Steer-by-wire control method and system, vehicle, equipment and medium

Abstract

The invention discloses a steer-by-wire control method and system, a vehicle, equipment and a medium. The steer-by-wire control method comprises the steps that the angle difference between the target rotating angle of a hand wheel actuator and the actual rotating angle of a wheel end actuator is obtained; according to the angle difference, whether the current rotating speed of the wheel end actuator meets the rotating speed following requirement of the hand wheel actuator or not is judged; when the current rotating speed of the wheel end actuator does not reach the rotating speed following requirement of the hand wheel actuator, the rotating speed of the hand wheel actuator is controlled to be limited within a rotating speed threshold value, and the rotating speed threshold value is determined according to the current rotating speed of the wheel end actuator. By adopting the embodiment of the invention, the steering angle difference caused by the steering capability difference between the steering wheel steering angle and the tire steering angle after the steering intermediate shaft is canceled in the steer-by-wire steering is avoided, so that the potential safety hazard caused by unexpected steering is reduced and even avoided, and the driving safety and reliability are effectively ensured.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a steer-by-wire control method, system, vehicle, device, and medium. Background Art

[0002] With the development of automotive electrification and intelligence, the development of steer-by-wire technology has been accelerating. From fully powered steer-by-wire with a steering column intermediate shaft, to fully powered steer-by-wire without a steering column intermediate shaft, and then to fully powered steer-by-wire without a steering wheel and a steering column, it can support the styling innovation changes of different intelligent driving functions and cockpit domains. The fully powered steering without a steering column intermediate shaft also brings more challenges to the functional safety requirements and performance requirements of steering. The steering following problem at high speeds is one of them.

[0003] In the steering condition at high speeds, due to the cancellation of the mechanical connection of the intermediate shaft, the upper end of the steering wheel no longer needs to transmit a large vehicle load. Even with a small road feeling motor, the steering wheel rotation speed can reach a very high level. However, the lower steering actuator needs to meet the vehicle rack load thrust. If the motor selection ability is small, it cannot meet the execution ability at high speeds. If the difference in the upper and lower steering angles is large due to the difference in the upper and lower steering capabilities, it will directly affect the driver's steering expectation and even affect driving safety. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a steer-by-wire control method, system, vehicle, device, and medium to avoid the angular difference between the steering wheel angle and the tire angle caused by the difference in steering capabilities after canceling the steering intermediate shaft, thereby reducing or even avoiding the safety hazards caused by unexpected steering and effectively ensuring driving safety and reliability.

[0005] In a first aspect, a steer-by-wire control method is provided, including:

[0006] Obtaining the angle difference between the target angle of the handwheel actuator and the actual angle of the wheel-end actuator;

[0007] Judging whether the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference;

[0008] When the current rotation speed of the wheel-end actuator does not reach the rotation speed following requirement of the handwheel actuator, controlling the rotation speed of the handwheel actuator to be limited within a rotation speed threshold, where the rotation speed threshold is determined according to the current rotation speed of the wheel-end actuator.

[0009] In some examples, the judging whether the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference includes:

[0010] Determine whether the angle difference within a predetermined time is less than a preset difference;

[0011] If not, it is determined that the current rotation speed of the wheel-end actuator does not meet the rotation speed following requirement of the handwheel actuator.

[0012] In some examples, the preset difference is determined according to the target rotation angle of the handwheel actuator, and the preset difference is less than the target rotation angle.

[0013] In some examples, before controlling the rotation speed of the handwheel actuator to be within a rotation speed threshold, it further includes:

[0014] Determine the rotation speed threshold according to the current rotation speed of the wheel-end actuator. When the wheel-end actuator has no fault, the rotation speed threshold is the current rotation speed of the wheel-end actuator. When the wheel-end actuator has a fault, the rotation speed threshold is the difference between the current rotation speed of the wheel-end actuator and a preset rotation speed.

[0015] In some examples, when the wheel-end actuator has a fault, the rotation speed threshold is half of the current rotation speed of the wheel-end actuator.

[0016] In some examples, it further includes: when the current rotation speed of the wheel-end actuator meets the rotation speed following requirement of the handwheel actuator, the wheel-end actuator responds according to the rotation speed of the handwheel actuator.

