Steering-by-wire column fault processing method and device, vehicle and storage medium

Abstract

The invention provides a steer-by-wire column fault processing method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that when a steer-by-wire column of the vehicle breaks down and the steering angle of wheels of the vehicle is larger than or equal to a first preset angle, the steer-by-wire column of the vehicle breaks down; acquiring a reference rotor angle of a steering motor of the wheel, wherein the reference rotor angle is a rotor angle of the steering motor when the wheel of the vehicle is aligned; based on the steering angle of the wheel and the reference rotor angle of the steering motor, the reference correction position of the steering wheel is determined, and the reference correction position is the position where the steering wheel returns; in response to a centering operation on the steering wheel, the steering wheel is rotated to a reference correction position. According to the method, the aligning position of the steering wheel can be determined based on the steering angle of the wheels and the reference rotor angle of the steering motor under the condition that the steer-by-wire column breaks down and the aligning position of the steering wheel cannot be determined, so that the situation that the steering angle of the vehicle cannot be controlled is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, device, vehicle, and storage medium for handling a wire-controlled steering column failure in the field of vehicles. Background Art

[0002] The wire-controlled steering column is an important component at the chassis execution end of intelligent driving vehicles. The wire-controlled steering column can control the vehicle's steering angle based on the user's steering intention.

[0003] The steer-by-wire column's sensor is used to detect the actual steering angle of the steering wheel. If the steer-by-wire column's sensor fails, the steer-by-wire column will not be able to detect the desired steering angle and will not be able to control the vehicle's steering angle. Summary of the Invention

[0004] The present application provides a method, device, vehicle and storage medium for handling a wire-controlled steering column failure. The method can determine the direction return position based on the steering angle of the wheel and the reference rotor angle of the steering motor when a wire-controlled steering column failure of the vehicle makes it impossible to determine the return position of the steering wheel, thereby avoiding the user's inability to control the vehicle's steering angle.

[0005] In a first aspect, a method for handling a steer-by-wire column failure is provided, the method comprising:

[0006] When a steer-by-wire column of a vehicle fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, obtaining a reference rotor angle of a steering motor of the wheel, the reference rotor angle being a rotor angle of the steering motor when the wheel of the vehicle is aligned;

[0007] Determining a reference correction position of a steering wheel of the vehicle based on the steering angle of the wheel and a reference rotor angle of the steering motor, the reference correction position being the position of the steering wheel when it is returned to center;

[0008] In response to a centering operation on the steering wheel of the vehicle, the steering wheel is rotated to the reference correction position.

[0009] According to the above method, if a vehicle's steering-by-wire column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, the vehicle's steering-by-wire column is damaged and the wheels have not yet returned to centering. A reference rotor angle of the steering motor for the wheel is obtained. This reference rotor angle is the rotor angle of the steering motor when the vehicle's wheels are returned to centering. Since the wheel's steering can be controlled based on the steering wheel and the steering motor, the steering wheel is reversely controlled based on the wheel's steering angle and the steering motor. In this case, a reference calibration position of the vehicle's steering wheel is determined based on the wheel's steering angle and the reference rotor angle of the steering motor. This reference calibration position is the position of the steering wheel when it is returned to centering. In response to a centering operation on the vehicle's steering wheel, the steering wheel is rotated to the reference calibration position. In other words, if the vehicle's steering-by-wire column is damaged, the steering wheel's return position is first determined, and then the steering wheel is returned to centering, so that the vehicle's steering is controlled based on the returned steering wheel position as a reference standard.

[0010] In combination with the first aspect, in certain possible implementations, obtaining a reference rotor angle of the steering motor of the wheel includes:

[0011] Obtaining a first transmission ratio between the wheel and the steering motor;

[0012] determining a reference rotor angle of the steering motor based on the transmission ratio coefficient (the first transmission ratio) and the steering angle of the wheel;

[0013] The method of determining a reference correction position of a steering wheel of the vehicle based on a steering angle of the wheel and a reference rotor angle of the steering motor includes:

[0014] determining a return angle of the steering wheel based on a second transmission ratio between the steering motor and the steering wheel and a reference rotor angle of the steering motor, the return angle being an angle at which the steering wheel returns to the reference correction position;

[0015] A reference correction position of the steering wheel is determined based on the return angle and the driving state parameters of the vehicle.

[0016] Through the above method, since there is a corresponding relationship between the steering motor rotor angle and the steering wheel angle, the steering wheel return angle can be determined based on the second transmission ratio between the steering motor and the steering wheel and the reference rotor angle of the steering motor, thereby determining the reference correction position of the steering wheel according to the steering wheel return angle.

[0017] In conjunction with the first aspect, in certain possible implementations, the driving state parameter includes a driving trajectory of the vehicle, and determining the reference correction position of the steering wheel based on the return angle and the driving state parameter of the vehicle includes:

[0018] Rotate the steering wheel by the return angle to obtain a reference correction position;

[0019] Obtaining the vehicle's driving trajectory;

[0020] determining whether the vehicle's driving trajectory is a straight trajectory;

[0021] When the vehicle's driving trajectory is a non-linear trajectory, obtaining a correction offset of the steering wheel after the steering motor rotates the reference rotor angle;

[0022] A reference correction position of the steering wheel is determined based on the reference correction position and the correction offset.

