Vehicle control method and device, vehicle, storage medium and program product

Abstract

The invention discloses a vehicle control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control. The steer-by-wire system applied to the vehicle comprises a hand feeling feedback system, an intelligent driving system and a steering execution system which are connected with one another, and the steering execution system is used for conducting steering control on the vehicle based on a steering request angle sent by the hand feeling feedback system and / or the intelligent driving system. The method comprises the steps that under the condition that a hand feeling feedback system fails, an intelligent driving system is indicated to generate a target steering request angle, and the target steering request angle is sent to a steering execution system; and instructing a steering execution system to perform steering control on the vehicle based on the target steering request angle. The intelligent driving system and the hand feeling feedback system are decoupled, when the hand feeling feedback system fails, vehicle steering takeover control is achieved through cooperation of the intelligent driving system and the steering execution system, and vehicle driving safety is effectively guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, device, vehicle, storage medium and program product. Background Art

[0002] The upper steering system and the lower steering system are two key components of the steer-by-wire system, which communicate and control through electronic signals rather than traditional mechanical connections. The upper steering system, as a hand-feel feedback system, is used to receive the steering intention input by the driver through the steering wheel, convert it into an electrical signal, and then send it to the lower steering system to indicate the target angle that the vehicle should turn to; the lower steering system is used to receive the target angle signal from the upper steering system and perform the corresponding steering action by controlling the motor to ensure that the vehicle can turn according to the driver's intention.

[0003] In recent years, the intelligence of automobiles has been continuously advancing. In the current wire-controlled steering system, the intelligent driving function is deployed in the upper steering system, which makes the control software of the upper steering system bloated. Moreover, when the upper steering system fails, the control of the vehicle will be completely lost, and the driving safety of the vehicle cannot be guaranteed. Summary of the invention

[0004] In view of this, embodiments of the present application provide a vehicle control method, device, vehicle, storage medium, and program product.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a vehicle's steer-by-wire system, wherein the steer-by-wire system includes a tactile feedback system, an intelligent driving system, and a steering execution system that are interconnected, wherein the steering execution system is used to perform steering control on the vehicle based on a steering request angle sent by the tactile feedback system and / or the intelligent driving system; the method includes: in the event that the tactile feedback system fails, instructing the intelligent driving system to generate a target steering request angle and sending the target steering request angle to the steering execution system; instructing the steering execution system to perform steering control on the vehicle based on the target steering request angle.

[0007] By adopting the technical solution of the present application, the intelligent driving system and the tactile feedback system are decoupled, and the intelligent driving system can directly control the steering execution system without feedback transmission from the tactile feedback system, so that the response is faster. Moreover, in the case of failure of the tactile feedback system, the intelligent driving system is instructed to generate a target steering request angle, and the target steering request angle is sent to the steering execution system, and then the steering execution system is instructed to control the steering of the vehicle based on the target steering request angle. In this way, when the tactile feedback system fails, the control of the vehicle steering can be taken over through the collaboration of the intelligent driving system and the steering execution system, thereby effectively ensuring the driving safety of the vehicle.

[0008] In some embodiments, instructing the intelligent driving system to generate a target steering request angle includes: instructing the intelligent driving system to arbitrate the vehicle's current driving mode based on steering requests from intelligent driving host computers of different levels, and generating the target steering request angle based on the driving mode.

[0009] According to the above-mentioned technical means, the intelligent driving system arbitrates the current driving mode of the vehicle based on the steering requests of the intelligent driving host computers at different levels, and generates a target steering request angle based on the driving mode. In this way, the intelligent driving system can flexibly switch between multiple driving modes through arbitration strategies according to the steering requests of the intelligent driving host computers at different levels, and can generate a smooth target steering request angle based on the driving mode of the decision, thereby reducing the bumps and discomfort of the vehicle during steering and ensuring the smooth steering of the vehicle.

[0010] In some embodiments, the method also includes: when both the tactile feedback system and the intelligent driving system are valid, instructing the steering execution system to determine the steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the tactile feedback system; and instructing the steering execution system to control the steering of the vehicle based on the steering execution request angle.

[0011] According to the above-mentioned technical means, when both the tactile feedback system and the intelligent driving system are effective, the steering execution system can determine the steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the tactile feedback system, and then control the vehicle's steering based on the steering execution request angle. In this way, it is possible to perform intelligent arbitration based on the steering request angles provided by the intelligent driving system and the tactile feedback system, comprehensively consider various factors (such as road conditions, vehicle speed, driver's intention, etc.), determine the optimal steering execution request angle to control the vehicle's steering, and achieve precise control of the vehicle's steering.

[0012] In some embodiments, the steering execution system is instructed to control the steering of the vehicle based on the steering execution request angle, including: instructing the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the vehicle's front wheels to obtain a target motor execution torque; instructing the steering execution system to control the steering of the vehicle based on the target motor execution torque.

[0013] According to the above-mentioned technical means, by instructing the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the vehicle's front wheels, the target motor execution torque is obtained, and then the vehicle is steered based on the target motor execution torque, which can ensure that the vehicle performs precise and stable steering operations according to the predetermined steering request angle.

[0014] In some embodiments, instructing the steering execution system to determine the steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the tactile feedback system includes: instructing the steering execution system to determine the steering execution request angle based on the following formula:

[0015] W=W1*Factor+W2*(1-Factor)+W c ;

[0016] Where W1 represents the first steering request angle, W2 represents the second steering request angle, Factor represents the driver-vehicle co-driving coefficient, and W c Indicates the steering request compensation angle.

