based on the steer-by-wire parameters, and determines the gear force release requirement of the steer-by-wire system of the vehicle based on the steer-by-wire state; if the gear force release requirement indicates that gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing based on the steer-by-wire state, wherein, based on the steer-by-wire state, it is determined whether the steer-by-wire system of the vehicle has a gear force release requirement, and when it is determined that there is a gear force release requirement, the steer-by-wire system is controlled to perform gear force release processing, thereby achieving the effect of reducing the aging speed of the rack and the tire.

[0043] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0044] Figure 1 Schematic diagram of the control method of wire control provided in this application Figure 1The execution subject can be the vehicle's handwheel controller or the server. Generally speaking, it can be implemented by software, hardware, or a combination of software and hardware. Figure 1 As shown, the method includes:

[0045] Step S101: After the vehicle enters a parking state, the steer-by-wire parameters of the vehicle are acquired in real time, and the steer-by-wire state of the vehicle is determined in real time according to the steer-by-wire parameters.

[0046] Specifically, after the vehicle enters the parking state, the steer-by-wire parameters of the vehicle may be acquired in real time, and the steer-by-wire state of the vehicle may be determined in real time based on the steer-by-wire parameters.

[0047] Among them, the vehicle's steering-by-wire parameters are parameters of the vehicle's steering-by-wire system. The present application does not limit the vehicle's steering-by-wire parameters, and the parameters of any vehicle's steering-by-wire system can be used as the steering-by-wire parameters provided by the present application. Optionally, the steering-by-wire parameters include but are not limited to: handwheel angular velocity, handwheel angular acceleration, handwheel force, road wheel rack force and other parameters.

[0048] Among them, the vehicle's steer-by-wire state is the state of the vehicle's steer-by-wire system. The present application does not limit the vehicle's steer-by-wire state, and the state of any vehicle's steer-by-wire system can be used as the steer-by-wire state provided by the present application. Optionally, the steer-by-wire state includes but is not limited to: steering wheel acceleration judgment state, steering wheel deceleration judgment state, rack force judgment state, rack force release judgment state and other states.

[0049] Among them, the present application does not limit the process of determining whether the vehicle enters the parking state Veh_Stat. Optionally, the vehicle's running speed can be obtained in real time. If it is determined that the running speed remains at 0m / s, it is determined that the vehicle enters the parking state. Otherwise, it is determined that the vehicle exits the parking state.

[0050] Among them, the present application does not limit the process of determining the vehicle's steer-by-wire state in real time based on the steer-by-wire parameters. Optionally, if it is determined that the handwheel angular velocity is greater than a first angular velocity threshold, and the handwheel angular acceleration is greater than a first angular acceleration threshold, then it is determined that the vehicle enters a steering wheel deceleration judgment state; otherwise, it is determined that the vehicle enters a steering wheel acceleration judgment state; after the vehicle enters the steering wheel deceleration judgment state, if it is determined that the handwheel angular velocity is less than a second angular velocity threshold, the handwheel angular acceleration is less than the second angular acceleration threshold, and the handwheel hand force is less than the hand force threshold, then it is determined that the vehicle enters a rack force judgment state; otherwise, it is determined that the vehicle stays in the steering wheel deceleration judgment state. speed judgment state; wherein, the first angular velocity threshold is greater than the second angular velocity threshold; the first angular acceleration threshold is greater than the second angular acceleration threshold; after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, then it is determined that the vehicle enters the rack force release judgment state; otherwise, it is determined that the vehicle returns to the steering wheel acceleration judgment state; after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, then it is determined that the vehicle returns to the steering wheel acceleration judgment state; otherwise, it is determined that the vehicle stays in the rack force release judgment state; wherein, the first rack force threshold is greater than the second rack force threshold.

[0051] Step S102: determining a gear force release requirement of a steer-by-wire system of the vehicle according to a steer-by-wire state.

[0052] Specifically, according to the steer-by-wire state determined in real time in step S101, the gear force release requirement of the steer-by-wire system of the vehicle can be determined. The gear force release requirement is used to indicate whether the steer-by-wire system of the vehicle needs to release the gear force, wherein the gear force release requirement indicates whether the gear force needs to be released or not.

[0053] Among them, the present application does not limit the process of determining the gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state. Optionally, if the vehicle sequentially enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state, and stays in the rack force release judgment state, then it is determined that the gear force release requirement indicates that the gear force needs to be released. Otherwise, it is determined that the gear force release requirement indicates that the gear force does not need to be released.