[0023] Through the above method, the steering wheel is first initially calibrated to obtain a reference calibration position. If the reference calibration position cannot meet the centering requirements of the steering wheel, the steering wheel is then calibrated a second time to determine the steering wheel's return position.

[0024] In conjunction with the first aspect, in certain possible implementations, after determining the reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and the reference rotor angle of the steering motor, the method further includes:

[0025] Acquire a centering image of the steering wheel;

[0026] Recognize the centering image of the steering wheel to obtain the key point coordinates of the steering wheel, which are reference point coordinates for determining whether the steering wheel is centered;

[0027] Determining whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and the preset coordinates;

[0028] If the steering wheel is successfully centered, maintaining the steering wheel at the reference correction position;

[0029] In case the steering wheel fails to be centered, a reference correction position of the steering wheel is determined based on the preset coordinates.

[0030] By using the above method, whether the steering wheel is successfully centered is determined based on the centering image of the steering wheel, and the reference correction position of the steering wheel is calibrated again, so that a more accurate reference correction position can be obtained.

[0031] In conjunction with the first aspect, in certain possible implementations, determining whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and the preset coordinates includes:

[0032] Determine whether the key point coordinates of the steering wheel are equal to the preset coordinates;

[0033] When the coordinates of the key point are equal to the preset coordinates, it is determined that the steering wheel is successfully centered;

[0034] When the coordinates of the key point are not equal to the preset coordinates, determining that the steering wheel alignment has failed;

[0035] In the event that the steering wheel fails to be centered, determining a reference correction position of the steering wheel based on the preset coordinates includes:

[0036] The steering wheel position corresponding to the preset coordinates is determined as the reference correction position of the steering wheel.

[0037] By using the above method, whether the steering wheel is successfully centered is determined based on the centering image of the steering wheel, and the reference correction position of the steering wheel is calibrated again, so that a more accurate reference correction position can be obtained.

[0038] In conjunction with the first aspect, in some possible implementations, in response to the centering operation on the steering wheel of the vehicle, before rotating the steering wheel to the reference correction position, the method includes:

[0039] Acquiring a driving state parameter of the vehicle and an environmental perception parameter of the vehicle, wherein the environmental perception parameter is used to determine a driving environment of the vehicle;

[0040] determining whether the vehicle has a collision risk based on the driving state parameter and the environment perception parameter;

[0041] If there is no collision risk with the vehicle, determining a response to a centering operation of the steering wheel;

[0042] In a case where there is a risk of collision of the vehicle, it is determined not to respond to a centering operation of the steering wheel.

[0043] Through the above method, it is possible to determine whether the vehicle has a collision risk based on the vehicle's driving state parameters and environmental perception parameters. When the vehicle does not have a collision risk, it is determined to respond to the centering operation of the steering wheel; when the vehicle has a collision risk, it is determined not to respond to the centering operation of the steering wheel, thereby avoiding an accident when the vehicle is returning the steering wheel to the center.

[0044] In conjunction with the first aspect, in certain possible implementations, the driving state parameter includes the vehicle speed, the environmental perception parameter includes the vehicle safety distance, and determining whether the vehicle has a collision risk based on the driving state parameter and the environmental perception parameter includes:

[0045] When the vehicle speed is less than or equal to a preset speed, determining whether the safety distance is greater than or equal to a first preset distance, the safety distance being a minimum distance that should be maintained between the vehicle and other vehicles;

[0046] If the safety distance is greater than or equal to the first preset distance, determining that there is no collision risk for the vehicle;

[0047] When the safety distance is less than the first preset distance or the vehicle speed exceeds a preset speed, it is determined that the vehicle has a collision risk.

[0048] Through the above method, when there is no collision risk for the vehicle, it is determined to respond to the centering operation of the steering wheel; when there is a collision risk for the vehicle, it is determined not to respond to the centering operation of the steering wheel, thereby avoiding an accident of the vehicle when returning the steering wheel to the center.

[0049] In a second aspect, a device for processing a steer-by-wire column failure is provided, the device comprising:

[0050] an acquisition module, configured to, when a steer-by-wire column of a vehicle fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, acquire a reference rotor angle of a steering motor of the wheel, the reference rotor angle being a rotor angle of the steering motor when the wheel of the vehicle is aligned;

[0051] a determination module, configured to determine a reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and a reference rotor angle of the steering motor, the reference correction position being the position of the steering wheel when it is returned to center;

[0052] The rotation module is configured to rotate the steering wheel to the reference correction position in response to a centering operation on the steering wheel of the vehicle.

[0053] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method described above for handling a steer-by-wire column failure.

[0054] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, causes the computer to execute the method executed by the above-mentioned method for handling a wire-controlled steering column failure.

