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

Abstract

The present application provides a steering anomaly detection method, device, equipment, medium and product for wire-controlled steering, which can be used in the field of vehicle technology. In this method, after obtaining the working data of the hand feel simulator while the vehicle is driving, the driver's hand force is calculated; based on the steering wheel angle in the working data, the steering wheel return result is determined. Finally, 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, it is determined whether the steering wheel has a self-rotation 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, it is determined whether the steering wheel has a stuck anomaly. 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, which effectively saves costs and reduces space occupancy.

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 advancement of technology, steer-by-wire (SWI) has attracted attention for its advantages of reducing component wear, improving space utilization, and enhancing vehicle intelligence. SWI eliminates the mechanical connection between the steering column and the steering gear, allowing the user to steer the vehicle using a steering wheel in a hand simulator. To enhance driving safety under SWI, a large number of sensors are typically installed in the vehicle to control the steering based on sensor data.

[0003] In order to promptly address any abnormal steering wheel rotation or jamming during vehicle operation and improve vehicle safety, it is necessary to detect steering anomalies during driving. Conventional technology typically requires the installation of an additional torque sensor, which detects steering wheel torque to determine whether a steering anomaly has occurred.

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

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

[0007] Acquiring working data of the hand-feel 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-feel simulator, and a rotation direction of the motor;

[0008] calculating the driver's hand force based on 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 center;

[0010] determining whether the steering wheel has 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] Determine whether the steering wheel is stuck abnormally based on the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0012] In a specific embodiment, the operating 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 steering wheel angular acceleration;

[0013] Calculating the driver's hand strength according to the working data includes:

[0014] The hand force is calculated based on 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 embodiment, determining whether the steering wheel has 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 based on whether the rotation direction is the same as the current direction.

[0020] In a specific embodiment, determining whether the steering wheel has 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 centering result indicates that the steering wheel is centered, it is determined that there is no abnormal rotation of the steering wheel.

[0023] In a specific embodiment, 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 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 embodiment, 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 embodiment, determining whether the steering wheel is stuck abnormally based on 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 falls within a preset range;

[0031] If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck 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 embodiment, determining whether the steering wheel is stuck abnormally according to the steering wheel centering result includes:

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

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

[0036] In a specific embodiment, 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 stuck abnormality in the steering wheel.

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

[0039] The cause of the abnormality is determined based on 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 anomaly detection device for steer-by-wire, comprising:

[0041] An acquisition module is used to acquire 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 module for:

[0043] calculating the driver's hand force based on 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 center;

[0045] Detection module for:

[0046] determining whether the steering wheel has 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] Determine whether the steering wheel is stuck abnormally based on 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] The processor is configured to execute the steering abnormality detection method for steer-by-wire according to 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, comprising 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, comprising 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 for wire-controlled steering provided in the embodiments of the present application calculate the driver's hand force after obtaining the working data of the hand feel simulator while the vehicle is driving; and determine the steering wheel return to center result based on the steering wheel angle in the working data. Finally, based on the hand force, the steering wheel return to center result, the steering wheel angular velocity, the current direction and the rotation direction in the working data, determine whether the steering wheel has a self-rotation anomaly; based on the hand force, the steering wheel return to center result, the steering wheel angle and the steering wheel angular velocity in the working data, determine whether the steering wheel has a stuck anomaly. This solution determines whether the steering wheel has a self-rotation anomaly and a stuck anomaly based on 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 flowchart of a first embodiment of a method for detecting a steering anomaly in steer-by-wire provided by the present application;

[0060] Figure 3 A flowchart of a second embodiment of a method for detecting steering anomalies in steer-by-wire provided by the present application;

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

[0062] Figure 5 This is a structural diagram of an embodiment of a steering abnormality detection device for steer-by-wire provided by the present application;

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

[0064] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions 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 based on the inspiration of these embodiments fall within the scope of protection of this 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 sequential order. It should be understood that the numbers used in this way are 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 variations thereof 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 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 advancement of technology, steer-by-wire (SWI) has attracted attention for its advantages of reducing component wear, improving space utilization, and enhancing vehicle intelligence. SWI eliminates the mechanical connection between the steering column and the steering gear, allowing the user to steer the vehicle using a steering wheel in a hand simulator. To enhance driving safety under SWI, a large number of sensors are typically installed in the vehicle to control steering based on sensor data.

[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 feel simulator includes a steering wheel 11, a steering input shaft 12, a speed reducer 13, and a motor 14. When the driver turns the steering wheel 11, the motor 14 provides resistance, simulating the feel of operating a conventional steering wheel. The hand feel simulator also has an automatic return to center function.

[0068] In order to promptly handle abnormal situations such as steering wheel rotation or jamming during vehicle driving to improve vehicle driving safety, it is necessary to perform steering abnormality detection during vehicle driving.

