Steering anomaly detection method, device and equipment for steer-by-wire, medium and product

Abstract

The invention provides a steer-by-wire steering anomaly detection method, device and equipment, a medium and a product, and can be applied to the technical field of vehicles. According to the method, after working data of a hand feeling simulator are obtained in the running process of a vehicle, the hand force of a driver is calculated; and determining a steering wheel centering result according to the steering wheel rotation angle in the working data. And finally, according to the hand power, the steering wheel centering result, and the steering wheel angular velocity, the current direction and the rotation direction in the working data, determining whether the rotation of the steering wheel is abnormal or not. And according to the hand power, the steering wheel centering result, the steering wheel rotation angle in the working data and the steering wheel angular speed, whether the steering wheel is stuck abnormally or not is determined. According to the scheme, whether rotation abnormity and jamming abnormity exist in the steering wheel or not is determined through the working data of the hand feeling simulator, a torque sensor does not need to be additionally installed, cost is effectively saved, and occupied space is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a steering anomaly detection method, device, equipment, medium and product for wire-controlled steering. Background Art

[0002] With the development of science and technology, steer-by-wire has attracted people's attention for its advantages of reducing component wear, improving space utilization, and improving vehicle intelligence. Steer-by-wire eliminates the mechanical connection between the steering column and the steering gear, and the user steers the vehicle through the steering wheel in the hand simulator. In order to improve the safety of vehicle driving under steer-by-wire, a large number of sensors are usually installed in the vehicle to control the vehicle steering according to the sensor data.

[0003] In order to handle the abnormal situation of steering wheel self-rotation or jamming in time to improve the driving safety of the vehicle, it is necessary to detect the steering abnormality during the driving of the vehicle. In the prior art, it is usually necessary to install an additional torque sensor to determine whether the steering abnormality occurs through the steering wheel torque detected by the torque sensor.

[0004] In summary, the existing steering anomaly detection method of wire-controlled steering requires the installation of a torque sensor, resulting in high costs. Summary of the invention

[0005] The embodiments of the present application provide a steering anomaly detection method, device, equipment, medium and product for wire-controlled steering, which are used to solve the problem that the existing steering anomaly detection method for wire-controlled steering requires the installation of a torque sensor, resulting in high costs.

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

[0007] During the driving of the vehicle, the working data of the hand feeling simulator is obtained; the working data includes the steering wheel angle, the steering wheel angular velocity, the current direction of the motor of the hand feeling simulator and the rotation direction of the motor;

[0008] calculating the driver's hand force according to the work data;

[0009] Determining a steering wheel return-to-center result according to the steering wheel angle, wherein the steering wheel return-to-center result is used to indicate whether the steering wheel has returned to the center;

[0010] determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction;

[0011] Whether the steering wheel is stuck abnormally is determined according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0012] In a specific implementation, the working data further includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor and the angular acceleration of the steering wheel;

[0013] The calculating the driver's hand strength according to the working data comprises:

[0014] The hand force is calculated according to the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the speed of the motor, the efficiency of the motor, the line voltage, the line current, the power factor of the motor, the steering wheel angular acceleration, and a preset hand force calculation formula.

[0015] In a specific implementation, determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction includes:

[0016] Determining whether the hand force is less than a first preset hand force threshold;

[0017] If the hand force is less than the first preset hand force threshold, determining whether the steering wheel angular velocity is zero;

[0018] If the steering wheel angular velocity is not zero, determining whether the steering wheel has an abnormal rotation according to the steering wheel return result;

[0019] If the hand force is greater than or equal to the first preset hand force threshold, whether the steering wheel has abnormal rotation is determined according to whether the rotation direction is the same as the current direction.

[0020] In a specific implementation, determining whether the steering wheel has an abnormal rotation according to the steering wheel centering result includes:

[0021] If the steering wheel return result indicates that the steering wheel has not returned to the center, it is determined that the steering wheel has an abnormal rotation;

[0022] If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that there is no abnormal rotation of the steering wheel.

[0023] In a specific implementation, determining whether the steering wheel has abnormal rotation according to whether the rotation direction is the same as the current direction includes:

[0024] If the rotation direction is the same as the current direction, it is determined that the steering wheel has an abnormal rotation;

[0025] If the rotation direction is different from the current direction, it is determined that there is no abnormal rotation of the steering wheel.

[0026] In a specific implementation, after determining whether the steering wheel angular velocity is zero, the method further includes:

[0027] If the steering wheel angular velocity is zero, it is determined that there is no abnormal rotation of the steering wheel.

[0028] In a specific implementation, determining whether the steering wheel is stuck abnormally according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result includes:

[0029] If the hand force is greater than a second preset hand force threshold, determining whether the steering wheel angular velocity is zero;

[0030] If the steering wheel angular velocity is zero, determining whether the steering wheel angle is within a preset range;

[0031] If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck abnormally according to the steering wheel return result;

[0032] If the steering wheel angle does not fall within the preset range, it is determined that the steering wheel is stuck abnormally.

[0033] In a specific implementation, determining whether the steering wheel is stuck abnormally according to the steering wheel return result includes:

[0034] If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that the steering wheel is stuck abnormally;

[0035] If the steering wheel return to center result indicates that the steering wheel has not returned to center, it is determined that there is no steering wheel stuck abnormality.

[0036] In a specific implementation, after determining whether the steering wheel angular velocity is zero, the method further includes:

[0037] If the steering wheel angular velocity is not zero, it is determined that there is no abnormality of the steering wheel being stuck.