[0017] In a second aspect, a steer-by-wire control system is provided, including:

[0018] The steer-by-wire control system is characterized by including:

[0019] An acquisition module, configured to obtain the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator;

[0020] A judgment module, configured to judge whether the current rotation speed of the wheel-end actuator meets the rotation speed following requirement of the handwheel actuator according to the angle difference;

[0021] A control module, configured to control the rotation speed of the handwheel actuator to be within a rotation speed threshold when the current rotation speed of the wheel-end actuator does not meet the rotation speed following requirement of the handwheel actuator, where the rotation speed threshold is determined according to the current rotation speed of the wheel-end actuator.

[0022] In a third aspect, a vehicle is provided, including: the steer-by-wire control system according to the second aspect above.

[0023] In a fourth aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the wire-controlled steering control method according to the first aspect is implemented.

[0024] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the wire-controlled steering control method according to the first aspect is implemented.

[0025] By adopting the embodiments of the present application, it is determined whether the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator. When the current rotation speed of the wheel-end actuator does not reach the rotation speed following requirement of the handwheel actuator, the rotation speed of the handwheel actuator is controlled within the rotation speed threshold. Thus, it is possible to avoid the corner difference caused by the steering ability difference between the steering wheel angle and the tire angle after canceling the steering intermediate shaft in the wire-controlled steering, thereby reducing or even avoiding the safety hazard caused by unexpected steering and effectively ensuring the driving safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present application will become more apparent:

[0027] Figure 1 It is a flowchart of the wire-controlled steering control method provided by the embodiment of the present application;

[0028] Figure 2 It is a flowchart of the wire-controlled steering control method provided by another embodiment of the present application;

[0029] Figure 3 It is an application schematic diagram of the wire-controlled steering control method provided by the embodiment of the present application;

[0030] Figure 4 It is a structural block diagram of the wire-controlled steering control system provided by the embodiment of the present application;

[0031] Figure 5 It is a structural block diagram of the computer device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present application will be further described in detail below in conjunction with the embodiments and the drawings. It can be understood that the specific embodiments described herein are only used to explain the related application, rather than limiting the application. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the application are shown in the drawings.

[0033] It should be noted that, without conflict, the embodiments and features of the embodiments in this application can be combined with each other. The following will describe this application in detail with reference to the drawings and in combination with the embodiments.

[0034] The following will describe in detail a steer-by-wire control method, system, vehicle, device, and medium according to an embodiment of the present application with reference to the drawings.

[0035] In the implementation environment of the application embodiment, a computing device in a vehicle, such as a controller, can obtain the angle difference between the target angle of the handwheel actuator and the actual angle of the wheel-end actuator; determine whether the current speed of the wheel-end actuator reaches the speed following requirement of the handwheel actuator according to the angle difference; when the current speed of the wheel-end actuator does not reach the speed following requirement of the handwheel actuator, control the speed of the handwheel actuator to be limited within a speed threshold, where the speed threshold is determined according to the current speed of the wheel-end actuator.

[0036] Figure 1 is a flowchart of a steer-by-wire control method according to an embodiment of the present application. As Figure 1 shown, according to a steer-by-wire control method in an embodiment of the present application, the following steps are included:

[0037] S101: Obtain the angle difference between the target angle of the handwheel actuator and the actual angle of the wheel-end actuator.

[0038] Among them, the handwheel actuator is also called the steering wheel actuator (Handwheel Actuator, HWA), which mainly consists of a steering wheel, a steering column, a reducer, a TAS sensor, and a redundant electronic control unit. Its main function is to obtain the driver's intention, give the steering wheel angle signal expected by the driver to the wheel-end actuator, and at the same time simulate the road surface feedback force during vehicle driving according to the rack force feedback from the front wheel actuator, and provide road feeling feedback information for the driver.

[0039] The wheel-end actuator is also called the road wheel actuator (Road Wheel Actuator, RWA): The front wheel actuator consists of a mechanical steering gear, an angle sensor, a redundant electronic control unit, etc. Its main function is to receive the expected angle instruction sent by the steering wheel actuator (HWA), and realize the lateral movement of the rack by controlling the motor, and finally realize the steering function.

[0040] S102: Determine whether the current speed of the wheel-end actuator reaches the speed following requirement of the handwheel actuator according to the angle difference.