[0017] According to the above technical means, the steering requests of the intelligent driving system and the tactile feedback system are weightedly summed through the human-vehicle co-driving coefficient and compensated through the steering request compensation angle. It is possible to dynamically adjust the steering execution request angle according to the driver's intention and vehicle status, making the steering operation more flexible and changeable. Moreover, the human-vehicle co-driving coefficient strategy can constitute a redundant design. Even if one of the systems fails or is misjudged, the other system can still function to ensure the continuity and stability of the steering operation.

[0018] In some embodiments, instructing the steering execution system to control the steering of the vehicle based on the steering execution request angle includes: instructing the steering execution system to filter the steering execution request angle, and controlling the steering of the vehicle based on the filtered steering execution request angle.

[0019] According to the above technical means, by instructing the steering execution system to filter the steering execution request angle, the change of the steering execution request angle can be smoothed, and the interference signal can be effectively filtered out to achieve precise vehicle steering control.

[0020] In some embodiments, the method also includes: instructing the tactile feedback system to determine a rotational following torque when it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle; and instructing the tactile feedback system to apply the rotational following torque to the steering wheel through a motor so that the steering wheel follows the rotation of the front wheels of the vehicle.

[0021] According to the above technical means, when it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle, the hand feel feedback system is instructed to determine the rotation following torque, and the rotation following torque is applied to the steering wheel through the motor to make the steering wheel follow the rotation of the front wheels of the vehicle, so that the driver can feel the real-time interaction between the vehicle and the road during driving, enhance the road feel feedback, and improve the driving experience.

[0022] In some embodiments, the method further includes: instructing the tactile feedback system to determine a target feedback motor torque based on the rack force, a steering angle of a steering wheel of the vehicle, and a speed of the vehicle, and applying the target feedback motor torque to the steering wheel through the motor.

[0023] According to the above technical means, the hand feel feedback system determines the target feedback motor torque based on the rack force, the steering angle of the vehicle's steering wheel and the vehicle speed, and applies the target feedback motor torque to the steering wheel through the motor. In this way, by comprehensively considering the rack force, the steering angle of the steering wheel and the vehicle speed, the steering resistance of the vehicle under different working conditions can be more accurately simulated, thereby providing the driver with more realistic road feel feedback.

[0024] In some embodiments, the indicative tactile feedback system determines a target feedback motor torque based on the rack force, the steering angle of the steering wheel of the vehicle and the speed of the vehicle, including: the indicative tactile feedback system determines a first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, and determines a second feedback motor torque based on the rack force, the desired compensation hand torque and the actual hand torque of the current driver, and determines a third feedback motor torque based on the rack force; the indicative tactile feedback system determines a target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque; wherein the desired compensation hand torque includes at least one of the following: return compensation torque, damping compensation torque, inertia compensation torque, center sense compensation torque and hysteresis compensation torque.

[0025] According to the above technical means, the hand feel feedback system determines the first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, and determines the second feedback motor torque based on the rack force, the expected compensation hand torque and the actual hand torque of the current driver, and determines the third feedback motor torque based on the rack force, and then determines the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque. It can more accurately simulate the steering resistance of the vehicle under different working conditions and the driver's expected hand feel, thereby providing the driver with more accurate driving feedback.

[0026] In a second aspect, an embodiment of the present application provides a vehicle control device, which is applied to a steer-by-wire system of a vehicle, wherein the steer-by-wire system includes a hand-feel feedback system, an intelligent driving system, and a steering execution system that are interconnected, and the steering execution system is used to perform steering control on the vehicle based on a steering request angle sent by the hand-feel feedback system and / or the intelligent driving system; the device includes:

[0027] A first instruction module is used to instruct the intelligent driving system to generate a target steering request angle and send the target steering request angle to the steering execution system when the hand feel feedback system fails;

[0028] The second instruction module is used to instruct the steering execution system to control the steering of the vehicle based on the target steering request angle.

[0029] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory and a processor, wherein the memory is used to store executable data instructions; when the processor is used to execute the executable data instructions stored in the memory, the vehicle control method of the first aspect is implemented.

[0030] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the vehicle control method of the first aspect is implemented.

[0031] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions. When the computer program or instructions are executed by a processor, the vehicle control method of the first aspect is implemented.

[0032] Beneficial effects of this application:

[0033] By adopting the technical solution of the present application, the intelligent driving system and the tactile feedback system are decoupled, and the intelligent driving system can directly control the steering execution system without feedback transmission from the tactile feedback system, resulting in a faster response. Moreover, when the tactile feedback system fails, the intelligent driving system and the steering execution system can collaborate to take over the control of the vehicle steering, thereby effectively ensuring the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 One of the flow charts of a vehicle control method provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of a structural flow chart of intelligent driving steering request angle calculation provided in an embodiment of the present application;

[0037] Figure 3 A second flow chart of a vehicle control method provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of a structural flow chart of a steering execution request angle calculation provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of a structural flow chart of a rotational following torque calculation provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of a structural flow chart of a feedback motor torque calculation provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of the physical structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] It should be noted that in the description of the embodiments of the present application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0046] In order to facilitate a clearer understanding of the embodiments of the present application, some related technologies are first introduced as follows.

[0047] In a steer-by-wire system, in order to overcome the defect that the vehicle will be completely lost control when the upper steering system fails, the relevant technology proposes a steer-by-wire system with redundancy function, in which both the upper steering system and the lower steering system are redundant systems, ensuring that the system is still available when a single point failure occurs. However, when the redundant upper steering system completely fails, the driver will still lose control of the vehicle, and the driving safety of the vehicle cannot be guaranteed.