[0038] In a specific implementation manner, the working data further includes the line current of the motor. If it is determined that the steering wheel is stuck abnormally, the method further includes:

[0039] The cause of the abnormality of the jam is determined according to the hand force, the line current, and the corresponding relationship between the preset hand force range, the current range and the abnormality cause.

[0040] In a second aspect, an embodiment of the present application provides a steering abnormality detection device for wire-controlled steering, comprising:

[0041] An acquisition module, used for acquiring working data of the hand feeling simulator during vehicle driving; the working data includes a steering wheel angle, a steering wheel angular velocity, a current direction of a motor of the hand feeling simulator, and a rotation direction of the motor;

[0042] Processing modules for:

[0043] calculating the driver's hand force according to the work data;

[0044] Determining a steering wheel return-to-center result according to the steering wheel angle, wherein the steering wheel return-to-center result is used to indicate whether the steering wheel has returned to the center;

[0045] Detection module for:

[0046] determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction;

[0047] Whether the steering wheel is stuck abnormally is determined according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0049] Processor, memory, communication interface;

[0050] The memory is used to store executable instructions of the processor;

[0051] Wherein, the processor is configured to execute the steering abnormality detection method for wire-controlled steering as described in any one of the first aspects by executing the executable instructions.

[0052] In a fourth aspect, an embodiment of the present application provides a vehicle, including a controller;

[0053] The controller is used to execute the steering abnormality detection method for wire-controlled steering as described in any one of the first aspects above.

[0054] In a fifth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steering abnormality detection method for wire-controlled steering as described in any one of the first aspects is implemented.

[0055] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the steering abnormality detection method for wire-controlled steering as described in any one of the first aspects.

[0056] The steering anomaly detection method, device, equipment, medium and product of the wire-controlled steering provided in the embodiment of the present application calculate the driver's hand force after obtaining the working data of the hand feel simulator during vehicle driving; determine the steering wheel return result according to the steering wheel angle in the working data. Finally, determine whether the steering wheel has a self-rotation anomaly based on the hand force, the steering wheel return result, the steering wheel angular velocity, the current direction and the rotation direction in the working data; determine whether the steering wheel has a stuck anomaly based on the hand force, the steering wheel return result, the steering wheel angle and the steering wheel angular velocity in the working data. This solution determines whether the steering wheel has a self-rotation anomaly and a stuck anomaly through the working data of the hand feel simulator, without the need to install an additional torque sensor, effectively saving costs and reducing space occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] 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 labor.

[0058] Figure 1 A schematic diagram of the structure of the hand feel simulator provided in this application;

[0059] Figure 2 A schematic diagram of a flow chart of a first embodiment of a method for detecting anomalies in steer-by-wire provided in the present application;

[0060] Figure 3 A schematic flow chart of a second embodiment of a steering anomaly detection method for steer-by-wire provided in the present application;

[0061] Figure 4 A schematic diagram of a flow chart of a third embodiment of a method for detecting anomalies in steer-by-wire provided in the present application;

[0062] Figure 5 A schematic diagram of the structure of an embodiment of a steering abnormality detection device for steer-by-wire provided in the present application;

[0063] Figure 6 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0064] 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 made by ordinary technicians in this field under the enlightenment of the embodiments belong to the scope of protection of the present application.

[0065] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0066] With the development of science and technology, steer-by-wire has attracted people's attention for its advantages of reducing component wear, improving space utilization and improving vehicle intelligence. Steer-by-wire eliminates the mechanical connection between the steering column and the steering gear, and the user steers the vehicle through the steering wheel in the hand simulator. In order to improve the safety of vehicle driving under steer-by-wire, a large number of sensors are usually installed in the vehicle to control the vehicle steering according to the data from the sensors.

[0067] For example, Figure 1 The structural diagram of the hand feel simulator provided in this application is as follows: Figure 1 As shown, the hand feeling simulator includes a steering wheel 11, a steering input shaft 12, a reducer 13 and a motor 14. When the driver turns the steering wheel 11, the motor 14 provides resistance to simulate the hand feeling of operating a conventional steering wheel. The hand feeling simulator also has an automatic return to center function.

[0068] In order to be able to handle the abnormal situation of steering wheel self-rotation or jamming in time to improve vehicle driving safety, it is necessary to perform steering abnormality detection during vehicle driving.

[0069] Steering wheel self-rotation refers to the steering wheel turning when the driver does not operate the steering wheel and is not in the automatic return to center scenario. Steering wheel stuck means that the driver cannot turn the steering wheel; return to center is also called return to center, which means that the steering wheel turns to the position when the vehicle is driving straight.

[0070] In the prior art, it is usually necessary to additionally install a torque sensor, and determine whether a steering abnormality occurs by detecting the steering wheel torque by the torque sensor. The need to install a torque sensor leads to a problem of high cost.

[0071] In view of the problems existing in the prior art, the inventors discovered during the research on the steering anomaly detection method for wire-controlled steering that in order to realize wire-controlled steering, the vehicle has been installed with a large number of sensors and controllers, which can determine the working data of the hand feel simulator. During the driving process of the vehicle, whether the steering wheel is stuck is determined based on the working data of the hand feel simulator, without the need to install an additional torque sensor, saving costs and space. Based on the above-mentioned inventive concept, the steering anomaly detection scheme for wire-controlled steering in this application is designed.

[0072] The executor of the steering anomaly detection method for wire-controlled steering in the present application can be a controller or a vehicle-mounted terminal in the vehicle, or it can be a server, computer and other equipment. This application does not limit it and will be explained below using the controller as an example.