[0054] Step S103: If the gear force release requirement indicates that the gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing according to the steer-by-wire state.

[0055] Specifically, if the gear force release requirement determined in step S102 indicates that the gear force needs to be released, the steer-by-wire system may be controlled to perform gear force release processing according to the steer-by-wire state.

[0056] Among them, the present application does not limit the process of controlling the gear force release processing of the steer-by-wire system according to the steer-by-wire state. Optionally, the reverse handwheel force can be determined in real time according to the road wheel rack force included in the steering control parameters; according to the reverse handwheel force, the steering wheel and road wheel of the steer-by-wire system are controlled to perform rotational motion to perform gear force release processing.

[0057] The control method for steer-by-wire provided in an embodiment of the present application obtains steer-by-wire parameters of the vehicle in real time after the vehicle enters a parking state, and determines the steer-by-wire state of the vehicle in real time based on the steer-by-wire parameters, and determines the gear force release requirement of the steer-by-wire system of the vehicle based on the steer-by-wire state; if the gear force release requirement indicates that gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing based on the steer-by-wire state, wherein, based on the steer-by-wire state, it is determined whether the steer-by-wire system of the vehicle has a gear force release requirement, and when it is determined that there is a gear force release requirement, the steer-by-wire system is controlled to perform gear force release processing, thereby achieving the effect of reducing the aging speed of the rack and the tire.

[0058] In a possible embodiment, the steer-by-wire state includes: a steering wheel acceleration determination state, a steering wheel deceleration determination state, a rack force determination state, and a rack force release determination state.

[0059] The steering wheel acceleration judgment state Steer_acc is a state for judging whether the steering wheel of the hand wheel in the steer-by-wire system is in an acceleration state. Specifically, in the steering wheel acceleration judgment state, it can be determined that the steering wheel of the hand wheel in the steer-by-wire system is in an acceleration state, or it can be determined that the steering wheel of the hand wheel in the steer-by-wire system is not in an acceleration state.

[0060] The steering wheel deceleration judgment state Steer_slow is a state for judging whether the steering wheel of the hand wheel in the steer-by-wire system is in a deceleration state. Specifically, in the steering wheel deceleration judgment state, it can be determined that the steering wheel of the hand wheel in the steer-by-wire system is in a deceleration state, or it can be determined that the steering wheel of the hand wheel in the steer-by-wire system is not in a deceleration state.

[0061] The rack force judgment state Steer_arbit is a state for judging the rack force of the road wheel rack in the steer-by-wire system. Specifically, in the rack force judgment state, it can be determined whether the rack force of the road wheel rack in the steer-by-wire system is greater than the rack force release start threshold. In the rack force judgment state, it can be determined that the rack force of the rack is greater than the rack force release start threshold, or it can be determined that the rack force of the rack is less than or equal to the rack force release start threshold.

[0062] The rack force release judgment state Steer_back is a state for judging the release state of the rack force of the road wheel in the wire steering system. Specifically, in the rack force release judgment state, it can be determined whether the wire steering system has completed the rack force release process. In the rack force release judgment state, it can be determined that the rack force release process is completed, or it can be determined that the rack force release process is not completed.

[0063] Optionally, if the steer-by-wire state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state, then the process of determining the gear force release requirement of the steer-by-wire system of the vehicle according to the steer-by-wire state may include: if the vehicle sequentially enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state, then determining that the gear force release requirement indicates that the gear force needs to be released. Otherwise, determining that the gear force release requirement indicates that the gear force does not need to be released.

[0064] Specifically, based on the above description of the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state, after the vehicle enters the parking state, it is determined that the vehicle enters the steering wheel acceleration judgment state, that is, it is determined whether the steering wheel is accelerated; in the steering wheel acceleration judgment state, if it is determined that the steering wheel is accelerated, it is determined to enter the steering wheel deceleration judgment state, that is, start to determine whether the steering wheel is decelerated, otherwise it remains in the steering wheel acceleration judgment state, that is, continue to determine whether the steering wheel is accelerated; in the steering wheel deceleration judgment state, if it is determined that the steering wheel is decelerated, it is determined to enter the rack force judgment state, that is, determine whether the rack force is greater than the rack force release start threshold, if it is determined that the rack force is greater than the rack force release start threshold, then it is determined to enter the rack force release judgment state, that is, determine that the gear force release demand indicates that the gear force needs to be released. Among them, if the steering wheel acceleration judgment state, steering wheel deceleration judgment state, rack force judgment state, and rack force release judgment state are entered in sequence, it is determined that the vehicle turned the steering wheel after entering the parking state, resulting in excessive rack force, which accelerated the aging of the rack and tire. Therefore, it is determined that the gear force needs to be released.