[0048] In the embodiments of the present application, in order to overcome at least some of the defects existing in the related art, by decoupling the intelligent driving system and the tactile feedback system, the intelligent driving system can directly control the steering execution system without the feedback transmission of the tactile feedback system, and the response is faster. Moreover, when the tactile feedback system fails, the control of the vehicle steering can be taken over through the collaboration of the intelligent driving system and the steering execution system, thereby effectively ensuring the driving safety of the vehicle.

[0049] The following is an illustrative introduction to the vehicle control method, device, vehicle, storage medium and program product provided in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application.

[0050] Figure 1 One of the flow diagrams of a vehicle control method provided in an embodiment of the present application, the method is applied to a vehicle's steer-by-wire system, the steer-by-wire system comprising a tactile feedback system, an intelligent driving system and a steering execution system connected to each other, the steering execution system being used to perform steering control on the vehicle based on a steering request angle sent by the tactile feedback system and / or the intelligent driving system; Figure 1 As shown, the method includes:

[0051] S101. When the tactile feedback system fails, instruct the intelligent driving system to generate a target steering request angle, and send the target steering request angle to the steering execution system.

[0052] It should be noted that the vehicle control method provided in the embodiment of the present application is applied to the vehicle's wire-controlled steering system, and the wire-controlled steering system includes a hand-feel feedback system, an intelligent driving system, and a steering execution system that are interconnected, wherein the hand-feel feedback system, the intelligent driving system, and the steering execution system can be wired or wirelessly connected, and the embodiment of the present application does not specifically limit this. Moreover, both the hand-feel feedback system and the intelligent driving system can directly send a steering request angle to the steering execution system, so that the steering execution system can control the steering of the vehicle based on the steering request angle sent by the hand-feel feedback system and / or the intelligent driving system.

[0053] It can be understood that the hand feedback system in the embodiment of the present application is the upper steering system in the wire-controlled steering system, and the steering execution system in the embodiment of the present application is the lower steering system in the wire-controlled steering system.

[0054] In the embodiment of the present application, in the case of failure of the hand-feel feedback system, the intelligent driving system can be instructed to generate a target steering request angle and send the target steering request angle to the steering execution system. The failure of the hand-feel feedback system includes but is not limited to: loss of communication between the hand-feel feedback system and the steering execution system, failure or damage of the motor responsible for providing hand-feel feedback in the hand-feel feedback system, failure of the sensor used to detect the steering angle of the steering wheel in the hand-feel feedback system, insufficient or interrupted power supply of the hand-feel feedback system, and short circuit or open circuit of the line in the hand-feel feedback system.

[0055] In some embodiments, when the tactile feedback system fails, the intelligent driving system can generate a target steering request angle based on multiple factors such as data collected by various sensors installed on the vehicle, map and positioning information, path planning and decision algorithms, vehicle dynamics models, and driver intention recognition.

[0056] In some embodiments, in the event that the tactile feedback system fails, the intelligent driving system may request the intelligent driving host computer to take over the vehicle's steering control based on the failure status of the tactile feedback system. The request may include key information such as the tactile feedback system's fault type, fault level, and current vehicle status, so that the intelligent driving host computer can make accurate decisions.

[0057] In some embodiments, after receiving the takeover request, the intelligent driving host computer may conduct a comprehensive assessment based on factors such as the current vehicle state, surrounding environment, and traffic rules. If the assessment result determines that the vehicle steering control needs to be taken over immediately to ensure safety, the intelligent driving host computer may generate a target steering request angle and send it to the intelligent driving system, or the intelligent driving system may generate a target steering request angle, and the intelligent driving system may send the target steering request angle to the steering execution system, so that the steering execution system performs steering control on the vehicle based on the target steering request angle.

[0058] It should be noted that compared with the intelligent driving system, the intelligent driving host computer is a higher-level control system that can be used for overall decision-making and coordination of vehicle control.

[0059] S102: Instruct the steering execution system to perform steering control on the vehicle based on the target steering request angle.

[0060] In an embodiment of the present application, after instructing the intelligent driving system to send the target steering request angle to the steering execution system, the steering execution system can be instructed to control the steering of the vehicle based on the target steering request angle.

[0061] In some embodiments, the steering execution system can calculate the steering execution request angle that needs to be executed based on the target steering request angle, the current state of the vehicle and the preset control strategy, and then generate a corresponding control signal based on the calculated steering execution request angle to drive the steering actuator to perform steering operations to achieve steering control of the vehicle.

[0062] It can be understood that the vehicle control method provided in the embodiment of the present application, by decoupling the intelligent driving system and the tactile feedback system, the intelligent driving system can directly control the steering execution system without passing through the feedback of the tactile feedback system, and the response is faster. Moreover, when the tactile feedback system fails, the intelligent driving system and the steering execution system can collaborate to take over the control of the vehicle steering, thereby effectively ensuring the driving safety of the vehicle.

[0063] In some embodiments, the instructing the intelligent driving system to generate a target steering request angle includes:

[0064] The intelligent driving system is instructed to arbitrate the current driving mode of the vehicle based on the steering requests of the intelligent driving host computers of different levels, and to generate the target steering request angle based on the driving mode.

[0065] It should be noted that intelligent driving is usually divided into multiple levels according to the degree of automation. Level 0 is no automation and the vehicle is completely controlled by the driver; Level 1 is assisted driving, and the system can assist the driver in completing certain driving tasks; Level 2 is partial automation, and the system can control the steering and acceleration and deceleration of the vehicle at the same time, but the driver still needs to monitor the vehicle and be ready to take over control at any time; Level 3 is conditional automation, and the system can fully control the vehicle, but the driver needs to take over control when the system requests; Level 4 is highly automated, and the system can achieve fully automated driving in all environments without driver intervention; Level 5 is fully automated, and the vehicle can drive completely autonomously without any human involvement.