[0055] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method executed by the above-mentioned method for handling wire-controlled steering column failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 1 is a schematic diagram of an implementation environment of a method for handling a steer-by-wire column failure provided by an embodiment of the present application;

[0057] Figure 2 is a schematic flow chart of a method for handling a steer-by-wire column failure provided in an embodiment of the present application;

[0058] Figure 3 is a schematic flow chart of another method for handling a steer-by-wire column failure provided in an embodiment of the present application;

[0059] Figure 4 1 is a schematic structural diagram of a device for processing a steer-by-wire column failure provided by an embodiment of the present application;

[0060] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0062] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0063] Figure 1 2 is a schematic diagram of an implementation environment of a method for handling a wire-controlled steering column failure provided in an embodiment of the present application.

[0064] For example, Figure 1 As shown, the implementation environment includes an electronic control unit (ECU) 110 , a steering motor 120 , a steering wheel 130 , and a wheel 140 .

[0065] The electronic control unit 110 is used to collect real-time vehicle data and control the vehicle to perform corresponding operations based on this real-time data. For example, in a steer-by-wire system, the electronic control unit 110 can obtain the steering angle of the steering wheel 130 based on the sensor of the steer-by-wire column, thereby controlling the rotation of the steering motor 120.

[0066] The steering motor 120 controls the steering of the wheels 140 according to commands from the electronic control unit 110. In some embodiments, the steering motor 120 is connected to the electronic control unit 110 via a steer-by-wire column. The steer-by-wire column includes a wiring harness, an integrated cable assembly consisting of multiple wires, connectors, protective tubing, and fixtures. The harness is responsible for transmitting power, electrical signals, and data between various electronic devices in the vehicle.

[0067] The steering wheel 130 is used to adjust the direction of travel of the vehicle. For example, the steering wheel sends the user's steering intention to the electronic control unit 110 so that the electronic control unit 110 controls the steering motor 120.

[0068] The steering wheel feedback motor 140 is used to simulate the physical feedback of a traditional steering system through the electronic control unit 110, providing the driver with a realistic steering feel and safety tips. The steering wheel feedback motor 140 is connected to the steering wheel 130 via a steer-by-wire column.

[0069] The wheel 150 is used to execute the control instructions of the steering motor 120 to adjust the steering direction of the vehicle. For example, the steering motor 120 sends the user's steering intention to the wheel 150 to adjust the steering direction of the vehicle.

[0070] Figure 2 This is a schematic flowchart of a method for handling a steer-by-wire column failure provided in an embodiment of the present application.

[0071] For example, Figure 2 As shown, taking the execution subject as an electronic control unit as an example, a method for handling a wire-controlled steering column failure of the present application is described. The method 200 includes the following steps 201 to 203.

[0072] Step 201, when a vehicle's wire-controlled steering column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, obtain a reference rotor angle of the steering motor of the wheel, where the reference rotor angle is the rotor angle of the steering motor when the vehicle's wheels are aligned.

[0073] It should be understood that in a steer-by-wire system, the mechanical connection between the steering wheel and the wheels is eliminated. When the driver turns the steering wheel, they cannot directly sense tire-ground friction or steering resistance. In this case, the steering wheel's steering feedback motor generates a counter-torque to simulate the steering resistance. In actual applications, the steering wheel and steering feedback motor are connected via a steer-by-wire column, the steering feedback motor and steering motor are connected via a wiring harness, and the steering motor and wheels are connected via the steer-by-wire column. Therefore, the steering wheel transmits the user's steering angle to the wheels via the steer-by-wire column. When controlling the vehicle's wheel rotation based on the steering wheel, the steering angle is determined by the steering wheel's return position. If the steering wheel's return position cannot be determined, the steering angle loses its reference point. For example, if the steering wheel needs to be rotated 40° but its return position is uncertain, it is unknown what position to use as a reference point for turning the steering wheel. However, in actual applications, if the steer-by-wire column is damaged and cannot accurately transmit the actual steering angle of the steering wheel and cannot determine the steering wheel's return position, the vehicle's steering angle may not match the actual steering angle of the steering wheel. In this case, since the steering wheel and the steering wheel feedback motor are connected through the wire-controlled steering column, the steering wheel feedback motor and the steering motor are connected through a wiring harness, and the steering motor and the wheel are connected through a wiring harness, the steering angle of the wheel can be controlled through the steering wheel. Therefore, when the steering angle of the wheel is greater than or equal to the first preset angle, the reference rotor angle of the steering motor of the wheel is obtained, and the position of the steering wheel when it is returned to the center position is determined in reverse through the steering angle of the wheel.

[0074] A malfunction in the vehicle's steering-by-wire column indicates that the steering wheel's steering angle cannot be transmitted to the wheels through the steering column. The wheel steering angle is the angle by which the wheel deflects relative to the vehicle's longitudinal axis when steering. The wheel's steering motor converts the steering signal from the electronic controller into mechanical torque to drive the wheel's steering gear. The steering motor's reference rotor angle is the rotor angle of the steering motor when the vehicle's wheels are aligned. Alignment means that the vehicle's four wheels automatically return to a straight-line driving state.