[0065] Specifically, if the vehicle does not enter the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state in sequence, it is determined that the gear force release demand indicates that the gear force does not need to be released. For example: after the vehicle enters the steering wheel acceleration judgment state, if it has not entered the steering wheel deceleration judgment state, it is determined that the steering wheel has not been turned; after the vehicle enters the steering wheel deceleration judgment state, if it has not entered the rack force judgment state, it is determined that the rotation of the steering wheel has not been decelerated, and it is impossible to determine whether the rack force needs to be released; after the vehicle enters the rack force judgment state, if it has not entered the rack force release judgment state, it is determined that the rack force generated after the steering wheel is turned is small, so it does not need to be released. For example: if the vehicle does not enter the steering wheel acceleration judgment state and the steering wheel deceleration judgment state, but enters the rack force judgment state, it is determined that the rack force that suddenly appears is generated by the external force moving the road wheel, the steering wheel will not follow, and there is no need to release the gear force.

[0066] Among them, in the process of determining the gear force release requirement of the vehicle's steer-by-wire system, based on the steer-by-wire states entered in sequence, it is possible to accurately determine whether the vehicle needs to release the rack force after entering the parking state, thereby further improving the control accuracy of the steer-by-wire system and reducing the aging rate of the rack and tire.

[0067] In a possible embodiment, the steering-by-wire parameters include: handwheel angular velocity, handwheel angular acceleration, handwheel force, and road wheel rack force.

[0068] For the description of the steer-by-wire parameters, please refer to the description in step S101, which will not be repeated here. Optionally, among the parameters of the steer-by-wire system of many vehicles, the steer-by-wire parameters may include: handwheel angular velocity, handwheel angular acceleration, handwheel hand force, and road wheel rack force.

[0069] Specifically, the handwheel angular velocity is the angular velocity of the steering wheel of the vehicle's steering-by-wire system, the handwheel angular acceleration is the angular acceleration of the steering wheel of the vehicle's steering-by-wire system, the handwheel force is the turning force applied by the user and received by the steering wheel of the vehicle's steering-by-wire system, and the road wheel rack force is the force output by the road wheel rack of the vehicle's steering-by-wire system.

[0070] Among them, only by using the handwheel angular velocity, handwheel angular acceleration, handwheel hand force, and road wheel rack force included in the wire steering parameters, the wire steering state used to determine the gear force release requirement of the vehicle's wire steering system can be accurately determined, which can improve the control efficiency of the wire steering and further reduce the aging rate of the rack and tire.

[0071] Figure 2 Schematic diagram of the control method of wire control provided in this application Figure 2 ,like Figure 2As shown, in this embodiment Figure 1 On the basis of the illustrated embodiment, if the wire control steering parameters include: hand wheel angular velocity, hand wheel angular acceleration, hand wheel hand force, road wheel rack force, and the wire control steering state includes: steering wheel acceleration judgment state, steering wheel deceleration judgment state, rack force judgment state, rack force release judgment state, then the process of determining the wire control state of the vehicle in real time according to the wire control steering parameters is described in detail, and the method includes:

[0072] Step S201: If it is determined that the hand wheel angular velocity is greater than the first angular velocity threshold, and the hand wheel angular acceleration is greater than the first angular acceleration threshold, it is determined that the vehicle enters the steering wheel deceleration judgment state; otherwise, it is determined that the vehicle stays in the steering wheel acceleration judgment state.

[0073] Based on the description of the steering wheel acceleration judgment state and the steering wheel deceleration judgment state in the above embodiment, if you want to determine whether the vehicle stays in the steering wheel acceleration judgment state or enters the steering wheel deceleration judgment state, you need to determine whether the steering wheel of the hand wheel in the vehicle's wire steering system is in an acceleration state. If the wire steering parameters are as described above, you can make a judgment based on the hand wheel angular velocity vAngle and the hand wheel angular acceleration aAngle included therein. Specifically, if it is determined that the hand wheel angular velocity is greater than the first angular velocity threshold value V n , and the handwheel angular acceleration is greater than the first angular acceleration threshold A n , it is determined that the steering wheel is in an accelerating state, that is, it is determined that the vehicle enters a steering wheel deceleration judgment state.