[0066] In some embodiments, when the tactile feedback system fails, the intelligent driving system may request different levels of intelligent driving host computers to take over the steering control of the vehicle based on the failure status of the tactile feedback system. The intelligent driving system may then receive steering requests from different levels of intelligent driving host computers, which may include a steering request angle. The intelligent driving system may then arbitrate the current driving mode based on the steering requests from the intelligent driving host computers at various levels. During the arbitration process, the intelligent driving system may consider multiple factors, such as road type, traffic rules, and vehicle status. Finally, the driving mode that adapts to the current driving environment and task requirements is determined based on the arbitration results, and the target steering request angle is obtained based on the driving mode.

[0067] For example, the intelligent driving system arbitrates the vehicle's current driving mode based on the steering requests of the intelligent driving host computers at various levels, combined with the current road type, traffic rules, and vehicle status, and determines that the driving mode that adapts to the current driving environment and task requirements is the driving mode corresponding to level 3. The steering request angle in the steering request of the intelligent driving host computer corresponding to level 3 is then used as the target steering request angle.

[0068] For example, Figure 2 A schematic diagram of a structural flow chart of an intelligent driving steering request angle calculation provided in an embodiment of the present application, such as Figure 2 As shown, the intelligent driving system can generate the intelligent driving steering request angle (i.e., the target steering request angle) according to the following steps:

[0069] (1) Calculate the first intelligent driving steering request angle according to the request angle and request mode of the intelligent driving host computer corresponding to level 2; wherein the request mode includes lane keeping assist (LKA) and automatic parking assist (APA), and in the angle limit module, limit the request angle based on the vehicle speed to obtain the first intelligent driving steering request angle;

[0070] (2) In the Advanced Driving System (ADS) module, the second intelligent driving steering request angle is calculated according to the request of the intelligent driving host computer corresponding to level 3;

[0071] (3) In the mode arbitration module, according to the current intelligent driving request, the current driving mode is arbitrated, and according to the driving mode and the calculated first intelligent driving steering request angle and the second intelligent driving steering request angle, a third intelligent driving steering request angle is obtained;

[0072] (4) In the safety verification module, the third intelligent driving steering request angle is safety monitored to ensure that the steering request angle requested by the level 3 function is not mistakenly sent when the level 2 function is activated.

[0073] It can be understood that in the embodiments of the present application, the intelligent driving system can flexibly switch between multiple driving modes through arbitration strategies according to the steering requests of intelligent driving host computers at different levels, and can generate a smooth target steering request angle based on the decision-making driving mode, thereby reducing the bumps and discomfort during vehicle steering and ensuring smooth steering of the vehicle.

[0074] In some embodiments, Figure 3 As shown, the vehicle control method further includes:

[0075] S301, when both the tactile feedback system and the intelligent driving system are valid, instructing the steering execution system to determine a steering execution request angle based on a first steering request angle sent by the intelligent driving system and / or a second steering request angle sent by the tactile feedback system;

[0076] S302: Instruct the steering execution system to perform steering control on the vehicle based on the steering execution request angle.

[0077] In an embodiment of the present application, if both the tactile feedback system and the intelligent driving system are valid, the steering execution system can be instructed to determine the steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the tactile feedback system, and then instruct the steering execution system to control the steering of the vehicle based on the steering execution request angle.

[0078] In some embodiments, the intelligent driving system can arbitrate the current driving mode of the vehicle according to the steering requests of the intelligent driving host computers of different levels, generate a first steering request angle based on the driving mode, and send the first steering request angle to the steering execution system.

[0079] In some embodiments, the hand-feel feedback system may calculate a second steering request angle based on the current actual steering wheel angle and the virtual transmission ratio, and send the second steering request angle to the steering execution system.

[0080] In some embodiments, the hand feedback system may calculate the second steering request angle according to the following steps:

[0081] (1) Obtain the current actual steering angle of the steering wheel through the angle sensor;

[0082] (2) Calculate the virtual transmission ratio based on the vehicle speed and the current actual steering wheel angle;

[0083] (3) superimposing the current actual steering wheel angle and the angle compensation value to obtain the steering request angle before conversion, wherein the angle compensation value is the steering wheel angle that needs to be corrected calculated based on the long-time compensation and the short-time compensation;

[0084] (4) The final steering request angle, i.e., the second steering request angle, is obtained by multiplying the steering request angle before conversion by the virtual transmission ratio.

[0085] In some embodiments, the steering execution system can perform intelligent arbitration based on the first steering request angle and / or the second steering request angle, determine the steering execution request angle based on various factors (such as road conditions, vehicle speed, and driver intention), and then control the steering of the vehicle based on the steering execution request angle.

[0086] It can be understood that the embodiments of the present application can realize intelligent arbitration based on the steering request angle provided by the intelligent driving system and the tactile feedback system, comprehensively consider various factors to determine the optimal steering execution request angle to control the steering of the vehicle, and realize precise control of the vehicle steering.

[0087] In some embodiments, instructing the steering execution system to perform steering control on the vehicle based on the steering execution request angle includes:

[0088] instructing the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the front wheels of the vehicle to obtain a target motor execution torque;

[0089] The steering actuation system is instructed to perform steering control on the vehicle based on the target motor actuation torque.

[0090] It should be noted that the PID (Proportional-Integral-Derivative) control principle is to output a control signal by calculating the proportional, integral and derivative parts of the error (i.e. the difference between the target value and the actual value). In the embodiment of the present application, the target value is the steering execution request angle, and the actual value is the current actual steering angle of the front wheels of the vehicle.