[0073] The following is an example of an application scenario of the steering anomaly detection method for steer-by-wire.

[0074] For example, in this application scenario, a driver needs to drive a vehicle with steer-by-wire to a destination.

[0075] When the vehicle is driving, the controller obtains the working data of the hand feel simulator, and then calculates the driver's hand force based on the working data. The driver's hand force is the torque applied by the driver on the steering wheel. The controller is connected to the electronic control unit (Electronic Control Unit, referred to as: ECU) in the vehicle, and the ECU is connected to the motor of the hand feel simulator and various sensors in the vehicle. The controller can obtain the working data of the hand feel simulator through the ECU.

[0076] Then, based on the steering wheel angle in the working data, a steering wheel centering result indicating whether the steering wheel has been centered is determined.

[0077] Finally, based on the hand force, the steering wheel return to center result, the steering wheel angular velocity, current direction and rotation direction in the working data, determine whether the steering wheel has self-rotation abnormality; based on the hand force, the steering wheel return to center result, the steering wheel angle and steering wheel angular velocity in the working data, determine whether the steering wheel is stuck abnormally.

[0078] When the controller determines that the steering wheel is rotating abnormally and / or stuck abnormally, it can output an alarm message to facilitate maintenance by the staff. The driver can also control the steering of the vehicle through the backup control system.

[0079] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, nor does it limit the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0080] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0081] Figure 2 This is a flow chart of the first embodiment of the method for detecting steering abnormality of the wire control steering provided by the present application. The present embodiment of the present application describes the situation in which the controller determines whether the steering wheel has a steering abnormality according to the working data of the hand feel simulator during the driving process of the vehicle. The method in this embodiment can be implemented by software, hardware, or a combination of software and hardware. Figure 2 As shown, the steering abnormality detection method of the wire control steering specifically includes the following steps:

[0082] S201: Acquire working data of the hand feeling simulator during vehicle driving.

[0083] In this step, in order to detect whether the steering wheel of the steer-by-wire system has a steering abnormality, the controller obtains the working data of the hand feel simulator during the driving of the vehicle.

[0084] The working data include the steering wheel angle, the steering wheel angular velocity, the current direction of the motor of the hand feel simulator and the rotation direction of the motor.

[0085] The controller is connected to the ECU in the vehicle, and the ECU is connected to the motor, reducer and various sensors in the vehicle of the hand feel simulator. The sensors include an angle sensor for detecting the steering wheel angle. The controller can obtain the working data of the hand feel simulator through the ECU.

[0086] It should be noted that the controller determines that the vehicle is in the driving process in the following manner: the ECU is connected to the speed sensor, the controller obtains the vehicle speed from the ECU, and when the vehicle speed is greater than 0, it is determined that the vehicle is in the driving process.

[0087] S202: Calculate the driver's hand strength according to the work data.

[0088] In this step, after acquiring the working data, the controller calculates the driver's hand force according to the working data, where the driver's hand force is the force applied by the driver to the steering wheel.

[0089] Specifically, the working data also includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor and the angular acceleration of the steering wheel.

[0090] The hand force is calculated based on the moment of inertia, steering wheel angular velocity, damping coefficient, reduction ratio, motor speed, motor efficiency, line voltage, line current, motor power factor, steering wheel angular acceleration, and a preset hand force calculation formula.

[0091] The preset hand force calculation formula is: Among them, T h Indicates hand strength, U L Indicates the line voltage, I L represents the line current, Indicates the power factor of the motor, i s represents the reduction ratio, η represents the efficiency of the motor, n m Indicates the motor speed, J s represents the moment of inertia, is the steering wheel angular acceleration, B s represents the damping coefficient, Indicates the steering wheel angular velocity.

[0092] It should be noted that the moment of inertia, damping coefficient and motor efficiency are preset in the ECU by the staff, and the controller can obtain them from the ECU. The moment of inertia can be 0.0025kg·m 2 , 0.003kg·m 2 , 0.01kg·m 2 etc., the damping coefficient can be 0.25Nms / rad, 0.3Nms / rad, 0.4Nms / rad, etc., the efficiency of the motor can be 90%, 93%, 95%, etc. The embodiment of the present application does not limit the moment of inertia, damping coefficient and efficiency of the motor, which can be determined according to actual conditions.

[0093] S203: Determine the steering wheel return result according to the steering wheel angle.

[0094] In this step, after acquiring the working data, the controller determines the steering wheel return result according to the steering wheel angle, and the steering wheel return result is used to indicate whether the steering wheel is returned to the center.

[0095] The controller acquires multiple steering wheel angles, and each steering wheel angle carries the acquisition time. The steering wheel angles are sorted in order from early to late according to the acquisition time to obtain an angle sequence, and then it is determined whether the steering wheel angle in the angle sequence tends to a preset angle value, that is, whether the absolute value of the difference between the steering wheel angle in the angle sequence and the preset angle value decreases successively.

[0096] If the steering wheel angle in the angle sequence approaches a preset angle value, a steering wheel centering result indicating that the steering wheel is centering is determined.

[0097] If the steering wheel angle in the angle sequence does not tend to the preset angle value, a steering wheel centering result indicating that the steering wheel is not centered is determined.

[0098] It should be noted that the preset angle value is the angle value corresponding to the steering wheel returning to the center, which can be 0°, 540°, 720°, etc. The embodiment of the present application does not limit the preset angle value, which can be determined according to actual conditions.