[0075] It is understood that the first preset angle is an angle automatically determined by the electronic control unit, and the size of the first preset angle is not limited in the embodiment of the present application. For example, the first preset angle is 10°.

[0076] Step 202 : determining a reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and the reference rotor angle of the steering motor. The reference correction position is the position of the steering wheel when it is returned to the center position.

[0077] In practical applications, when the steering wheel is used to control wheel alignment, the electronic controller transmits the steering wheel's alignment angle to the steering motor. Based on this alignment angle, the steering motor determines the steering motor's rotor angle when the steering wheel is aligned, thereby controlling wheel alignment. If the steer-by-wire column is damaged, making it impossible to control wheel alignment and determine the steering wheel's reference correction position, the steering wheel's reference correction position can be determined in reverse order based on the wheel's steering angle and the steering motor's reference rotor angle.

[0078] The reference correction position is the position of the steering wheel when it is returned to the center position, that is, the reference correction position is the center position of the steering wheel when it returns to the vehicle when it is traveling in a straight line.

[0079] Step 203 : In response to a centering operation on the steering wheel of the vehicle, rotating the steering wheel to the reference correction position.

[0080] The centering operation is to return the steering wheel of the vehicle to the center position.

[0081] It should be understood that after determining the reference correction position of the steering wheel, in order to facilitate controlling the vehicle steering based on the steering wheel and rotating the steering wheel to the angle required by the user, the steering wheel needs to be rotated to the reference correction position.

[0082] Embodiments of the present application provide a method for handling a steer-by-wire column failure. This method, when a vehicle's steer-by-wire column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, is capable of obtaining a reference rotor angle of the steering motor for the wheel in the event that the steer-by-wire column is damaged and the wheel has not yet returned to center. Because wheel steering can be controlled based on the steering wheel and the steering motor, the steering wheel is reversely controlled based on the wheel's steering angle and the steering motor. In this case, a reference calibration position of the vehicle's steering wheel is determined based on the wheel's steering angle and the reference rotor angle of the steering motor. This reference calibration position is the position of the steering wheel when it is returned to center. In response to a centering operation on the vehicle's steering wheel, the steering wheel is rotated to the reference calibration position. In other words, when a vehicle's steer-by-wire column fails, the steering wheel's return position is first determined, and then the steering wheel is returned to center, so that the vehicle's steering is controlled based on the returned steering wheel position as a reference standard.

[0083] It should be noted that the above steps 201-203 are a brief description of a method for handling a wire-controlled steering column failure provided by an embodiment of the present application. The following will provide a more detailed description of a method for handling a wire-controlled steering column failure provided by an embodiment of the present application with reference to some examples. Figure 3Taking the execution subject as an electronic control unit as an example, the method includes the following steps 301 to 304.

[0084] Step 301, when a vehicle's wire-controlled steering column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, obtain a reference rotor angle of the steering motor of the wheel, the reference rotor angle being the rotor angle of the steering motor when the vehicle's wheels are aligned.

[0085] It should be understood that in a steer-by-wire system, the steering wheel feedback motor of the steering wheel can simulate the steering resistance of the steering wheel. In response to the user's operation of the steering wheel, the steering angle of the steering wheel is generated. Through the steer-by-wire column, the electronic control unit sends the steering angle of the steering wheel to the steering motor, and the steering motor controls the rotation of the wheels. In actual applications, the steering wheel feedback motor can actively rotate the steering wheel so that the driver can feel the resistance. However, if the steer-by-wire column is damaged, the steering angle of the steering wheel cannot be sent to the wheels and the return position of the steering wheel cannot be determined. In this case, the steering angle of the steering wheel will not match the actual steering angle of the vehicle. For example, if the steering wheel needs to be rotated 40°, but the return position of the steering wheel is not determined, it is not known what position to use as the reference point to turn the steering wheel. In this case, since the steering wheel and the steering wheel feedback motor are connected through the wire-controlled steering column, the steering wheel feedback motor and the steering motor are connected through a wiring harness, and the steering motor and the wheel are connected through a wiring harness, that is, the steering angle of the wheel can be controlled through the steering wheel. Therefore, when the steering angle of the wheel is greater than or equal to the first preset angle, the reference rotor angle of the steering motor of the wheel is obtained, and the position of the steering wheel when it is returned to the center position is determined in reverse through the steering angle of the wheel.

[0086] In one possible embodiment, when a vehicle's wire-controlled steering column fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, a first transmission ratio between the wheel and the steering motor is obtained; and a reference rotor angle of the steering motor is determined based on the first transmission ratio and the steering angle of the wheel.

[0087] The first transmission ratio is used to represent the relationship between the steering motor and the actual steering angle of the wheel. That is, the angle of rotation of the steering motor is proportional to the actual angle of rotation of the wheel.