[0041] In an embodiment of the present application, determining whether the current rotational speed of the wheel end actuator meets the rotational speed following requirement of the handwheel actuator based on the angle difference includes: determining whether the angle difference within a predetermined time is less than a preset difference; if not, determining that the current rotational speed of the wheel end actuator does not meet the rotational speed following requirement of the handwheel actuator.

[0042] Specifically, as shown in Figure 2 When the predetermined time is, for example, 50 ms, when obtaining the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel end actuator, it is determined whether the angle difference within 50 ms is less than the preset difference. If not, it is determined that the current rotational speed of the wheel end actuator does not meet the rotational speed following requirement of the handwheel actuator.

[0043] In a specific example, the preset difference is determined according to the target rotation angle of the handwheel actuator, and the preset difference is less than the target rotation angle. As shown in Figure 2 For example: the preset difference is 1% of the target rotation angle of the handwheel actuator. For example: if the target rotation angle of the handwheel actuator is 10, then the preset difference is 0.01 multiplied by 10 = 0.1.

[0044] S103: When the current rotational speed of the wheel end actuator does not meet the rotational speed following requirement of the handwheel actuator, control the rotational speed of the handwheel actuator to be limited within a rotational speed threshold, where the rotational speed threshold is determined according to the current rotational speed of the wheel end actuator.

[0045] In a specific application, the specific manner of controlling the rotational speed of the handwheel actuator to be limited within the rotational speed threshold can be achieved by increasing the hand force on the steering wheel. Of course, other ways that can control the rotational speed of the handwheel actuator can also be used.

[0046] It should be noted that before controlling the rotational speed of the handwheel actuator to be limited within the rotational speed threshold, for example: before limiting the rotational speed of the handwheel actuator within the rotational speed threshold by increasing the hand force on the steering wheel, it further includes: determining the rotational speed threshold according to the current rotational speed of the wheel end actuator, where when the wheel end actuator has no fault, the rotational speed threshold is the current rotational speed of the wheel end actuator, and when the wheel end actuator has a fault, the rotational speed threshold is the difference between the current rotational speed of the wheel end actuator and a preset rotational speed.

[0047] In this example, when the wheel end actuator has a fault, the rotational speed threshold is half of the current rotational speed of the wheel end actuator.

[0048] As shown in Figure 2 and Figure 3As shown in the figure, by monitoring the angular difference between the HWA (handwheel actuator) and the RWA (wheel-end actuator) in real time, when it is detected that the angular difference between the HWA and the RWA is greater than 1% within 50 ms, it is considered that the execution ability of the RWA cannot meet the following performance of the current driving speed. At this time, the maximum speed of the RWA execution is self-learned, and the HWA limits the speed threshold of the handwheel input end at this maximum speed, and at the same time increases the driver's hand force, so that the driver can obtain a real steering perception feedback, avoiding driver input while the lower actuator fails to complete the corresponding steering, resulting in a safety risk caused by unexpected steering.

[0049] Specifically, as Figure 3 shown, the steer-by-wire HWA consists of two MCUs, HWA1 and HWA2, to control a road feel six-phase double-winding motor. The RWA consists of two MCUs, RWA1 and RWA2, to control a steering execution six-phase double-winding motor. Both the HWA and the RWA adopt dual-power supply and communication.

[0050] When the driver turns the steering wheel, RWA1, as the main controller, responds to the target angle of HWA1. RWA1 will calculate and distribute the target angle to torque, and the six-phase motor is jointly controlled by RWA1 and RWA2 to complete the angle closed-loop following control.

[0051] HWA1 monitors the angle difference between the actual angle and the target angle of the RWA in real time. When it is detected that the upper and lower angle difference within 50 ms > 1% of the target angle, HWA1 stores the actual speed of the RWA end at this time in the NVM and uses it as the speed limit value of the HWA. When the driver inputs a greater torque, the HWA will increase the hand force so that the speed does not exceed the speed limit value.

[0052] Due to the difference in the execution ability of the RWA under different vehicle speeds and different load conditions, this speed threshold will be dynamically and real-time learned and updated dynamically with a period of 50 ms.