[0099] It should be noted that the execution order of step S202 and step S203 can be: first execute step S202, then execute step S203; or: first execute step S203, then execute step S202; or: execute step S202 and step S203 simultaneously. The embodiment of the present application does not limit the execution order of step S202 and step S203, which can be determined according to actual conditions.

[0100] S204: Determine whether the steering wheel has abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel return result, the current direction and the rotation direction.

[0101] In this step, after the controller determines the hand force and the steering wheel return result, it determines whether the steering wheel has abnormal rotation based on the hand force, steering wheel angular velocity, steering wheel return result, current direction and rotation direction.

[0102] When the hand force is small, the steering wheel angular velocity is not 0, and the steering wheel return result indicates that the steering wheel is not returned to the center, it is determined that the steering wheel has an abnormal rotation. That is, it is determined that the driver's hand does not operate the steering wheel and the steering wheel rotates when it is not in the return to the center scenario, and it is determined that the steering wheel has rotated.

[0103] When the hand force is large and the direction of rotation is the same as the direction of current, it is determined that the steering wheel has abnormal self-rotation. That is, it is determined that the driver's hand operates the steering wheel, but the motor provides power, and it is determined that the steering wheel has self-rotation. Under normal circumstances, when the driver operates the steering wheel, the motor provides resistance.

[0104] S205: Determine whether the steering wheel is stuck abnormally according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0105] In this step, after the controller determines the hand force and the steering wheel return result, it determines whether the steering wheel is stuck abnormally based on the hand force, steering wheel angle, steering wheel angular velocity and the steering wheel return result.

[0106] When the hand force is large, the steering wheel angular velocity is zero, and the steering wheel angle does not fall within the preset range, it is determined that the steering wheel is stuck abnormally. That is, it is determined that the driver's hand operates the steering wheel, but the steering wheel does not turn, and at this time the steering wheel angle does not fall within the preset range. The preset range is the angle range of the steering wheel corresponding to the extreme position of the wheel steering, and it is determined that the steering wheel is stuck abnormally.

[0107] When the hand force is large, the steering wheel angular velocity is zero, the steering wheel angle is within the preset range, and the steering wheel return result indicates that the steering wheel is centered, it is determined that the steering wheel is stuck abnormally. That is, when it is determined that the driver's hand operates the steering wheel, but the steering wheel does not turn, although the steering wheel angle is within the preset range, but the steering wheel is centered, it is determined that the steering wheel is stuck abnormally.

[0108] It should be noted that the preset range is [540°, 550°], [530°, 550°], [520°, 550°], etc. The embodiment of the present application does not limit the preset range and can be determined according to actual conditions.

[0109] It should be noted that the execution order of step S204 and step S205 can be: first execute step S204, then execute step S205; it can also be: first execute step S205, then execute step S204; it can also be: step S204 and step S205 are executed simultaneously. The embodiment of the present application does not limit the execution order of step S204 and step S205, which can be determined according to actual conditions.

[0110] The steering abnormality detection method for steer-by-wire provided in the present embodiment calculates the driver's hand force after obtaining the working data of the hand feel simulator while the vehicle is driving; and determines the steering wheel return result based on the steering wheel angle in the working data. Finally, determine whether the steering wheel has a self-rotation abnormality based on the hand force, the steering wheel return result, the steering wheel angular velocity, the current direction and the rotation direction in the working data; determine whether the steering wheel has a stuck abnormality based on the hand force, the steering wheel return result, the steering wheel angle and the steering wheel angular velocity in the working data. This solution determines whether the steering wheel has a self-rotation abnormality and a stuck abnormality through the working data of the hand feel simulator, without the need to install an additional torque sensor, and the working data can be obtained only through the original sensors and devices in the vehicle, effectively saving costs and reducing space occupancy.

[0111] Figure 3This is a flow chart of the second embodiment of the steering abnormality detection method for wire-controlled steering provided by the present application. Based on the above embodiment, the present embodiment of the present application describes how the controller determines whether the steering wheel has an abnormal rotation according to the hand force, steering wheel angular velocity, steering wheel return result, current direction and rotation direction. Figure 3 As shown, the steering abnormality detection method of the wire control steering specifically includes the following steps:

[0112] S301: Determine whether the hand force is less than a first preset hand force threshold; if the hand force is less than the first preset hand force threshold, execute step S302; if the hand force is greater than or equal to the first preset hand force threshold, execute step S304.

[0113] In this step, after the controller determines the hand force and the steering wheel return result, in order to detect whether the steering wheel has abnormal rotation, it first determines whether the hand force is less than a first preset hand force threshold to determine whether the driver's hand is operating the steering wheel.

[0114] It should be noted that the first preset hand force threshold may be 0.4 Nm, 0.5 Nm, 0.6 Nm, etc. The embodiment of the present application does not limit the first preset hand force threshold, which may be determined according to actual conditions.

[0115] S302: Determine whether the steering wheel angular velocity is zero; if the steering wheel angular velocity is not zero, execute step S303; if the steering wheel angular velocity is zero, execute step S306.

[0116] In this step, if the controller determines that the hand force is less than the first preset hand force threshold, it means that the driver's hand is not operating the steering wheel, and continues to determine whether the steering wheel angular velocity is zero to determine whether the steering wheel is rotating.

[0117] S303: Determine whether the steering wheel return to center result indicates that the steering wheel has returned to center; if the steering wheel return to center result indicates that the steering wheel has not returned to center, execute step S305; if the steering wheel return to center result indicates that the steering wheel has returned to center, execute step S306.