[0091] In some embodiments, the steering execution system performs PID control on the steering execution request angle and the current actual steering angle of the vehicle's front wheels to obtain a control signal, and then maps the control signal to the torque range of the motor through a preset conversion function or lookup table to obtain the target motor execution torque. The calculated target motor execution torque is then sent to the motor to drive the front wheel steering until the actual steering angle of the front wheels approaches or reaches the target steering request angle. The above process is repeated continuously, and the torque output of the motor is continuously adjusted through a closed-loop feedback mechanism to achieve precise steering control.

[0092] It can be understood that the embodiment of the present application instructs the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the vehicle's front wheels, obtains the target motor execution torque, and then controls the steering of the vehicle based on the target motor execution torque, thereby ensuring that the vehicle performs precise and stable steering operations according to the predetermined steering request angle.

[0093] In some embodiments, the instructing the steering execution system to determine the steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the tactile feedback system includes:

[0094] Instruct the steering execution system to determine the steering execution request angle based on the following formula:

[0095] W=W1*Factor+W2*(1-Factor)+W c (1)

[0096] Wherein, W1 represents the first steering request angle, W2 represents the second steering request angle, Factor represents the driver-vehicle co-driving coefficient, and W c Indicates the steering request compensation angle.

[0097] In some embodiments, the human-vehicle co-driving coefficient Factor can be obtained based on a preset driver's hand force and steering wheel speed curve.

[0098] In some embodiments, the steering request compensation angle W can be calculated based on the vehicle posture c .

[0099] In some embodiments, the steering request compensation angle W can be calculated by the following equation (2): c :

[0100] W c =(W OS +W uS )*Factor V (2)

[0101] Among them, Factor V Indicates the compensation angle coefficient, W OS represents the steering overcompensation request angle, W uS Indicates the understeer compensation request angle.

[0102] It should be noted that W OS and W uS It can be a calibrated value based on actual experience or a value set based on actual application adaptability.

[0103] It should be noted that the compensation angle factor Factor VIt is a coefficient based on the vehicle speed, and the coefficient can be obtained based on a curve that can reflect the mapping relationship between the vehicle speed and the coefficient.

[0104] It can be understood that the embodiment of the present application performs weighted summation of the steering requests of the intelligent driving system and the hand feel feedback system through the human-vehicle co-driving coefficient and compensates through the steering request compensation angle, so as to realize dynamic adjustment of the steering execution request angle according to the driver's intention and vehicle status, thereby making the steering operation more flexible and changeable. Moreover, the human-vehicle co-driving coefficient strategy can constitute a redundant design. Even if one of the systems fails or is misjudged, the other system can still function to ensure the continuity and stability of the steering operation.

[0105] In some embodiments, instructing the steering execution system to perform steering control on the vehicle based on the steering execution request angle includes:

[0106] The steering execution system is instructed to filter the steering execution request angle and to perform steering control on the vehicle based on the steering execution request angle after the filtering process.

[0107] In some embodiments, the steering execution system may be instructed to perform mean filtering and low-pass filtering on the steering execution request angle to ensure smooth changes in the steering execution request angle.

[0108] For example, Figure 4 A schematic diagram of a structural flow of a steering execution request angle calculation provided in an embodiment of the present application, such as Figure 4 As shown, based on the intelligent driving steering request angle (i.e., the first steering request angle), the driver steering request angle (i.e., the second steering request angle), the human-vehicle co-driving coefficient, and the steering request compensation angle, the steering execution request angle is obtained and then averaged and low-pass filtered to obtain the final steering execution request angle. Among them, the steering request compensation angle is obtained by performing corresponding summation and multiplication operations on the oversteering compensation request angle, the understeering compensation request angle, and the compensation angle coefficient.

[0109] It should be noted that when the steering execution request angle is mean filtered, the number of mean filtering times can be calibrated or can be adaptively set based on actual applications, and the embodiments of the present application do not specifically limit this.

[0110] It should be noted that the embodiment of the present application performs low-pass filtering on the steering execution request angle after performing mean filtering on the steering execution request angle, which can effectively filter out high-frequency interference signals of the steering execution request angle and achieve precise vehicle steering control.

[0111] It can be understood that the embodiments of the present application can smoothly change the steering execution request angle and can effectively filter out interference signals to achieve precise vehicle steering control.

[0112] In some embodiments, the method further comprises:

[0113] In a case where it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle, instructing the hand-feel feedback system to determine a rotational following torque;

[0114] The hand-feel feedback system is instructed to apply the rotation following torque to the steering wheel through the motor so that the steering wheel follows the rotation of the front wheels of the vehicle.

[0115] In some embodiments, it is possible to determine whether the steering wheel of the vehicle follows the rotation of the front wheels of the vehicle based on the activation status of the intelligent driving function sent by the intelligent driving system, the steering wheel silence request status, and the actual angle difference between the steering wheel and the front wheels of the vehicle.

[0116] In an embodiment of the present application, if it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle, the tactile feedback system can be instructed to determine the rotational following torque, and the tactile feedback system can be instructed to apply the rotational following torque to the steering wheel through a motor so that the steering wheel follows the rotation of the front wheels of the vehicle.

[0117] In some embodiments, the hand feedback system may be instructed to calculate the rotational following torque M by the following equation (3):

[0118] M=(W3-W4)*Factor V +H*(W4-W5)(3)

[0119] Among them, W3 represents the actual steering angle of the steering wheel, W4 represents the steering angle of the steering wheel converted from the front wheel pinion angle, and Factor V represents the compensation angle coefficient (or vehicle speed factor), H represents the influence factor, and W5 represents the steering angle of the steering wheel converted from the front wheel pinion angle in the previous cycle.