[0053] After the upper and lower angle difference exceeds 1%, if a single-point failure occurs in either RWA1 or RWA2, the execution ability is 50% of the maximum ability. At this time, after the HWA receives the RWA fault information, it limits the HWA speed within 20 ms, increases the hand force to enable the driver to obtain a real steering perception feedback, and at the same time avoids the angle difference caused by the difference in the upper and lower steering abilities, bringing unexpected steering problems.

[0054] In an embodiment of the present application, as Figure 2 shown, the steer-by-wire control method further includes: when the current speed of the wheel-end actuator reaches the speed following requirement of the handwheel actuator, the wheel-end actuator responds according to the speed of the handwheel actuator. That is: normal steering is executed.

[0055] According to the steer-by-wire control method of an embodiment of the present application, it is determined whether the current rotational speed of the wheel-end actuator reaches the rotational speed following requirement of the handwheel actuator according to the angular difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator, and when the current rotational speed of the wheel-end actuator does not reach the rotational speed following requirement of the handwheel actuator, the rotational speed of the handwheel actuator is controlled within the rotational speed threshold. Thereby, after canceling the steering intermediate shaft in steer-by-wire, the angular difference between the steering wheel angle and the tire angle caused by the difference in steering capabilities is avoided, thereby reducing or even avoiding the safety hazard caused by unexpected steering, and effectively ensuring the safety and reliability of driving.

[0056] Figure 4 is a structural block diagram of a steer-by-wire control system according to an embodiment of the present application. As Figure 4 shown, a steer-by-wire control system according to an embodiment of the present application includes: an acquisition module 410, a judgment module 420, and a control module 430, wherein:

[0057] The acquisition module 410 is configured to obtain the angular difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator;

[0058] The judgment module 420 is configured to judge whether the current rotational speed of the wheel-end actuator reaches the rotational speed following requirement of the handwheel actuator according to the angular difference;

[0059] The control module 430 is configured to control the rotational speed of the handwheel actuator within the rotational speed threshold when the current rotational speed of the wheel-end actuator does not reach the rotational speed following requirement of the handwheel actuator, wherein the rotational speed threshold is determined according to the current rotational speed of the wheel-end actuator.

[0060] According to the steer-by-wire control system of an embodiment of the present application, it is determined whether the current rotational speed of the wheel-end actuator reaches the rotational speed following requirement of the handwheel actuator according to the angular difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator, and when the current rotational speed of the wheel-end actuator does not reach the rotational speed following requirement of the handwheel actuator, the rotational speed of the handwheel actuator is controlled within the rotational speed threshold. Thereby, after canceling the steering intermediate shaft in steer-by-wire, the angular difference between the steering wheel angle and the tire angle caused by the difference in steering capabilities is avoided, thereby reducing or even avoiding the safety hazard caused by unexpected steering, and effectively ensuring the safety and reliability of driving.

[0061] For the specific limitations of the steer-by-wire control system, reference can be made to the limitations of the steer-by-wire control method in the foregoing text, which will not be elaborated here. Each module of the above-mentioned steer-by-wire control system can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0062] Furthermore, an embodiment of the present application provides a vehicle, including: a steer-by-wire control system according to any one of the above embodiments. The vehicle can judge whether the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel-end actuator, and when the current rotation speed of the wheel-end actuator does not reach the rotation speed following requirement of the handwheel actuator, control the rotation speed of the handwheel actuator to be limited within the rotation speed threshold. Thereby, it avoids the corner difference caused by the difference in steering ability between the steering wheel angle and the tire angle after canceling the steering intermediate shaft in steer-by-wire, thereby reducing or even avoiding the safety hazards caused by unexpected steering, and effectively ensuring the safety and reliability of driving.

[0063] In addition, the other components and functions of the vehicle according to the embodiments of the present application are known to those of ordinary skill in the art, and will not be elaborated here.

[0064] Next, refer to Figure 5 , Figure 5 which shows a schematic structural diagram of a computer device suitable for implementing the embodiments of the present application.

[0065] As Figure 5 shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can execute various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage section 1008 into the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation instructions of the system are also stored. The CPU 1001, ROM 1002, and RAM 1003 are connected to each other through the bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0066] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is installed on the drive 1010 as needed so that a computer program read from it can be installed into the storage section 1008 as needed.