[0074] Among them, the first angular velocity threshold and the first angular acceleration threshold are pre-calibrated, and are used to determine whether the steering wheel is in an accelerated state. The first angular velocity threshold and the first angular acceleration threshold are not limited in this application. Any first angular velocity threshold and the first angular acceleration threshold that can determine whether the steering wheel is in an accelerated state can be used as the first angular velocity threshold and the first angular acceleration threshold provided in this application. For example, the first angular velocity threshold can be set to 50rad / s², and the first angular acceleration threshold can be set to 100rad / s.

[0075] Step S202: After the vehicle enters the steering wheel deceleration judgment state, if it is determined that the handwheel angular velocity is less than the second angular velocity threshold, the handwheel angular acceleration is less than the second angular acceleration threshold, and the handwheel hand force is less than the hand force threshold, then it is determined that the vehicle enters the rack force judgment state; otherwise, it is determined that the vehicle stays in the steering wheel deceleration judgment state.

[0076] Based on the description of the steering wheel deceleration judgment state and the rack force judgment state in the above embodiment, if you want to determine whether the vehicle stays in the steering wheel deceleration judgment state or enters the rack force judgment state, you need to determine whether the steering wheel of the hand wheel in the vehicle's wire control steering system is in a deceleration state. If the wire control steering parameters are as described above, you can use the hand wheel angular velocity, hand wheel angular acceleration, and hand wheel hand force F included therein to determine whether the steering wheel is in a deceleration state. s Specifically, if it is determined that the hand wheel angular velocity is less than the second angular velocity threshold V m , the handwheel angular acceleration is less than the second angular acceleration threshold A m , and the hand wheel force is less than the hand force threshold F H , it is determined that the steering wheel is in a deceleration state, that is, it is determined that the vehicle enters a rack force judgment state.

[0077] The second angular velocity threshold, the second angular acceleration threshold, and the hand force threshold are pre-calibrated and are used to determine whether the steering wheel is in a deceleration state, the angular velocity threshold and the angular acceleration threshold of the steering wheel, and the hand force threshold of the hand wheel. The first angular velocity threshold is greater than the second angular velocity threshold. The first angular acceleration threshold is greater than the second angular acceleration threshold.

[0078] Among them, the hand force threshold is the turning force applied by the user that the steering wheel of the vehicle's steer-by-wire system receives when the user releases the steering wheel of the steer-by-wire system. Specifically, under ideal conditions, the hand force threshold should be 0N, but due to the influence of factors such as inertia, some turning force will generally remain. The specific value can be preset according to the calibration result.

[0079] Among them, the present application does not limit the second angular velocity threshold, the second angular acceleration threshold, and the hand force threshold. Any second angular velocity threshold, second angular acceleration threshold, and hand force threshold that can determine whether the steering wheel is in a deceleration state can be used as the second angular velocity threshold, second angular acceleration threshold, and hand force threshold provided in the present application. For example, the second angular velocity threshold can be set to 30rad / s², the second angular acceleration threshold can be set to 60rad / s, and the hand force threshold can be set to a value between 0.3N and 0.4N.

[0080] Step S203: after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, the vehicle is determined to enter the rack force release judgment state; otherwise, the vehicle is determined to return to the steering wheel acceleration judgment state.

[0081] Among them, based on the description of the rack force judgment state and the rack force release judgment state in the above embodiment, if you want to determine whether the vehicle enters the rack force release judgment state, it is necessary to determine whether the road wheel rack force of the road wheel in the vehicle's wire-controlled steering system is greater than a preset threshold, wherein the first rack force threshold is a pre-calibrated preset threshold for determining whether the vehicle enters the rack force release judgment state, that is, it is determined that after the vehicle has experienced the steering wheel acceleration state and the steering wheel deceleration state, the rack force is large, and the impact on the aging of the rack and tire cannot be ignored.

[0082] Pre-calibrated preset thresholds that affect rack and tire aging. The present application does not limit the first rack force threshold, and any pre-calibrated preset threshold used to determine whether the vehicle enters the rack force release judgment state can be used as the first rack force threshold provided by the present application. For example, the first rack force threshold can be set to 50N.