[0118] In this step, if the controller determines that the steering wheel angular velocity is not zero, it means that the steering wheel is rotating. According to the steering wheel return result, it is determined whether the steering wheel has self-rotation abnormality; that is, it is determined whether the steering wheel return result indicates that the steering wheel is centered, so as to determine whether the current state is in the steering wheel return scenario.

[0119] S304: Determine whether the rotation direction is the same as the current direction; if the rotation direction is the same as the current direction, execute step S305; if the rotation direction is not the same as the current direction, execute step S306.

[0120] In this step, if the controller determines that the hand force is greater than or equal to the first preset hand force threshold, it means that the driver's hand is operating the steering wheel. It is necessary to determine whether the motor provides power assistance or assist based on whether the rotation direction is the same as the current direction, and whether there is any self-rotation abnormality in the steering wheel.

[0121] It should be noted that the rotation direction is divided into positive and negative, and the current direction is also divided into positive and negative. When the external force applied to the motor is less than the force of the motor, if the current direction is positive, the rotation direction is positive, and if the current direction is negative, the rotation direction is negative.

[0122] A positive rotation direction indicates that the motor rotates clockwise, while a negative rotation direction indicates that the motor rotates counterclockwise. Alternatively, a positive rotation direction indicates that the motor rotates counterclockwise, while a negative rotation direction indicates that the motor rotates clockwise.

[0123] A positive current direction indicates that a positive current is applied to the motor; a negative current direction indicates that a negative current is applied to the motor.

[0124] S305: Determine whether the steering wheel has abnormal rotation.

[0125] In this step, if the controller determines that the steering wheel return result indicates that the steering wheel has not returned to the center, it means that the current state is not in the steering wheel return to the center scenario, and it is determined that the steering wheel has a self-rotation abnormality.

[0126] If the controller determines that the rotation direction is the same as the current direction, since the rotation direction is consistent with the rotation direction of the steering wheel, it means that the motor provides power assistance, and it is determined that the steering wheel has abnormal rotation.

[0127] S306: Determine that the steering wheel does not have abnormal rotation.

[0128] In this step, if the controller determines that the steering wheel angular velocity is zero, it means that the steering wheel is not rotating, and it is determined that there is no abnormal rotation of the steering wheel.

[0129] If the controller determines that the steering wheel is centered and the result indicates that the steering wheel is centered, it means that the controller is currently in the steering wheel centered scenario and determines that there is no abnormal rotation of the steering wheel.

[0130] If the controller determines that the rotation direction is different from the current direction, since the rotation direction is consistent with the rotation direction of the steering wheel, it means that the motor provides resistance, and it is determined that there is no abnormal rotation of the steering wheel.

[0131] The steering abnormality detection method for wire-controlled steering provided in this embodiment determines that the steering wheel has a self-rotation abnormality when the hand force is less than the first preset hand force threshold, the steering wheel angular velocity is not 0, and the steering wheel return result indicates that the steering wheel has not returned to the center. That is, it is determined that the driver's hand does not operate the steering wheel and the steering wheel rotates in the return-to-center scenario, and the steering wheel is determined to have self-rotated. And when the hand force is greater than or equal to the first preset hand force threshold and the rotation direction is the same as the current direction, it is determined that the steering wheel has a self-rotation abnormality. That is, it is determined that the driver's hand operates the steering wheel, but the motor provides power assistance, and it is determined that the steering wheel has self-rotated, which effectively improves the detection accuracy.

[0132] Figure 4 This is a flow chart of the third embodiment of the steering abnormality detection method for wire-controlled steering provided by the present application. Based on the above embodiments, the present embodiment of the present application describes how the controller determines whether the steering wheel is stuck abnormally based on the hand force, steering wheel angle, steering wheel angular velocity and steering wheel return result. Figure 4 As shown, the steering abnormality detection method of the wire control steering specifically includes the following steps:

[0133] S401: If the hand force is greater than the second preset hand force threshold, determine whether the steering wheel angular velocity is zero; if the steering wheel angular velocity is zero, execute step S402; if the steering wheel angular velocity is not zero, execute step S405.

[0134] After the controller determines the hand force and the steering wheel return to center result, since the steering wheel is stuck can only be detected when the driver's hand operates the steering wheel, it is necessary to determine whether the hand force is greater than the second threshold, that is, to judge whether the driver's hand operates the steering wheel.

[0135] In this step, if the hand force is greater than the second preset hand force threshold, it means that the driver's hand is operating the steering wheel, and then continue to judge whether the steering wheel angular velocity is zero to determine whether the steering wheel can be turned.

[0136] It should be noted that the second preset hand force threshold may be 0.4 Nm, 0.5 Nm, 0.6 Nm, etc. The embodiment of the present application does not limit the second preset hand force threshold, which may be determined according to actual conditions.

[0137] It should be noted that if the hand force is less than or equal to the second preset hand force threshold, it means that the driver's hand is not operating the steering wheel, and the detection of steering wheel jam is terminated.

[0138] S402: Determine whether the steering wheel angle is within a preset range; if the steering wheel angle is within the preset range, execute step S403; if the steering wheel angle is not within the preset range, execute step S404.

[0139] In this step, if the controller determines that the steering wheel angular velocity is zero, it means that the steering wheel cannot be turned. It is also necessary to determine whether the reason why the steering wheel cannot be turned is that the driver wants the steering wheel to continue turning after the wheel has turned to the extreme position. First, determine whether the steering wheel angle is within the preset range.