[0088] It should be understood that in a steer-by-wire system, there is no mechanical connection between the steering wheel and the vehicle's wheels, and information transmission between the steering wheel and the vehicle's wheels is achieved through the steering wheel feedback motor, wiring harness, and steering motor. The steering requirements of the wheels are different under different working conditions, and therefore need to be achieved through different first transmission ratios. For example, when the vehicle is traveling at a low speed, the steering motor requires a smaller first transmission ratio, that is, the smaller the angle of rotation of the steering motor, the greater the change in the steering angle of the vehicle's wheels, allowing the wheels to rotate more forcefully. When traveling at high speeds, in order to ensure the stability and safety of the vehicle, the larger first transmission ratio of the steering motor can reduce the steering sensitivity of the wheels, that is, it reduces the problem of large steering of the wheels due to small steering wheel rotations, thereby improving the stability of high-speed driving.

[0089] It should also be understood that if a vehicle's wire-controlled steering column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, it means that the wheels have not returned to center and the steering angle of the steering wheel cannot be detected, and the steering wheel's return position cannot be determined.

[0090] In some embodiments, the steering angle of the wheel is measured based on a wheel steering angle sensor; the rotor angle of the steering motor is obtained based on a steering motor encoder; and a linear regression is performed on the rotor angle and the steering angle of the wheel to obtain a first transmission ratio between the wheel and the steering motor.

[0091] It should be understood that when the wheel needs to be straightened, the steering angle of the wheel needs to be reset to zero from the current steering angle. In this case, the steering motor can control the steering angle of the wheel to be reset to zero, and then the rotor angle of the steering motor is synchronously reset to zero.

[0092] In some embodiments, a target steering angle of the wheel is acquired based on the steering angle of the wheel; and a reference rotor angle of the steering motor is determined by multiplying the first transmission ratio by the target steering angle of the wheel.

[0093] The target steering angle is the steering angle required for the wheel to return to the correct position.

[0094] For example, if the steering angle of the wheel is 5°, the target steering angle of the wheel is -5°, and the first gear ratio is 60, then the reference rotor angle of the steering motor is -300°. A first gear ratio of 60 means that the steering motor rotates 60° and the wheel rotates 1°.

[0095] In this embodiment, a first transmission ratio between the wheel and the steering motor is obtained; a reference rotor angle of the steering motor is determined based on the first transmission ratio and the steering angle of the wheel, that is, the reference rotor angle of the steering motor is determined based on the angle when the wheel is aligned and the first transmission ratio between the wheel and the steering motor, thereby determining the angle when the steering motor is aligned.

[0096] Step 302 : determining a reference correction position of the steering wheel of the vehicle based on a reference rotor angle of the steering motor and a second transmission ratio between the steering motor and the steering wheel, wherein the reference correction position is the position of the steering wheel when it is returned to center.

[0097] It should be understood that the rotation of the steering motor can drive the steering wheel to rotate, so based on the steering angle of the wheel and the reference rotor angle of the steering motor, the reference correction position of the steering wheel of the vehicle can be determined.

[0098] The reference correction position is the position of the steering wheel when it is returned to the center position. The second transmission ratio is used to represent the relationship between the steering motor and the actual steering angle of the steering wheel. In other words, the angle of rotation of the steering motor is proportional to the actual angle of rotation of the steering wheel.

[0099] The following describes how to determine the reference correction position of the steering wheel of the vehicle based on the reference rotor angle of the steering motor and the second transmission ratio between the steering motor and the steering wheel.

[0100] In one possible implementation, the steering wheel's return angle is determined based on a second transmission ratio between the steering motor and the steering wheel and a reference rotor angle of the steering motor; and the steering wheel's reference correction position is determined based on the return angle and the vehicle's driving state parameters.

[0101] The steering wheel's return angle is used to return the steering wheel to the center position. The return angle is the angle at which the steering wheel returns to the reference correction position.

[0102] It should be understood that in actual applications, the driver cannot directly sense the friction between the tire and the ground when turning the steering wheel, which can easily lead to safety problems in the vehicle. In this case, in order to simulate the feedback of the transmission steering system, a steering wheel feedback motor is arranged near the steering wheel of the wire steering system. When the driver turns the steering wheel, the electronic control unit calculates the feedback force based on the vehicle's driving state parameters, and controls the steering wheel feedback motor of the steering wheel to apply the feedback force to the steering wheel. For example, if the steering motor controls the wheel to return to the center, the steering motor will transmit the steering angle of the wheel to the steering wheel feedback motor, and the steering wheel feedback motor will control the steering wheel to rotate, thereby returning the steering wheel to the center. In the wire steering system, since there is no mechanical connection between the steering wheel and the wheel, the transmission ratio between the steering wheel feedback motor and the steering motor is the second transmission ratio.

[0103] In this embodiment, since there is a corresponding relationship between the rotor angle of the steering motor and the steering wheel angle, the steering wheel return angle can be determined based on the second transmission ratio between the steering motor and the steering wheel feedback motor of the steering wheel and the reference rotor angle of the steering motor, thereby determining the reference correction position of the steering wheel according to the steering wheel return angle.

[0104] In order to explain the above embodiment in more detail, the following describes the above embodiment in several parts.

[0105] The first part describes how to determine the return angle of the steering wheel based on the second transmission ratio between the steering motor and the steering wheel and the reference rotor angle of the steering motor.