[0083] Among them, after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is less than or equal to the first rack force threshold, it is determined that the rack force of the vehicle is still small after the vehicle has experienced the steering wheel acceleration state and the steering wheel deceleration state, and the impact on the aging of the rack and tire can be ignored. At this time, the vehicle can be controlled to return to the steering wheel acceleration judgment state to continue to monitor whether the vehicle enters the steering wheel deceleration judgment state, that is, continue to monitor whether the steering wheel of the vehicle's wire control steering system enters the acceleration state again.

[0084] Step S204: after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, the vehicle is determined to return to the steering wheel acceleration judgment state; otherwise, the vehicle is determined to stay in the rack force release judgment state.

[0085] The second rack force threshold is a pre-calibrated preset threshold for determining whether the vehicle has completed the rack force release process, wherein the first rack force threshold is greater than the second rack force threshold, that is, the second rack force threshold is a preset threshold less than a preset threshold that customers ignore for the effect of rack and tire aging. For example, if the first rack force threshold can be set to 50N, the second rack force threshold can be set to 30N.

[0086] Specifically, after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, it is determined that the vehicle has completed the rack force release process. At this time, the vehicle can be controlled to return to the steering wheel acceleration judgment state to continue to monitor whether the vehicle enters the steering wheel deceleration judgment state, that is, continue to monitor whether the steering wheel of the vehicle's wire-controlled steering system enters the acceleration state again.

[0087] Specifically, after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is greater than or equal to the second rack force threshold, the road wheel rack force still needs to be monitored to determine whether the vehicle has completed the rack force release process. Therefore, it is determined that the vehicle stays in the rack force release judgment state.

[0088] The embodiment of the present application provides a process for determining the vehicle's steer-by-wire state in real time based on steer-by-wire parameters, by determining that the vehicle has entered a steering wheel deceleration judgment state if it is determined that the handwheel angular velocity is greater than a first angular velocity threshold, and the handwheel angular acceleration is greater than the first angular acceleration threshold; otherwise, the vehicle is determined to remain in a steering wheel acceleration judgment state, and after the vehicle enters the steering wheel deceleration judgment state, if it is determined that the handwheel angular velocity is less than a second angular velocity threshold, the handwheel angular acceleration is less than the second angular acceleration threshold, and the handwheel hand force is less than the hand force threshold, then the vehicle is determined to enter a rack force judgment state; otherwise, the vehicle is determined to remain in the steering wheel deceleration judgment state, and after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, then the vehicle is determined to enter a rack force release judgment state; otherwise, the vehicle is determined to return to the steering wheel deceleration judgment state. Return to the steering wheel acceleration judgment state, after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, then the vehicle is determined to return to the steering wheel acceleration judgment state; otherwise, the vehicle is determined to stay in the rack force release judgment state, wherein, after the steering wheel of the vehicle's wire-controlled steering system has experienced the steering wheel acceleration state and the steering wheel deceleration state, if it is determined based on the road wheel rack force that the vehicle does not need to perform the rack force release process, or the rack force release process has been completed, then the vehicle is controlled to return to the steering wheel acceleration judgment state to continue monitoring the vehicle's wire-controlled steering system, so that when the vehicle's wire-controlled steering system enters the steering wheel acceleration state again, it is determined whether the rack force release process is required, thereby improving the accuracy of the wire-controlled steering control method and further reducing the aging rate of the rack and tire.

[0089] Figure 3 Schematic diagram of the control method of wire control provided in this application Figure 3 ,like Figure 3 As shown, in this embodiment Figure 1 or Figure 2 Based on the embodiment shown, the steer-by-wire parameters include: road wheel rack force, and a process of controlling the steer-by-wire system to release the gear force according to the steer-by-wire state is described in detail. The method includes:

[0090] Step S301: Determine the reverse handwheel force according to the road wheel rack force included in the steering control parameters.

[0091] Specifically, the reverse handwheel force can be determined according to the road wheel rack force included in the steering control parameter. b, is the control force applied to the steering wheel of the vehicle's steer-by-wire system to control the vehicle to release the gear force. The reverse handwheel force corresponds to the road wheel rack force, that is, the greater the road wheel rack force, the greater the required reverse handwheel force.