[0069] Steering wheel spin occurs when the driver is not operating the steering wheel and the vehicle is not in the automatic centering state. Steering wheel sticking occurs when the driver is unable to turn the steering wheel. Centering, also known as return to center, occurs when the steering wheel is turned to the position that allows the vehicle to travel straight ahead.

[0070] In the prior art, a torque sensor is usually required to be installed to detect steering wheel torque to determine whether a steering anomaly occurs. The need to install a torque sensor results in a high cost.

[0071] In response to the problems existing in the prior art, the inventors, while researching methods for detecting steering anomalies in steer-by-wire systems, discovered that vehicles already have numerous sensors and controllers installed to implement steer-by-wire systems, which can determine the operating data of a feel simulator. While the vehicle is in motion, determining whether the steering wheel is stuck based on the operating data of the feel simulator eliminates the need for an additional torque sensor, saving cost and space. Based on this inventive concept, the steering anomaly detection scheme for steer-by-wire systems presented in this application was designed.

[0072] The executor of the steering anomaly detection method for wire-controlled steering in this application can be a controller or a vehicle-mounted terminal in the vehicle, or it can be a server, computer and other devices. This application does not limit it. The following description will be made 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] While the vehicle is in motion, the controller acquires operating data from the feel simulator and, based on this data, calculates the driver's hand force, which represents the torque applied to the steering wheel. The controller is connected to the vehicle's electronic control unit (ECU), which in turn is connected to the feel simulator's motor and various sensors. The controller obtains the feel simulator's operating data 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 any 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 has any stuck abnormality.

[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. It can also enable the driver to control the vehicle steering 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 in steer-by-wire provided by the present application. This embodiment of the present application describes how the controller determines whether the steering wheel has a steering abnormality based on the working data of the hand feel simulator during vehicle driving. 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 a 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 vehicle driving process.

[0084] The working data includes 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 motion 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 motion.

[0087] S202: Calculate the driver's hand strength based on the work data.

[0088] In this step, after acquiring the working data, the controller calculates the driver's hand force based on 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 steering wheel angular acceleration.

[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, represents 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 all 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 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. 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 the 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 predetermined angle value, a steering wheel centering result is determined indicating that the steering wheel is centering.

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

[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 and 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. This embodiment of the application does not limit the execution order of step S202 and step S203, and can be determined according to actual circumstances.

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

[0101] In this step, after determining the hand force and the steering wheel return result, the controller 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 low, the steering wheel angular velocity is not zero, and the steering wheel return result indicates that the steering wheel is not centered, it is determined that the steering wheel has rotated abnormally. In other words, it is determined that the steering wheel rotates when the driver's hand is not operating the steering wheel and it is not centered.

[0103] Furthermore, when the hand force is strong and the direction of rotation matches the current, the steering wheel is determined to be rotating abnormally. This means that the driver's hand is operating the steering wheel, but the motor is providing power assistance, thus confirming that the steering wheel is rotating. Under normal circumstances, the motor provides resistance when the driver operates the steering wheel.

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

[0105] In this step, after determining the hand force and the steering wheel return result, the controller determines whether the steering wheel is stuck according to the hand force, steering wheel angle, steering wheel angular velocity and the steering wheel return result.

[0106] The steering wheel is determined to be stuck when the hand force is high, the steering wheel angular velocity is zero, and the steering wheel angle is outside the preset range. This means that the driver's hand is operating the steering wheel, but the steering wheel is not turning. Furthermore, the steering wheel angle is outside the preset range, which is the range of steering wheel angles corresponding to the extreme steering positions of the wheels. This indicates a stuck steering wheel.

[0107] Furthermore, if the hand force is high, the steering wheel angular velocity is zero, the steering wheel angle is within a preset range, and the steering wheel return-to-center result indicates that the steering wheel is centered, a steering wheel stuck abnormality is determined. Specifically, if it is determined that the driver's hand is operating the steering wheel but the steering wheel is not turning, and although the steering wheel angle is within a preset range, the steering wheel is centered, a steering wheel stuck abnormality is determined.

[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; or: first execute step S205, then execute step S204; or: execute step S204 and step S205 simultaneously. This embodiment of the application does not limit the execution order of step S204 and step S205, and can be determined according to actual circumstances.