[0140] It should be noted that the controller obtains multiple steering wheel angles, and each steering wheel angle carries the acquisition time. The steering wheel angles are sorted in order from early to late according to the acquisition time to obtain an angle sequence. The last steering wheel angle in the angle sequence is selected to determine whether the steering wheel angle belongs to the preset range.

[0141] It should be noted that the preset range is the angle range of the steering wheel corresponding to the extreme position of the wheel steering. The preset range can be [540°, 550°], [530°, 550°], [520°, 550°], etc. The embodiment of the present application does not limit the preset range and can be determined according to actual conditions.

[0142] S403: Determine whether the steering wheel return to center result indicates that the steering wheel has returned to center. If the steering wheel return to center result indicates that the steering wheel has returned to center, execute step S404; if the steering wheel return to center result indicates that the steering wheel has not returned to center, execute step S405.

[0143] In this step, if the controller determines that the steering wheel angle is within the preset range, it means that the wheel steering has not reached the limit position. It is necessary to continue to determine whether the current driver operates the steering wheel back to center. According to the steering wheel returning to center result, determine whether the steering wheel is stuck abnormally, that is, determine whether the steering wheel returning to center result indicates that the steering wheel is back to center.

[0144] S404: Determine that the steering wheel is stuck abnormally.

[0145] In this step, if the controller determines that the steering wheel angle is not within the preset range, it means that the wheel has not turned and has not reached the limit position, but the steering wheel cannot be turned, and it is determined that the steering wheel is stuck abnormally.

[0146] If the controller determines that the steering wheel is centered and the result indicates that the steering wheel is centered, it means that the current driver operates the steering wheel to be centered, but the steering wheel cannot be turned, and it is determined that the steering wheel is stuck abnormally.

[0147] S405: Determine that the steering wheel is not stuck abnormally.

[0148] In this step, if the controller determines that the steering wheel angular velocity is not zero, it means that the steering wheel can be rotated, and it is determined that there is no abnormality of the steering wheel being stuck.

[0149] If the controller determines that the steering wheel has not returned to the center and the result indicates that the steering wheel has not returned to the center, it means that the current driver wants to continue to operate the steering wheel to the extreme position, but the wheel cannot continue to turn. The inability of the steering wheel to turn is a normal reason, and it is determined that the steering wheel is not stuck.

[0150] The steering abnormality detection method of the wire control steering provided in the present embodiment determines that the steering wheel is stuck abnormally when the hand force is greater than the second preset hand force threshold, the steering wheel angular velocity is zero, and the steering wheel angle does not belong to the preset range. That is, it is determined that the driver's hand operates the steering wheel, but the steering wheel does not rotate, and at this time the steering wheel angle does not belong to the steering wheel angle range corresponding to the extreme position of the wheel steering, and it is determined that the steering wheel is stuck abnormally. And when the hand force is greater than the second preset hand force threshold, the steering wheel angular velocity is zero, the steering wheel angle belongs to the preset range, and the steering wheel return result indicates that the steering wheel is back to the center, it is determined that the steering wheel is stuck abnormally. That is, when it is determined that the driver's hand operates the steering wheel, but the steering wheel does not rotate, although the steering wheel angle belongs to the preset range, but the steering wheel is back to the center, it is determined that the steering wheel is stuck abnormally, which effectively improves the detection accuracy.

[0151] The following describes the situation of determining the cause of the abnormality of the stuck state through the fourth embodiment of the steering abnormality detection method for wire-controlled steering provided by the present application.

[0152] After determining that the steering wheel is stuck abnormally, the controller can also determine the cause of the abnormal stuckness according to the hand force, line current, and the corresponding relationship between the preset hand force range, current range and abnormal cause. That is, the hand force range to which the hand force belongs is determined, the current range to which the line current belongs is determined, and then the corresponding cause of the abnormal stuckness is determined by combining the corresponding relationship between the hand force range, current range and abnormal cause.

[0153] Illustratively, Table 1 is a correspondence table of hand force range, current range and abnormal cause provided by the present application.

[0154] Table 1

[0155] Hand force range Current range Abnormal cause [T1，+∞) [I1，+∞) Motor stall (T2, T1) (I2, I1) Minor mechanical hardware jam (-∞，T2] (-∞，I2] A serious mechanical hardware jam

[0156] Among them, T1 is greater than T2, I1 is greater than I2, T1 can be 25Nm, 30Nm, 35Nm, etc., T2 can be 0.2Nm, 0.3Nm, 0.4Nm, etc., I1 can be 75A, 80A, 85A, etc., I2 can be 2A, 3A, 4A, etc. The embodiments of the present application do not limit T1, T2, I1, and I2, and they can be determined according to actual conditions.

[0157] From the preset hand force calculation formula, it can be seen that the hand force is proportional to the line current. As shown in Table 1, when the line current belongs to [I1, +∞) and the hand force belongs to [T1, +∞), it means that the motor wants to provide a larger force, but the actual force provided is small, which is caused by the motor stalling. When the motor stalls, the line current will increase to increase the force provided by the motor.

[0158] When the line current belongs to (-∞, I2] and the hand force belongs to (-∞, T2], the current steering wheel is stuck, but the phase current of the motor is very small, that is, the resistance provided is very small, indicating that the mechanical hardware is stuck and provides additional resistance. Since the line current is very small, it indicates that the degree of sticking is large.

[0159] When the line current belongs to (I2, I1) and the hand force belongs to (T2, T1), the current steering wheel is stuck, but the phase current of the motor is small, that is, the resistance provided is small, which means that the mechanical hardware is stuck and provides additional resistance. Since the line current is small, the degree of sticking is small.