[0092] Among them, the present application does not limit the process of determining the reverse hand-wheel force based on the road wheel rack force included in the steering control parameters. Optionally, the process of determining the reverse hand-wheel force based on the road wheel rack force included in the steering control parameters may include: determining the reverse hand-wheel force based on an interpolation table lookup algorithm according to a correspondence table of the road wheel rack force and a pre-calibrated road wheel rack force and the reverse hand-wheel force.

[0093] The correspondence table of the pre-calibrated road wheel rack force and the reverse handwheel force is a pre-calibrated one-dimensional table, wherein the one-dimensional data table includes a plurality of data pairs of the road wheel rack force and the reverse handwheel force, wherein the present application does not limit the number of data pairs of the road wheel rack force and the reverse handwheel force included in the correspondence table of the pre-calibrated road wheel rack force and the reverse handwheel force. Table 1 is an example of a correspondence table of the pre-calibrated road wheel rack force and the reverse handwheel force.

[0094] Table 1

[0095]

[0096] Among them, the interpolation search algorithm is an algorithm for searching for a given value in an ordered array, which is similar to a binary search, but the interpolation search determines a position closer to the target value through interpolation calculation when locating the intermediate element. For example, if the obtained road wheel gear force is 20N, then according to the interpolation search algorithm and the above-mentioned corresponding table example of the pre-calibrated road wheel rack force and the reverse handwheel force, it can be determined that the reverse handwheel force is 0.1N. For example, if the obtained road wheel gear force is 40N, then according to the interpolation search algorithm and the above-mentioned corresponding table example of the pre-calibrated road wheel rack force and the reverse handwheel force, it can be determined that the reverse handwheel force is 0.3N. For example, if the obtained road wheel gear force is 30N, then according to the interpolation search algorithm and the above-mentioned corresponding table example of the pre-calibrated road wheel rack force and the reverse handwheel force, it can be determined that the reverse handwheel force is 0.2N.

[0097] Among them, based on the interpolation table lookup algorithm, the reverse handwheel force corresponding to other road wheel rack forces can be accurately determined on the basis of a limited number of pre-calibrated road wheel rack force and reverse handwheel force data pairs, thereby improving the accuracy of gear force release processing and further reducing the aging speed of racks and tires.

[0098] Step S302: According to the reverse handwheel force, the steering wheel and the road wheel of the steer-by-wire system are controlled to perform a rotational motion to perform a gear force release process.

[0099] Specifically, according to the reverse handwheel force obtained in step S301, the steering wheel and the road wheel of the steer-by-wire system can be controlled to perform a rotational motion to perform a gear force release process. The present application does not limit the process of controlling the steering wheel and the road wheel of the steer-by-wire system to perform a rotational motion to perform a gear force release process according to the reverse handwheel force. Optionally, the steering wheel of the steer-by-wire system can be controlled to perform a rotational motion according to the reverse handwheel force, thereby driving the road wheel of the steer-by-wire system to perform a rotational motion to perform a gear force release process. The rotational motion of the steering wheel corresponds to the rotational motion of the road wheel.

[0100] Optionally, after determining the reverse handwheel force according to the above method, the reverse handwheel force may be optimized according to a pre-constructed time function to obtain the optimized reverse handwheel force.

[0101] Among them, the pre-constructed time function X(t) is a time function constructed when the vehicle enters the rack force release judgment state, which is used to make the effect of the steering wheel rebound generated by the reverse handwheel force closer to the efficiency of the steering wheel rebound of the traditional mechanical connection. Among them, this application does not limit the pre-constructed time function. Any time function constructed when the vehicle enters the rack force release judgment state, which is used to make the effect of the steering wheel rebound generated by the reverse handwheel force closer to the efficiency of the steering wheel rebound of the traditional mechanical connection, can be used as the pre-constructed time function provided by this application. For example, X(t)=(1-t)^2, where t is in seconds (S) and t∈[0,1].

[0102] The present application does not limit the process of optimizing the reverse handwheel force according to the pre-constructed time function to obtain the optimized reverse handwheel force. Optionally, the product of the pre-constructed time function and the reverse handwheel force can be determined as the optimized reverse handwheel force F(t)= F b * X(t) , where t is in seconds (S) and t∈[0,1].

[0103] Among them, through the optimized reverse handwheel force, in the process of controlling the steering wheel and road wheel of the wire-controlled steer system to perform rotational movement according to the reverse handwheel force to release the gear force, the reverse handwheel force changes over time, so that the corresponding gear force release effect is closer to the rebound effect of the traditional mechanically connected steering wheel, thereby reducing the aging rate of the rack and tire.