[0110] The steering anomaly detection method for steer-by-wire provided in this 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 to center result based on the steering wheel angle in the working data. Finally, based on the hand force, the steering wheel return to center result, the steering wheel angular velocity, the current direction, and the rotation direction in the working data, it is determined whether the steering wheel has a self-rotation anomaly; based on the hand force, the steering wheel return to center result, the steering wheel angle, and the steering wheel angular velocity in the working data, it is determined whether the steering wheel has a stuck anomaly. 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. There is no need to install an additional torque sensor. The working data can be obtained only through the existing sensors and devices in the vehicle, which effectively saves costs and reduces 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 this application. Based on the above embodiment, this embodiment of the application describes how the controller determines whether there is a steering wheel rotation abnormality based on 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 there is any abnormal rotation of the steering wheel, it first determines whether the hand force is less than the 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, and it can 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 then 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 result indicates that the steering wheel has returned to the center; if the steering wheel return result indicates that the steering wheel has not returned to the center, execute step S305; if the steering wheel return result indicates that the steering wheel has returned to the 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. Based on the steering wheel centering result, it is determined whether the steering wheel has an abnormal rotation; that is, it is determined whether the steering wheel centering result indicates that the steering wheel is centered, so as to determine whether the current state is in the steering wheel centering 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 different from 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 to determine whether there is any abnormal rotation of 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 the steering wheel return to the center scenario, and it is determined that the steering wheel has an abnormal rotation.

[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 is providing power assistance, and it is determined that the steering wheel has abnormal rotation.

[0127] S306: Determine whether the steering wheel has no rotation abnormality.

[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 indicates 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 anomaly detection method for steer-by-wire provided in this embodiment determines that the steering wheel has a self-rotation anomaly when the hand force is less than a first preset hand force threshold, the steering wheel angular velocity is not zero, and the steering wheel return-to-center result indicates that the steering wheel has not returned to center. In other words, the method determines that the steering wheel has rotated when the driver's hand is not operating the steering wheel and the steering wheel rotates when it is not in the return-to-center scenario. Furthermore, the method determines that the steering wheel has a self-rotation anomaly when the hand force is greater than or equal to the first preset hand force threshold and the direction of rotation is the same as the direction of the current. In other words, the method determines that the driver's hand is operating the steering wheel, but the motor is providing power assistance, and determines that the steering wheel has rotated, effectively improving 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 this application. Based on the above embodiment, this embodiment of the 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 result, since the steering wheel is stuck, it is necessary to determine whether the hand force is greater than the second threshold, that is, to determine whether the driver's hand is operating 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 rotated.

[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, and it can 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 stuck 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 falls within 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 result indicates that the steering wheel has returned to the center. If the steering wheel return result indicates that the steering wheel has returned to the center, execute step S404; if the steering wheel return result indicates that the steering wheel has not returned to the 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 extreme position. It is still necessary to continue to determine whether the current driver has operated the steering wheel to return to the center. Based on the steering wheel return result, it is determined whether there is a steering wheel stuck abnormality, that is, to determine whether the steering wheel return result indicates that the steering wheel is back to the center.

[0144] S404: Determine whether 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 wheels have not turned and have 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 whether the steering wheel is stuck or not.

[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 rotate. The inability of the steering wheel to rotate is a normal reason, and it is determined that the steering wheel is not stuck.

[0150] The steering anomaly detection method for steer-by-wire provided in this embodiment determines that the steering wheel is stuck when the hand force is greater than a second preset hand force threshold, the steering wheel angular velocity is zero, and the steering wheel angle is outside a preset range. Specifically, the method determines that the steering wheel is stuck when it is determined that the driver's hand is operating the steering wheel but the steering wheel is not rotating, and the steering wheel angle is outside the steering wheel angle range corresponding to the extreme steering positions of the wheels. Furthermore, the method determines that the steering wheel is stuck when the hand force is greater than a second preset hand force threshold, the steering wheel angular velocity is zero, the steering wheel angle is within a preset range, and the steering wheel centering result indicates that the steering wheel is centered. Specifically, the method determines that the steering wheel is stuck when it is determined that the driver's hand is operating the steering wheel but the steering wheel is not rotating, and although the steering wheel angle is within the preset range, the steering wheel is centered, thereby effectively improving detection accuracy.

[0151] The following describes the situation of determining the cause of the stuck abnormality 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, the controller can also determine the cause of the stuck anomaly based on the hand force, line current, and the preset correspondence between the hand force range, current range, and anomaly cause. Specifically, the controller determines the hand force range within which the hand force falls, determines the current range within which the line current falls, and then, based on the correspondence between the hand force range, current range, and anomaly cause, determines the corresponding cause of the stuck anomaly.

[0153] For example, Table 1 is a table showing the correspondence between the hand force range, current range and abnormal cause provided by this 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 embodiment of this application does not limit T1, T2, I1, and I2, and can be determined according to actual conditions.

[0157] The preset hand force calculation formula shows that hand force is proportional to line current. As shown in Table 1, when the line current is between [I1, +∞) and the hand force is between [T1, +∞), the motor attempts to provide a higher force, but the actual force provided is low. This is caused by motor stall. When the motor stalls, the line current increases to increase the force provided by the motor.