[0160] It should be noted that if the hand force and line current do not meet the conditions in Table 1, a prompt message indicating that the cause of the jam is yet to be determined may be output.

[0161] It should be noted that the abnormal cause of the jam can also be determined based only on the line current and the correspondence between the line current range and the abnormal cause. That is, the current range to which the line current belongs is determined, and then the corresponding relationship between the current range and the abnormal cause is determined to determine the corresponding abnormal cause of the jam.

[0162] Illustratively, based on Table 1, Table 2 is a correspondence table between current ranges and abnormal causes provided in the present application.

[0163] Table 2

[0164] Current range Abnormal cause [I1，+∞) Motor stall (I2, I1) Minor mechanical hardware jam (-∞，I2] A serious mechanical hardware jam

[0165] As shown in Table 2, if the line current belongs to [I1, +∞), it is determined that the cause of the abnormal jam is the motor stall. If the line current belongs to (I2, I1), it is determined that the cause of the abnormal jam is a minor mechanical hardware jam. If the line current belongs to (-∞, I2], it is determined that the cause of the abnormal jam is a major mechanical hardware jam.

[0166] The steering abnormality detection method for wire-controlled steering provided in this embodiment improves the accuracy of determining the cause of the jamming abnormality by determining the cause of the jamming abnormality based on hand force and line current. It does not require manual confirmation of the cause of the jamming abnormality, which facilitates maintenance by staff and improves maintenance efficiency.

[0167] The following are device embodiments of the present application, which can be used to execute the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0168] Figure 5 This is a schematic diagram of the structure of an embodiment of a steering abnormality detection device for wire-controlled steering provided in this application. Figure 5 As shown, the steering abnormality detection device 50 of the wire control steering includes:

[0169] The acquisition module 51 is used to acquire the working data of the hand feeling simulator during the driving process of the vehicle; the working data includes the steering wheel angle, the steering wheel angular velocity, the current direction of the motor of the hand feeling simulator and the rotation direction of the motor;

[0170] The processing module 52 is used to:

[0171] calculating the driver's hand force according to the work data;

[0172] Determining a steering wheel return-to-center result according to the steering wheel angle, wherein the steering wheel return-to-center result is used to indicate whether the steering wheel has returned to the center;

[0173] The detection module 53 is used for:

[0174] determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction;

[0175] Whether the steering wheel is stuck abnormally is determined according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0176] Furthermore, the working data also includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor and the angular acceleration of the steering wheel;

[0177] The processing module 52 is specifically used for:

[0178] The hand force is calculated according to the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the speed of the motor, the efficiency of the motor, the line voltage, the line current, the power factor of the motor, the steering wheel angular acceleration, and a preset hand force calculation formula.

[0179] Furthermore, the detection module 53 is specifically used for:

[0180] Determining whether the hand force is less than a first preset hand force threshold;

[0181] If the hand force is less than the first preset hand force threshold, determining whether the steering wheel angular velocity is zero;

[0182] If the steering wheel angular velocity is not zero, determining whether the steering wheel has an abnormal rotation according to the steering wheel return result;

[0183] If the hand force is greater than or equal to the first preset hand force threshold, whether the steering wheel has abnormal rotation is determined according to whether the rotation direction is the same as the current direction.

[0184] Furthermore, the detection module 53 is also specifically used for:

[0185] If the steering wheel return result indicates that the steering wheel has not returned to the center, it is determined that the steering wheel has an abnormal rotation;

[0186] If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that there is no abnormal rotation of the steering wheel.

[0187] Furthermore, the detection module 53 is also specifically used for:

[0188] If the rotation direction is the same as the current direction, it is determined that the steering wheel has an abnormal rotation;

[0189] If the rotation direction is different from the current direction, it is determined that there is no abnormal rotation of the steering wheel.

[0190] Further, after determining whether the steering wheel angular velocity is zero, the detection module 53 is further configured to:

[0191] If the steering wheel angular velocity is zero, it is determined that there is no abnormal rotation of the steering wheel.

[0192] Furthermore, the detection module 53 is also specifically used for:

[0193] If the hand force is greater than a second preset hand force threshold, determining whether the steering wheel angular velocity is zero;

[0194] If the steering wheel angular velocity is zero, determining whether the steering wheel angle is within a preset range;

[0195] If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck abnormally according to the steering wheel return result;

[0196] If the steering wheel angle does not fall within the preset range, it is determined that the steering wheel is stuck abnormally.

[0197] Furthermore, the detection module 53 is also specifically used for:

[0198] If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that the steering wheel is stuck abnormally;

[0199] If the steering wheel return to center result indicates that the steering wheel has not returned to center, it is determined that there is no steering wheel stuck abnormality.

[0200] Further, after determining whether the steering wheel angular velocity is zero, the detection module 53 is further configured to:

[0201] If the steering wheel angular velocity is not zero, it is determined that there is no abnormality of the steering wheel being stuck.

[0202] Furthermore, the working data also includes the line current of the motor. If it is determined that the steering wheel is stuck abnormally, the detection module 53 is further used to:

[0203] The cause of the abnormality of the jam is determined according to the hand force, the line current, and the corresponding relationship between the preset hand force range, the current range and the abnormality cause.

[0204] The steering anomaly detection device for wire-controlled steering provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effects are similar and will not be repeated here.