[0106] In some embodiments, the second transmission ratio between the steering motor and the steering wheel feedback motor is determined based on a transmission ratio relationship between the steering wheel feedback motor and the steering motor.

[0107] It should be understood that when the steering wheel needs to be returned to the center, the rotor angle of the steering motor needs to be returned to zero. In this case, since the steering wheel can be controlled to rotate based on the direction of the steering motor, the steering angle of the steering wheel will also be returned to zero.

[0108] In some embodiments, the second transmission ratio is multiplied by a reference rotor angle of the steering motor to obtain a steering wheel return angle.

[0109] For example, if the reference rotor angle of the steering motor is -300° and the second transmission ratio is 20, the steering wheel return angle is -150°.

[0110] The second part describes the content of determining the reference correction position of the steering wheel based on the return angle and the driving state parameters of the vehicle.

[0111] It should be understood that since the wire control column is damaged, the steering angle of the steering wheel cannot be obtained. Therefore, in order to ensure that the reference correction position of the steering wheel matches the steering wheel return position, the reference correction position is calibrated based on the vehicle's driving state parameters.

[0112] In one possible embodiment, the steering wheel is rotated by the return angle to obtain a reference correction position; the driving trajectory of the vehicle is obtained; it is determined whether the driving trajectory of the vehicle is a straight trajectory; if the driving trajectory of the vehicle is a non-straight trajectory, the correction offset of the steering wheel after the steering motor is rotated by the reference rotor angle is obtained; and the baseline correction position of the steering wheel is determined based on the reference correction position and the correction offset.

[0113] The reference calibration position is the return position of the steering wheel after the initial calibration. The calibration offset is used to compensate for the deviation between the reference calibration position and the base calibration position of the steering wheel.

[0114] It should be understood that under different driving conditions, the second transmission ratio between the vehicle's steering motor and the steering wheel feedback motor is different. In this case, if the second transmission ratio is not adjusted in real time and the steering wheel is controlled to return to the centering position based on the same second transmission ratio, it is easy for the steering wheel to fail to rotate to the return position. Therefore, it is necessary to determine whether the current reference correction position is accurate based on the vehicle's driving trajectory.

[0115] In this embodiment, the steering wheel is initially calibrated to obtain a reference calibration position. If the reference calibration position cannot meet the centering requirement of the steering wheel, the steering wheel is then subjected to a secondary calibration to determine the steering wheel's return position.

[0116] In order to explain the above embodiment in more detail, the following describes the above embodiment in several parts.

[0117] The first part describes how to rotate the steering wheel to the correct angle to obtain a reference correction position.

[0118] In some embodiments, based on the return angle, a rotational torque of a steering wheel feedback motor is determined, and based on the rotational torque, the steering wheel is controlled to rotate to a reference correction position.

[0119] The second part explains how to obtain the vehicle's driving trajectory.

[0120] It should be understood that since the reference correction position is the position after the initial correction, a secondary correction is performed on the reference correction position to obtain the driving trajectory of the vehicle.

[0121] In some embodiments, the vehicle's speed and direction change information are measured based on an inertial measurement unit; the vehicle's global position information is obtained based on a global positioning system; and the direction change information, speed, and global position information are modeled and predicted based on a neural network to obtain the vehicle's driving trajectory.

[0122] The third part explains the content of determining whether the vehicle's driving trajectory is a straight trajectory.

[0123] In a possible implementation, at least one trajectory point is obtained in the driving trajectory, a first distance between each trajectory point and the straight trajectory is calculated, and whether the driving trajectory of the vehicle is a straight trajectory is determined based on the first distance.

[0124] In some embodiments, when the first distance is less than or equal to the second preset distance, the driving trajectory of the vehicle is determined to be a straight trajectory.

[0125] The second preset distance is an angle automatically determined by the electronic control unit, and the size of the second preset distance is not limited in the embodiment of the present application. For example, the second preset distance is 0.1 meters.

[0126] In some embodiments, when the first distance is greater than the second preset distance, it is determined that the driving trajectory of the vehicle is not a straight trajectory.

[0127] In this embodiment, whether the current driving trajectory is a straight trajectory is determined based on the distance between the trajectory point on the current driving trajectory and the ideal straight trajectory, with high accuracy.

[0128] The fourth part describes how to obtain the correction offset of the steering wheel after the steering motor rotates the reference rotor angle when the vehicle's driving trajectory is a non-linear trajectory.

[0129] It should be understood that in actual applications, the steering motor may be worn, and controlling the steering wheel to return to the center position based on the same second transmission ratio may result in the steering wheel not being completely returned to the center position. In this case, the reference correction position of the steering wheel needs to be corrected to prevent the vehicle from being unable to drive in a straight line.

[0130] In some embodiments, a first angle deviation between a reference rotor angle of the steering motor and a preset rotor angle is obtained, and a correction offset of the steering wheel is determined based on the first angle deviation and a second transmission ratio between the steering wheel and the steering motor.

[0131] The first angle deviation is used to represent a deviation value between a reference rotor angle and a preset rotor angle.