[0104] The embodiment of the present application provides a process for controlling a steer-by-wire system to perform gear force release processing according to a steer-by-wire state, by determining a reverse handwheel force according to a road wheel rack force included in a steering control parameter, and controlling a steering wheel and a road wheel of the steer-by-wire system to perform a rotational motion according to the reverse handwheel force, so as to perform a gear force release processing, wherein the reverse handwheel force for controlling the steering wheel and the road wheel to perform a rotational motion can be accurately determined according to the road wheel rack force, thereby improving the accuracy of the gear force release processing and further reducing the aging rate of the rack and the tire.

[0105] Figure 4 A schematic diagram of the structure of the control device for wire-controlled steering provided in this application, such as Figure 4 As shown, the control device 40 for wire-controlled steering provided in this embodiment includes:

[0106] A first determination module 401 is used to obtain the vehicle's steer-by-wire parameters in real time after the vehicle enters the parking state, and determine the vehicle's steer-by-wire state in real time based on the steer-by-wire parameters;

[0107] A second determination module 402 is used to determine a gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state; the gear force release requirement indicates whether the gear force needs to be released or not;

[0108] The control module 403 is configured to control the steer-by-wire system to perform gear force release processing according to the steer-by-wire state if the gear force release demand indicates that the gear force needs to be released.

[0109] In a possible embodiment, the wire control steering state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; the second determination module 402 is specifically used to determine that the gear force release demand indicates that the gear force needs to be released if the vehicle enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state in sequence; otherwise, determine that the gear force release demand indicates that the gear force does not need to be released.

[0110] In a possible embodiment, the steering-by-wire parameters include: handwheel angular velocity, handwheel angular acceleration, handwheel force, and road wheel rack force.

[0111] In a possible embodiment, the wire control steering state includes: a steering wheel acceleration judgment state, a steering wheel deceleration judgment state, a rack force judgment state, and a rack force release judgment state; the first determination module 401 is specifically used to determine that the vehicle enters the steering wheel deceleration judgment state if it is determined that the handwheel angular velocity is greater than the first angular velocity threshold, and the handwheel angular acceleration is greater than the first angular acceleration threshold; otherwise, determine that the vehicle stays in the steering wheel acceleration judgment state; after the vehicle enters the steering wheel deceleration judgment state, if it is determined that the handwheel angular velocity is less than the second angular velocity threshold, the handwheel angular acceleration is less than the second angular acceleration threshold, and the handwheel hand force is less than the hand force threshold, determine that the vehicle enters the rack force judgment state. state; otherwise, it is determined that the vehicle stays in the steering wheel deceleration judgment state; wherein the first angular velocity threshold is greater than the second angular velocity threshold; the first angular acceleration threshold is greater than the second angular acceleration threshold; after the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than the first rack force threshold, it is determined that the vehicle enters the rack force release judgment state; otherwise, it is determined that the vehicle returns to the steering wheel acceleration judgment state; after the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, it is determined that the vehicle returns to the steering wheel acceleration judgment state; otherwise, it is determined that the vehicle stays in the rack force release judgment state; wherein the first rack force threshold is greater than the second rack force threshold.

[0112] In a possible embodiment, the wire-controlled steering parameters include: road wheel rack force; the control module 403 is specifically used to determine the reverse handwheel force according to the road wheel rack force included in the control steering parameters; according to the reverse handwheel force, the steering wheel and road wheel of the wire-controlled steering system are controlled to perform rotational motion to perform gear force release processing.

[0113] In a possible embodiment, the control module 403 is further specifically configured to determine the reverse handwheel force based on an interpolation table lookup algorithm according to a correspondence table of the road wheel rack force and a pre-calibrated road wheel rack force and reverse handwheel force.

[0114] In a possible embodiment, the control module 403 is further specifically configured to optimize the reverse handwheel force according to a pre-constructed time function to obtain the optimized reverse handwheel force.

[0115] The control device for wire-controlled steering provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail in this embodiment.

[0116] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 5As shown, the electronic device 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 also includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0117] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0118] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0119] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0120] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0121] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0122] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0123] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0124] The present application also provides a vehicle, comprising an electronic device for implementing the above method.