[0205] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 6 As shown, the electronic device 60 includes:

[0206] Processor 61, memory 62, and communication interface 63;

[0207] The memory 62 is used to store executable instructions of the processor 61;

[0208] The processor 61 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0209] Optionally, the memory 62 may be independent or integrated with the processor 61 .

[0210] Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include:

[0211] The bus 64 , the memory 62 and the communication interface 63 are connected to the processor 61 via the bus 64 and communicate with each other. The communication interface 63 is used to communicate with other devices.

[0212] Optionally, the communication interface 63 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0213] The bus 64 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0214] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0215] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0216] An embodiment of the present application also provides a vehicle, which includes a controller.

[0217] The controller is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0218] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0219] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0220] 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.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting steering anomalies in a steer-by-wire system, characterized in that: include: During the driving of the vehicle, the working data of the hand feeling simulator is obtained; the working data includes the steering wheel angle, the steering wheel angular velocity, the current direction of the motor of the hand feeling simulator and the rotation direction of the motor; calculating the driver's hand force according to the work data; Determining a steering wheel return-to-center result according to the steering wheel angle, wherein the steering wheel return-to-center result is used to indicate whether the steering wheel has returned to the center; determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction; Whether the steering wheel is stuck abnormally is determined according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

2. The method according to claim 1, characterized in that The working data also includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor and the angular acceleration of the steering wheel; The calculating the driver's hand strength according to the working data comprises: The hand force is calculated according to the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the speed of the motor, the efficiency of the motor, the line voltage, the line current, the power factor of the motor, the steering wheel angular acceleration, and a preset hand force calculation formula.

3. The method according to claim 1, characterized in that The determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction includes: Determining whether the hand force is less than a first preset hand force threshold; If the hand force is less than the first preset hand force threshold, determining whether the steering wheel angular velocity is zero; If the steering wheel angular velocity is not zero, determining whether the steering wheel has an abnormal rotation according to the steering wheel return result; If the hand force is greater than or equal to the first preset hand force threshold, whether the steering wheel has abnormal rotation is determined according to whether the rotation direction is the same as the current direction.

4. The method according to claim 3, characterized in that Determining whether the steering wheel has an abnormal rotation according to the steering wheel centering result includes: If the steering wheel return result indicates that the steering wheel has not returned to the center, it is determined that the steering wheel has an abnormal rotation; If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that there is no abnormal rotation of the steering wheel.

5. The method according to claim 3, characterized in that: The determining whether the steering wheel has abnormal self-rotation according to whether the rotation direction is the same as the current direction includes: If the rotation direction is the same as the current direction, it is determined that the steering wheel has an abnormal rotation; If the rotation direction is different from the current direction, it is determined that there is no abnormal rotation of the steering wheel.

6. The method according to any one of claims 3 to 5, characterized in that: After determining whether the steering wheel angular velocity is zero, the method further includes: If the steering wheel angular velocity is zero, it is determined that there is no abnormal rotation of the steering wheel.

7. The method according to claim 1, characterized in that The determining whether the steering wheel is stuck abnormally according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result includes: If the hand force is greater than a second preset hand force threshold, determining whether the steering wheel angular velocity is zero; If the steering wheel angular velocity is zero, determining whether the steering wheel angle is within a preset range; If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck abnormally according to the steering wheel return result; If the steering wheel angle does not fall within the preset range, it is determined that the steering wheel is stuck abnormally.

8. The method according to claim 7, characterized in that Determining whether the steering wheel is stuck abnormally according to the steering wheel return result includes: If the steering wheel return to center result indicates that the steering wheel is returned to center, it is determined that the steering wheel is stuck abnormally; If the steering wheel return to center result indicates that the steering wheel has not returned to center, it is determined that there is no steering wheel stuck abnormality.

9. The method according to claim 7, characterized in that: After determining whether the steering wheel angular velocity is zero, the method further includes: If the steering wheel angular velocity is not zero, it is determined that there is no abnormality of the steering wheel being stuck.

10. The method according to any one of claims 7 to 9, characterized in that: The working data also includes the line current of the motor. If it is determined that the steering wheel is stuck abnormally, the method further includes: The cause of the abnormality of the jam is determined according to the hand force, the line current, and the corresponding relationship between the preset hand force range, the current range and the abnormality cause.

11. A steering abnormality detection device for steer-by-wire, characterized in that: include: An acquisition module, used for acquiring working data of the hand feeling simulator during vehicle driving; the working data includes a steering wheel angle, a steering wheel angular velocity, a current direction of a motor of the hand feeling simulator, and a rotation direction of the motor; Processing modules for: calculating the driver's hand force according to the work data; Determining a steering wheel return-to-center result according to the steering wheel angle, wherein the steering wheel return-to-center result is used to indicate whether the steering wheel has returned to the center; Detection module for: determining whether the steering wheel has an abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction and the rotation direction; Whether the steering wheel is stuck abnormally is determined according to the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

12. An electronic device, characterized in that: include: Processor, memory, communication interface; The memory is used to store executable instructions of the processor; Wherein, the processor is configured to execute the steering abnormality detection method for wire-controlled steering according to any one of claims 1 to 10 by executing the executable instructions.

13. A vehicle, characterized in that: Including controller; The controller is used to execute the steering abnormality detection method for steer-by-wire according to any one of claims 1 to 10 above.

14. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steering abnormality detection method for steer-by-wire according to any one of claims 1 to 10 is implemented.

15. A computer program product, characterized in that It comprises a computer program, which is used to implement the steering abnormality detection method of wire control steering according to any one of claims 1 to 10 when executed by a processor.

Images