[0132] For example, if the reference rotor angle is 50°, the preset rotor angle is 52°, and the second gear ratio is 20, the steering wheel correction offset is 1°.

[0133] The fifth part describes the content of determining the reference correction position of the steering wheel based on the reference correction position and the correction offset.

[0134] It should be understood that when there is a deviation between the reference correction position and the base correction position, in order to make the vehicle travel in a straight line, the reference correction position and the correction offset may be used to determine the base correction position of the steering wheel.

[0135] In some embodiments, the reference correction position is added to the correction offset to obtain the baseline correction position of the steering wheel.

[0136] For example, if the reference correction position is that the steering wheel is at the 10° position and the correction offset is -10°, then the reference correction position of the steering wheel is that the steering wheel is at the 0° position.

[0137] Step 303: Determine whether the steering wheel is centered in response to the operation.

[0138] It should be understood that in actual applications, if the vehicle is traveling at high speed or is at risk of collision, rotating the steering wheel to the reference calibration position may easily cause the vehicle to be at risk. After calculating the reference calibration position of the steering wheel, it is determined whether to respond to the steering wheel centering operation.

[0139] Next, the content of determining whether or not the steering wheel centering operation is responded to will be described.

[0140] In one possible implementation, a driving state parameter and an environmental perception parameter of the vehicle are obtained, the environmental perception parameter being used to determine the driving environment of the vehicle; and a determination is made based on the driving state parameter and the environmental perception parameter whether the vehicle is at risk of collision. If the vehicle is not at risk of collision, a decision is made to respond to a centering operation of the steering wheel; if the vehicle is at risk of collision, a decision is made not to respond to the centering operation of the steering wheel.

[0141] The vehicle's driving state parameters include speed and safety distance. The safety distance is the minimum distance the vehicle should maintain between itself and other vehicles. The safety distance is used to prevent collisions with other vehicles.

[0142] It should be understood that environmental perception data can be used to determine the safe distance between a vehicle and other vehicles. If the safe distance is too small, even a slight steering angle can easily lead to a collision. Vehicle speed can be used to determine whether the vehicle is traveling at high speeds. At higher speeds, even a slight steering angle can easily cause the vehicle to roll over, potentially posing a dangerous risk. In this case, the vehicle's speed and safe distance are used to determine whether the vehicle is at risk of collision.

[0143] Under this embodiment, whether the vehicle is at risk of collision is determined based on the vehicle's driving state parameters and environmental perception parameters. If the vehicle is not at risk of collision, it is determined to respond to the centering operation of the steering wheel; if the vehicle is at risk of collision, it is determined not to respond to the centering operation of the steering wheel, thereby reducing the probability of the vehicle having an accident when returning the steering wheel to the center position.

[0144] In order to explain the above embodiment in more detail, the following describes the above embodiment in several parts.

[0145] The first part explains the contents of obtaining the vehicle's driving state parameters and the vehicle's environmental perception parameters.

[0146] The vehicle's driving parameters include the vehicle's speed, and the environment perception parameters include the distance between the vehicle and other vehicles.

[0147] In some embodiments, the vehicle speed is obtained based on a vehicle speed sensor.

[0148] The vehicle speed is used to determine whether the vehicle is in a high-speed state.

[0149] It should be understood that when the vehicle is in a high-speed driving state, if the steering angle of the steering wheel changes significantly, the risk of the vehicle skidding will increase. Therefore, it is necessary to obtain the vehicle speed and then determine whether to respond to the centering operation of the steering wheel based on the vehicle speed.

[0150] In some embodiments, a safe distance between a vehicle and other vehicles is obtained based on a lidar.

[0151] The second part explains how to determine whether the vehicle has a collision risk based on the driving state parameters and the environmental perception parameters.

[0152] In some embodiments, when the vehicle speed is less than or equal to a preset vehicle speed, it is determined whether the safety distance is greater than or equal to a first preset distance.

[0153] It should be understood that a vehicle speed less than or equal to a preset speed indicates that the vehicle is in a low-speed driving state. In this case, it is necessary to determine whether the vehicle's safety distance is greater than or equal to a first preset distance, thereby reducing the probability that the vehicle's safety distance affects the centering operation on the steering wheel.

[0154] In some embodiments, when the safety distance is greater than or equal to a first preset distance, it is determined that the vehicle does not have a collision risk.

[0155] The first preset distance is an angle automatically determined by the electronic control unit, and the size of the first preset distance is not limited in the embodiment of the present application. For example, the first preset distance is 5 meters.

[0156] It should be understood that if the safety distance is greater than or equal to the first preset distance, it means that the distance between the vehicle and other vehicles is far and the current speed of the vehicle is low, then the risk of collision of the vehicle is small.

[0157] In some embodiments, when the safety distance is less than a first preset distance or the vehicle speed exceeds a preset speed, it is determined that the vehicle is at risk of collision.

[0158] It should be understood that the safety distance being less than the first preset distance indicates that the distance between the vehicle and other vehicles is relatively close. Even if the current speed of the vehicle is relatively low, the risk of collision between the vehicle and other vehicles is still relatively high.