[0067] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart Figure 1 can be implemented as a computer-readable storage medium. For example, an embodiment of the present application includes a computer-readable storage medium that includes a computer program, and the computer program contains program code for performing the method shown in the flowchart, such as performing: obtaining the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel end actuator;

[0068] judging whether the current rotation speed of the wheel end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference;

[0069] when the current rotation speed of the wheel end actuator does not reach the rotation speed following requirement of the handwheel actuator, controlling the rotation speed of the handwheel actuator to be limited within a rotation speed threshold, where the rotation speed threshold is determined according to the current rotation speed of the wheel end actuator.

[0070] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart Figure 1 can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program code for performing the method shown in the flowchart, such as performing: obtaining the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel end actuator;

[0071] judging whether the current rotation speed of the wheel end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference;

[0072] when the current rotation speed of the wheel end actuator does not reach the rotation speed following requirement of the handwheel actuator, controlling the rotation speed of the handwheel actuator to be limited within a rotation speed threshold, where the rotation speed threshold is determined according to the current rotation speed of the wheel end actuator.

[0073] In such an embodiment, the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 1009, and / or installed from the removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, the above functions defined in the system of the present application are performed.

[0074] It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, apparatus, or device. And in the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operation instructions of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the foregoing module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than that marked in the accompanying drawings. For example, two connected blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as the combination of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operation instructions, or may be implemented by a combination of dedicated hardware and computer instructions.

[0076] The units or modules involved in the embodiments described in the present application may be implemented in software or in hardware. The described units or modules may also be provided in a processor. Among them, the names of these units or modules do not, in some cases, constitute a limitation on the units or modules themselves.

[0077] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0078] The above embodiments only represent several implementation manners of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A steering-by-wire control method, characterized in that: include: Obtain the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel end actuator; Judging whether the current rotation speed of the wheel-end actuator meets the rotation speed following requirement of the handwheel actuator according to the angle difference; When the current rotational speed of the wheel-end actuator does not reach the rotational speed following requirement of the handwheel actuator, the rotational speed of the handwheel actuator is controlled to be limited within a rotational speed threshold, wherein the rotational speed threshold is determined according to the current rotational speed of the wheel-end actuator.

2. The steer-by-wire control method according to claim 1, characterized in that: The step of judging whether the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator according to the angle difference includes: Determine whether the angle difference is less than a preset difference within a predetermined time; If not, it is determined that the current rotational speed of the wheel-end actuator does not meet the rotational speed following requirement of the handwheel actuator.

3. The steer-by-wire control method according to claim 2, characterized in that: in, The preset difference is determined according to a target rotation angle of the handwheel actuator, and the preset difference is smaller than the target rotation angle.

4. The steer-by-wire control method according to any one of claims 1 to 3, characterized in that: Before controlling the speed limit of the handwheel actuator to be within the speed threshold, the method further includes: The speed threshold is determined according to the current speed of the wheel-end actuator, wherein, when there is no fault in the wheel-end actuator, the speed threshold is the current speed of the wheel-end actuator, and when there is a fault in the wheel-end actuator, the speed threshold is the difference between the current speed of the wheel-end actuator and a preset speed.

5. The steer-by-wire control method according to claim 4, characterized in that: When a fault occurs in the wheel-end actuator, the rotation speed threshold is half of the current rotation speed of the wheel-end actuator.

6. The steer-by-wire control method according to claim 1, characterized in that: Also includes: When the current rotation speed of the wheel-end actuator reaches the rotation speed following requirement of the handwheel actuator, the wheel-end actuator responds according to the rotation speed of the handwheel actuator.

7. A steer-by-wire control system, characterized in that: include: An acquisition module is used to obtain the angle difference between the target rotation angle of the handwheel actuator and the actual rotation angle of the wheel end actuator; A judgment module, used for judging whether the current rotation speed of the wheel-end actuator meets the rotation speed following requirement of the handwheel actuator according to the angle difference; A control module is used to control the speed of the handwheel actuator to be limited within a speed threshold when the current speed of the wheel-end actuator does not meet the speed following requirement of the handwheel actuator, wherein the speed threshold is determined based on the current speed of the wheel-end actuator.

8. A vehicle, characterized in that: include: The steer-by-wire control system according to claim 7.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the wire-controlled steering method according to any one of claims 1-6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the wire-controlled steering method according to any one of claims 1 to 6 is implemented.

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