[0158] When the line current is (-∞, I2] and the hand force is (-∞, T2], the steering wheel is currently stuck, but the motor phase current is very small, that is, the resistance provided is very small, indicating that the mechanical hardware is stuck and providing 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, indicating that the mechanical hardware is stuck and providing 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 conform to 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 cause of the abnormality may also be determined based solely on the line current and the correspondence between the line current range and the abnormality cause. That is, the current range to which the line current belongs is determined, and then the corresponding current range and abnormality cause are used to determine the corresponding abnormality cause.

[0162] For example, based on Table 1, Table 2 is a correspondence table between current ranges and abnormal causes provided by this 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 falls within the range [I1, +∞), the cause of the stuck anomaly is determined to be a motor stall. If the line current falls within the range (I2, I1), the cause of the stuck anomaly is determined to be a minor mechanical hardware jam. If the line current falls within the range (-∞, I2), the cause of the stuck anomaly is determined to be 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 stuck abnormality by determining the cause of the stuck abnormality based on hand force and line current. It does not require manual confirmation of the cause of the stuck abnormality, facilitates maintenance by staff, and improves maintenance efficiency.

[0167] The following are device embodiments of the present application, which can be used to implement 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 the steering abnormality detection device for wire-controlled steering provided by this application. Figure 5 As shown, the steering abnormality detection device 50 of the steer-by-wire system includes:

[0169] An acquisition module 51 is configured to acquire operating data of the hand-feel simulator during vehicle driving; the operating data includes a steering wheel angle, a steering wheel angular velocity, a current direction of a motor of the hand-feel simulator, and a rotation direction of the motor;

[0170] The processing module 52 is configured to:

[0171] calculating the driver's hand force based on 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 center;

[0173] The detection module 53 is used to:

[0174] determining whether the steering wheel has 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] Determine whether the steering wheel is stuck abnormally based on the hand force, the steering wheel angle, the steering wheel angular velocity and the steering wheel return result.

[0176] Furthermore, the operating 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 steering wheel angular acceleration;

[0177] The processing module 52 is specifically configured to:

[0178] The hand force is calculated based on 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 configured to:

[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 centering 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 based on whether the rotation direction is the same as the current direction.

[0184] Furthermore, the detection module 53 is further specifically configured to:

[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 centering result indicates that the steering wheel is centered, it is determined that there is no abnormal rotation of the steering wheel.

[0187] Furthermore, the detection module 53 is further specifically configured to:

[0188] If the rotation direction is the same as the current direction, it is determined that the steering wheel has 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] Furthermore, 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 further specifically configured to:

[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 falls within a preset range;

[0195] If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck 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 further specifically configured to:

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

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

[0200] Furthermore, 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 stuck abnormality in the steering wheel.

[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 configured to:

[0203] The cause of the abnormality is determined based on 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 steer-by-wire provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principles and technical effects are similar and will not be described in detail here.

[0205] Figure 6 This is a schematic diagram of the structure of an electronic device provided by 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 can 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 using a transceiver. The communication interface is used to enable communication between the database access device and other devices (e.g., a client, a read-write library, and a read-only library). The memory may include random access memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk storage device.

[0213] Bus 64 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the figure shows only one thick line, but this does not imply that there is only one bus or only 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, and discrete hardware components.

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

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

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

[0220] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[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 them. 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 steer-by-wire, characterized in that: include: Acquiring working data of the hand-feel 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-feel simulator, and a rotation direction of the motor; calculating the driver's hand force based on 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 center; determining whether the steering wheel has abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction; Determine whether the steering wheel is stuck abnormally based on 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 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; Calculating the driver's hand strength according to the working data includes: The hand force is calculated based on 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 centering 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 based on whether the rotation direction is the same as the current direction.

4. The method according to claim 3, characterized in that The 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 centering result indicates that the steering wheel is centered, 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 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 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 falls within a preset range; If the steering wheel angle is within a preset range, determining whether the steering wheel is stuck 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 result indicates that the steering wheel is returned to the center, it is determined that the steering wheel is stuck abnormally; If the steering wheel return result indicates that the steering wheel has not returned to the 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 stuck abnormality in the steering wheel.

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 is determined based on 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 anomaly detection device for steer-by-wire, characterized in that: include: An acquisition module is used to acquire 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 module for: calculating the driver's hand force based on 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 center; Detection module for: determining whether the steering wheel has abnormal rotation according to the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction; Determine whether the steering wheel is stuck abnormally based on 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; The processor is configured to execute the steering abnormality detection method for steer-by-wire 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.

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 The invention 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 the computer program is executed by a processor.

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