[0125] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0126] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0127] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0130] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0131] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0132] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for wire-controlled steering, characterized in that: include: After the vehicle enters a parking state, obtaining a steer-by-wire parameter of the vehicle in real time, and determining a steer-by-wire state of the vehicle in real time according to the steer-by-wire parameter; determining a gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state; the gear force release requirement indicating whether the gear force needs to be released or not; If the gear force release requirement indicates that the gear force needs to be released, the steer-by-wire system is controlled to perform gear force release processing according to the steer-by-wire state.

2. The method according to claim 1, characterized in that The wire control steering state includes: steering wheel acceleration judgment state, steering wheel deceleration judgment state, rack force judgment state, and rack force release judgment state; Determining a gear force release requirement of a steer-by-wire system of the vehicle according to the steer-by-wire state includes: If the vehicle sequentially enters the steering wheel acceleration judgment state, the steering wheel deceleration judgment state, the rack force judgment state, and the rack force release judgment state, it is determined that the gear force release requirement indicates that the gear force needs to be released; otherwise, it is determined that the gear force release requirement indicates that the gear force does not need to be released.

3. The method according to claim 1, characterized in that The steering-by-wire parameters include: handwheel angular velocity, handwheel angular acceleration, handwheel force, and road wheel rack force.

4. The method according to claim 3, characterized in that The wire control steering state includes: steering wheel acceleration judgment state, steering wheel deceleration judgment state, rack force judgment state, and rack force release judgment state; Determining the steer-by-wire state of the vehicle in real time according to the steer-by-wire parameter includes: If it is determined that the hand wheel angular velocity is greater than the first angular velocity threshold, and the hand wheel angular acceleration is greater than the first angular acceleration threshold, it is determined that the vehicle enters the steering wheel deceleration judgment state; otherwise, it is determined that the vehicle stays in the steering wheel acceleration judgment state; After the vehicle enters the steering wheel deceleration judgment state, if it is determined that the hand wheel angular velocity is less than a second angular velocity threshold, the hand wheel angular acceleration is less than a second angular acceleration threshold, and the hand wheel hand force is less than a hand force threshold, it is determined that the vehicle enters the rack force judgment state; otherwise, it is determined that the vehicle stays in the steering wheel deceleration judgment state; wherein the first angular velocity threshold is greater than the second angular velocity threshold; the first angular acceleration threshold is greater than the second angular acceleration threshold; After the vehicle enters the rack force judgment state, if it is determined that the road wheel rack force is greater than a first rack force threshold, then the vehicle is determined to enter the rack force release judgment state; otherwise, the vehicle is determined to return to the steering wheel acceleration judgment state; After the vehicle enters the rack force release judgment state, if it is determined that the road wheel rack force is less than the second rack force threshold, it is determined that the vehicle returns to the steering wheel acceleration judgment state; otherwise, it is determined that the vehicle stays in the rack force release judgment state; wherein the first rack force threshold is greater than the second rack force threshold.

5. The method according to any one of claims 1 to 4, characterized in that: The wire steering parameters include: road wheel rack force; controlling the wire steering system to perform gear force release processing according to the wire steering state, including: Determining a reverse handwheel force according to the road wheel rack force included in the steering control parameter; According to the reverse hand wheel force, the steering wheel and the road wheel of the wire control steering system are controlled to perform a rotational movement to perform a gear force release process.

6. The method according to claim 5, characterized in that Determining the reverse handwheel force according to the road wheel rack force included in the steering control parameter includes: Based on an interpolation table lookup algorithm, the reverse handwheel force is determined according to a correspondence table of the road wheel rack force and a pre-calibrated road wheel rack force and a reverse handwheel force.

7. The method according to claim 6, characterized in that The method further comprises: The reverse handwheel force is optimized according to the pre-constructed time function to obtain the optimized reverse handwheel force.

8. A control device for steering by wire, characterized in that: include: A first determination module, configured to obtain, in real time, a steering-by-wire parameter of the vehicle after the vehicle enters a parking state, and determine, in real time, a steering-by-wire state of the vehicle according to the steering-by-wire parameter; A second determination module is used to determine a gear force release requirement of the vehicle's steer-by-wire system according to the steer-by-wire state; the gear force release requirement indicates whether the gear force needs to be released or not; A control module is used to control the steer-by-wire system to perform gear force release processing according to the steer-by-wire state if the gear force release requirement indicates that the gear force needs to be released.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

11. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 7 when being executed by a processor.

12. A vehicle, characterized in that: The invention comprises an electronic device for implementing the method according to any one of claims 1 to 7.

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