[0120] In some embodiments, W4 can be calculated by the following formula (4):

[0121] W4=W6*R(4)

[0122] Among them, W6 represents the front wheel pinion angle, and R represents the virtual transmission ratio between the steering wheel and the front wheels. The transmission ratio can be obtained by looking up a table based on the vehicle speed and the current steering angle curve of the steering wheel.

[0123] It should be noted that the impact factor H can be adaptively set based on actual applications, and the embodiments of the present application do not specifically limit this.

[0124] For example, Figure 5 A schematic diagram of a structural flow of a rotational following torque calculation provided in an embodiment of the present application is shown as follows: Figure 5As shown, the embodiment of the present application obtains the rotational following torque based on the steering wheel angle, vehicle speed, front wheel pinion angle, vehicle speed factor and influencing factor, and utilizes corresponding mathematical operations.

[0125] It can be understood that, when it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle, the embodiment of the present application instructs the hand feel feedback system to determine the rotation following torque, and applies the rotation following torque to the steering wheel through the motor to make the steering wheel follow the rotation of the front wheels of the vehicle, so that the driver can feel the real-time interaction between the vehicle and the road during driving, enhance the road feel feedback, and improve the driving experience.

[0126] In some embodiments, the method further comprises:

[0127] The hand-feel feedback system is instructed to determine a target feedback motor torque based on a rack force, a steering angle of a steering wheel of the vehicle, and a speed of the vehicle, and to apply the target feedback motor torque to the steering wheel through a motor.

[0128] In an embodiment of the present application, the hand feel feedback system can also determine the target feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, and apply the target feedback motor torque to the steering wheel through the motor to provide the driver with real road feel feedback.

[0129] It can be understood that the embodiment of the present application can more accurately simulate the steering resistance of the vehicle under different working conditions by comprehensively considering the rack force, the steering angle of the steering wheel and the vehicle speed, thereby providing the driver with more realistic road feel feedback.

[0130] In some embodiments, instructing the hand-feel feedback system to determine a target feedback motor torque based on a rack force, a steering angle of a steering wheel of the vehicle, and a speed of the vehicle, comprises:

[0131] instructing the hand-feel feedback system to determine a first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, to determine a second feedback motor torque based on the rack force, a desired compensation hand torque and an actual hand torque of the current driver, and to determine a third feedback motor torque based on the rack force;

[0132] instructing the hand feeling feedback system to determine the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque;

[0133] Wherein, the desired compensation hand torque includes at least one of the following:

[0134] Return compensation torque, damping compensation torque, inertia compensation torque, center sense compensation torque and hysteresis compensation torque.

[0135] In an embodiment of the present application, the hand feel feedback system can determine the first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, and determine the second feedback motor torque based on the rack force, the desired compensation hand torque and the actual hand torque of the current driver, and determine the third feedback motor torque based on the rack force, and then determine the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque.

[0136] It should be noted that the actual hand torque of the current driver is the torque generated by the driver applying force to the steering wheel through his hand.

[0137] It should be noted that the desired compensation hand torque is a series of compensation torques applied to optimize driving experience and vehicle handling performance. In the embodiment of the present application, the desired compensation hand torque includes at least one of the return compensation torque, damping compensation torque, inertia compensation torque, center sense compensation torque and hysteresis compensation torque. Among them, the return compensation torque refers to the torque applied to help the wheels and steering wheel automatically return to the straight driving position after the vehicle turns; the damping compensation torque is a torque applied to overcome the steering wheel fluctuation caused by uneven ground or other interference, and to prevent oscillation during rapid steering return; the inertia compensation torque is a compensation for the influence of the motor's inertia on the output torque. The motor inertia refers to the inertia of the motor when it is moving or stopped, which affects the motor's response speed and performance; the center sense compensation torque is a torque applied to optimize the natural return of the steering wheel to the center position (i.e., the center sense) during driving; the hysteresis compensation torque is used to compensate for the performance degradation caused by system lag (such as signal transmission delay, mechanical component response lag, etc.).

[0138] It should be noted that since the center sense is one of the key factors in the evaluation of straight-line driving controllability, it involves whether the steering wheel can naturally return to the center position during driving. The embodiment of the present application can more accurately provide the driver with more realistic road feel feedback by considering the center sense compensation torque.

[0139] For example, Figure 6 A schematic diagram of a structural flow of a feedback motor torque calculation provided in an embodiment of the present application, such as Figure 6As shown, first, in the basic feedback torque calculation module, the first feedback motor torque currently required for simulation is calculated based on the rack force, the steering angle of the steering wheel and the vehicle speed; in the hand force closed-loop module, based on the rack force and the expected hand torque, a closed-loop control is performed with the current driver's actual hand torque to obtain the second feedback motor torque required for request, wherein the expected hand torque is obtained by summing the return compensation torque, the damping compensation torque, the inertia compensation torque, the center sense compensation torque and the hysteresis compensation torque; in the high-frequency hand feel feedback module, the third feedback motor torque is calculated based on the rack force; secondly, in the stability compensation module, the first feedback motor torque, the second feedback motor torque and the third feedback motor torque are superimposed and processed by a notch filter to obtain the requested expected motor torque; finally, in the torque limit module, the above-calculated expected motor torque is safety limited to obtain the final requested feedback motor torque, that is, the target feedback motor torque.

[0140] It can be understood that the embodiment of the present application determines the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque, so as to more accurately simulate the steering resistance of the vehicle under different working conditions and the driver's expected feel, thereby providing the driver with more accurate driving feedback.

[0141] For example, Figure 7 A schematic diagram of the architecture of a vehicle control system provided in an embodiment of the present application, such as Figure 7 As shown, the system includes three subsystems, namely, the intelligent driving system, the hand-feel feedback system and the steering execution system. Among them, the intelligent driving system can calculate the steering request angle required for intelligent driving according to the request of the intelligent driving host computer, and send the steering request angle required for intelligent driving to the steering execution system; the hand-feel feedback system can provide the driver with a basic hand-feel feedback torque (i.e., the target feedback motor torque) and calculate the steering request angle required for basic steering, and send the steering request angle required for basic steering to the steering execution system; the steering execution system can control the vehicle steering based on the steering request angle from the intelligent driving system and / or the hand-feel feedback system. In addition, the intelligent driving system includes lane departure compensation function, autonomous parking function, automatic driving function and mode arbitration function; the hand-feel feedback system includes torque calculation functions for return compensation, damping compensation, inertia compensation, center sense compensation and hysteresis compensation, as well as terminal protection and basic feedback torque calculation functions; the steering execution system includes angle arbitration, angle closed loop and rack force estimation functions.

[0142] It is understandable that in the wire control steering system, the embodiment of the present application decouples the intelligent driving system from the hand-feel feedback system by adopting a distributed decoupling architecture. The intelligent driving system can directly control the steering execution system without feedback transmission through the hand-feel feedback system, and the response is faster and the execution accuracy is higher. At the same time, when the intelligent driving system fails, it does not affect the steering ability in the human driving scenario, and can still provide full assistance, providing a better driving experience for the driver; when the hand-feel feedback system fails, the intelligent driving system can be used to control the vehicle to park safely by the side of the road, reducing the probability of safety accidents, while ensuring a smooth transition from the human driving process to the intelligent driving process, and ensuring that the steering wheel can follow the rotation of the front wheels of the vehicle well during the intelligent driving process.

[0143] The vehicle control device provided in an embodiment of the present application is described below. The vehicle control device described below and the vehicle control method described above can be referenced to each other.

[0144] Figure 8 Schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application, the device is applied to a vehicle's steer-by-wire system, the steer-by-wire system includes a hand-feel feedback system, an intelligent driving system and a steering execution system connected to each other, the steering execution system is used to control the steering of the vehicle based on the steering request angle sent by the hand-feel feedback system and / or the intelligent driving system; Figure 8 As shown, the device includes: a first indication module 810 and a second indication module 820; wherein:

[0145] A first instruction module 810 is used to instruct the intelligent driving system to generate a target steering request angle and send the target steering request angle to the steering execution system when the hand feedback system fails;

[0146] The second instruction module 820 is used to instruct the steering execution system to perform steering control on the vehicle based on the target steering request angle.

[0147] The vehicle control device provided in the embodiment of the present application decouples the intelligent driving system from the tactile feedback system, so that the intelligent driving system can directly control the steering execution system without passing through the feedback of the tactile feedback system, and the response is faster. Moreover, when the tactile feedback system fails, the intelligent driving system and the steering execution system can collaborate to take over the control of the vehicle steering, thereby effectively ensuring the driving safety of the vehicle.

[0148] In some embodiments, the first indication module 810 is further configured to:

[0149] The intelligent driving system is instructed to arbitrate the current driving mode of the vehicle based on the steering requests of the intelligent driving host computers of different levels, and to generate the target steering request angle based on the driving mode.

[0150] In some embodiments, the apparatus further comprises:

[0151] a third indication module, configured to, when both the hand-feel feedback system and the intelligent driving system are valid, instruct the steering execution system to determine a steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the hand-feel feedback system;

[0152] A fourth instruction module is used to instruct the steering execution system to perform steering control on the vehicle based on the steering execution request angle.

[0153] In some embodiments, the fourth indication module includes:

[0154] A first instruction unit is used to instruct the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the front wheels of the vehicle to obtain a target motor execution torque;

[0155] The second instruction unit is used to instruct the steering execution system to control the steering of the vehicle based on the target motor execution torque.

[0156] In some embodiments, the first indication unit is further used for:

[0157] Instruct the steering execution system to determine the steering execution request angle based on the following formula:

[0158] W=W1*Factor+W2*(1-Factor)+W c ;

[0159] Wherein, W1 represents the first steering request angle, W2 represents the second steering request angle, Factor represents the driver-vehicle co-driving coefficient, and W c Indicates the steering request compensation angle.

[0160] In some embodiments, the fourth indication module is further used to:

[0161] The steering execution system is instructed to filter the steering execution request angle and to perform steering control on the vehicle based on the steering execution request angle after the filtering process.

[0162] In some embodiments, the apparatus further comprises:

[0163] A fifth indication module, configured to instruct the hand feeling feedback system to determine a rotation following torque when it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle;

[0164] The sixth instruction module is used to instruct the hand feedback system to apply the rotation following torque to the steering wheel through the motor, so that the steering wheel follows the rotation of the front wheels of the vehicle.

[0165] In some embodiments, the apparatus further comprises:

[0166] The seventh indication module is used to instruct the hand feel feedback system to determine the target feedback motor torque based on the rack force, the steering angle of the steering wheel of the vehicle and the speed of the vehicle, and to apply the target feedback motor torque to the steering wheel through the motor.

[0167] In some embodiments, the seventh indication module includes:

[0168] a third indication unit, configured to instruct the hand-feel feedback system to determine a first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, and to determine a second feedback motor torque based on the rack force, a desired compensation hand torque and an actual hand torque of the current driver, and to determine a third feedback motor torque based on the rack force;

[0169] a fourth instruction unit, configured to instruct the hand feeling feedback system to determine the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque, and the third feedback motor torque;

[0170] Wherein, the desired compensation hand torque includes at least one of the following:

[0171] Return compensation torque, damping compensation torque, inertia compensation torque, center sense compensation torque and hysteresis compensation torque.

[0172] It should be noted here that the above-mentioned vehicle control device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned vehicle control method embodiment, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0173] Fig. 9 A schematic diagram of the physical structure of a vehicle provided in an embodiment of the present application, such as Fig. 9As shown, the vehicle may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940, wherein the processor 910, the communication interface 920, and the memory 930 communicate with each other via the communication bus 940. The processor 910 may execute executable data instructions stored in the memory 930 to implement some or all of the steps in the vehicle control method provided in the above embodiments.

[0174] In addition, the executable data instructions stored in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly embodied in the form of a software product that contributes to the relevant technology. The software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0175] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, part or all of the steps in the vehicle control method provided in the above embodiments are implemented.

[0176] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute some or all of the steps in the vehicle control method provided in the above embodiments.

[0177] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0178] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0179] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0182] The above description is merely an optional embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: A steer-by-wire system applied to a vehicle, the steer-by-wire system comprising a hand-feel feedback system, an intelligent driving system and a steering execution system connected to each other, the steering execution system being used to perform steering control on the vehicle based on a steering request angle sent by the hand-feel feedback system and / or the intelligent driving system; The method comprises: In case the hand-feel feedback system fails, instructing the intelligent driving system to generate a target steering request angle and sending the target steering request angle to the steering execution system; The steering execution system is instructed to perform steering control on the vehicle based on the target steering request angle.

2. The vehicle control method according to claim 1, characterized in that: The instructing the intelligent driving system to generate a target steering request angle includes: The intelligent driving system is instructed to arbitrate the current driving mode of the vehicle based on the steering requests of the intelligent driving host computers of different levels, and to generate the target steering request angle based on the driving mode.

3. The vehicle control method according to claim 1, characterized in that: The method further comprises: In a case where both the hand-feel feedback system and the intelligent driving system are valid, instructing the steering execution system to determine a steering execution request angle based on a first steering request angle sent by the intelligent driving system and / or a second steering request angle sent by the hand-feel feedback system; The steering execution system is instructed to perform steering control on the vehicle based on the steering execution request angle.

4. The vehicle control method according to claim 3, characterized in that: The instructing the steering execution system to perform steering control on the vehicle based on the steering execution request angle includes: instructing the steering execution system to perform PID closed-loop control on the steering execution request angle and the current actual steering angle of the front wheels of the vehicle to obtain a target motor execution torque; The steering execution system is instructed to perform steering control on the vehicle based on the target motor execution torque.

5. The vehicle control method according to claim 3, characterized in that: The instructing the steering execution system to determine a steering execution request angle based on the first steering request angle sent by the intelligent driving system and / or the second steering request angle sent by the hand feedback system includes: Instruct the steering execution system to determine the steering execution request angle based on the following formula: W=W1*Factor+W2*(1-Factor)+W c ; Wherein, W1 represents the first steering request angle, W2 represents the second steering request angle, Factor represents the driver-vehicle co-driving coefficient, and W c Indicates the steering request compensation angle.

6. The vehicle control method according to any one of claims 3 to 5, characterized in that: The instructing the steering execution system to perform steering control on the vehicle based on the steering execution request angle includes: The steering execution system is instructed to filter the steering execution request angle and to perform steering control on the vehicle based on the steering execution request angle after the filtering process.

7. The vehicle control method according to any one of claims 3 to 5, characterized in that: The method further comprises: In a case where it is determined that the steering wheel of the vehicle does not follow the rotation of the front wheels of the vehicle, instructing the hand-feel feedback system to determine a rotational following torque; The hand-feel feedback system is instructed to apply the rotation following torque to the steering wheel through the motor so that the steering wheel follows the rotation of the front wheels of the vehicle.

8. The vehicle control method according to any one of claims 3 to 5, characterized in that: The method further comprises: The hand-feel feedback system is instructed to determine a target feedback motor torque based on a rack force, a steering angle of a steering wheel of the vehicle, and a speed of the vehicle, and to apply the target feedback motor torque to the steering wheel through a motor.

9. The vehicle control method according to claim 8, characterized in that: The instructing the hand-feel feedback system to determine a target feedback motor torque based on a rack force, a steering angle of a steering wheel of the vehicle, and a speed of the vehicle includes: instructing the hand-feel feedback system to determine a first feedback motor torque based on the rack force, the steering angle of the steering wheel and the speed of the vehicle, to determine a second feedback motor torque based on the rack force, a desired compensation hand torque and an actual hand torque of the current driver, and to determine a third feedback motor torque based on the rack force; instructing the hand feeling feedback system to determine the target feedback motor torque based on the first feedback motor torque, the second feedback motor torque and the third feedback motor torque; Wherein, the desired compensation hand torque includes at least one of the following: Return compensation torque, damping compensation torque, inertia compensation torque, center sense compensation torque and hysteresis compensation torque.

10. A vehicle control device, characterized in that: A steer-by-wire system applied to a vehicle, the steer-by-wire system comprising a hand-feel feedback system, an intelligent driving system and a steering execution system connected to each other, the steering execution system being used to perform steering control on the vehicle based on a steering request angle sent by the hand-feel feedback system and / or the intelligent driving system; The device comprises: a first instruction module, configured to instruct the intelligent driving system to generate a target steering request angle and send the target steering request angle to the steering execution system when the hand-feel feedback system fails; The second instruction module is used to instruct the steering execution system to perform steering control on the vehicle based on the target steering request angle.

11. A vehicle, characterized in that: include: A memory for storing executable data instructions; A processor is used to implement the vehicle control method according to any one of claims 1 to 9 when executing the executable data instructions stored in the memory.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 9 is implemented.

13. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the vehicle control method according to any one of claims 1 to 9 is implemented.

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