[0159] The third part describes the content of determining a response to the centering operation of the steering wheel when there is no collision risk with the vehicle.

[0160] It should be understood that, when there is no collision risk for the vehicle, it is determined to perform a centering operation on the steering wheel, thereby calibrating the return position of the steering wheel.

[0161] Step 304 : When there is no collision risk for the vehicle, in response to a centering operation on the steering wheel of the vehicle, rotate the steering wheel to the reference correction position.

[0162] It should be understood that, in a case where there is no collision risk for the vehicle, the centering operation of the steering wheel of the vehicle is performed in response to calibrating the return position of the steering wheel.

[0163] It should also be understood that in actual applications, if the reference correction position of the steering wheel cannot always be detected, it is easy to cause the vehicle to lose control. In this case, after determining the reference correction position of the steering wheel, a touch button is integrated on the vehicle's computer. That is, when the vehicle's wire-controlled column is damaged, the steering wheel is controlled to rotate to the reference correction position based on the touch button.

[0164] In some embodiments, in response to a centering operation on a steering wheel of the vehicle, a centering instruction is generated, and the steering wheel is rotated to the reference correction position based on the centering instruction.

[0165] Optionally, after performing the above steps, you can also perform the following steps.

[0166] In one possible implementation, a centering image of the steering wheel is acquired; the centering image of the steering wheel is recognized to obtain key point coordinates of the steering wheel; and whether the steering wheel is successfully centered is determined based on the key point coordinates of the steering wheel and preset coordinates.

[0167] It should be understood that after the steering wheel is rotated to the reference correction position, the steering wheel may not be rotated to the reference correction position based on rotational inertia. In this case, the reference correction position of the steering wheel is calibrated again based on the centering image of the steering wheel, so that the steering wheel return position is more accurate.

[0168] The centering image is used to determine whether the steering wheel is in the reference calibration position, and the key point coordinates are used to determine whether the steering wheel is straightened. For example, the key point coordinates can be the product identification of the vehicle.

[0169] In this embodiment, whether the steering wheel is successfully centered is determined based on the centering image of the steering wheel, and the reference correction position of the steering wheel is calibrated again, so that a more accurate reference correction position can be obtained.

[0170] In order to explain the above embodiment in more detail, the following describes the above embodiment in several parts.

[0171] The first part describes the content of obtaining the centering image of the steering wheel.

[0172] It should be understood that in order to make the reference correction position of the steering wheel more accurate, a centering image of the steering wheel can be obtained and the steering wheel can be calibrated again.

[0173] In some embodiments, a centering image of the steering wheel is captured based on a camera.

[0174] The second part describes how to identify the centering image of the steering wheel and obtain the coordinates of the key points of the steering wheel.

[0175] In some embodiments, the centering image of the steering wheel is recognized, the geometric center of the steering wheel is determined, and the geometric center of the steering wheel is determined as a key point; and the coordinates of the key point are detected.

[0176] The third part explains the content of determining whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and the preset coordinates.

[0177] It should be understood that due to the wide range of steering wheel angles, successful steering can be determined based on the coordinates of key points on the steering wheel. For example, the steering wheel angle may be 270°, making it difficult to determine the exact position of the steering wheel. In this case, successful steering can be determined based on the coordinates of key points on the steering wheel.

[0178] In some embodiments, it is determined whether the key point coordinates of the steering wheel are equal to preset coordinates.

[0179] The preset coordinates are the key point coordinates of the steering wheel when the steering wheel is returned to the center position.

[0180] The preset coordinates are coordinates automatically determined by the electronic control unit, and are not limited in the embodiments of the present application. For example, the preset coordinates are (0, 0).

[0181] In some embodiments, when the key point coordinates are equal to the preset coordinates, it is determined that the steering wheel is successfully aligned.

[0182] It should be understood that the key point coordinate being equal to the preset coordinate indicates that the key point of the steering wheel is aligned, that is, the steering wheel is successfully centered.

[0183] In some embodiments, when the key point coordinates are not equal to the preset coordinates, it is determined that the steering wheel alignment has failed.

[0184] It should be understood that if the coordinates of the key point are not equal to the preset coordinates, it means that the key point of the steering wheel has not been corrected, that is, the steering wheel has failed to be centered.

[0185] In some embodiments, if the steering wheel is successfully aligned, the steering wheel is maintained at the reference correction position.

[0186] It should be understood that successful steering wheel centering means that no operation is required on the steering wheel and the steering wheel is able to keep the vehicle moving in a straight line. In this case, the steering wheel is maintained in the calibrated correction position.

[0187] In some embodiments, when the steering wheel is successfully centered, a first prompt message for the successful steering wheel centering is triggered. The first prompt message is used to prompt that the steering wheel has been returned to the center. The first prompt message includes a first prompt message text and a first prompt message audio.

[0188] In some embodiments, a light-emitting diode (LED) indicates that the steering wheel is successfully centered. The LED is highlighted on the instrument panel or flashes on the vehicle screen to inform the driver that the steering wheel is successfully centered. For example, a flashing green LED indicates that the steering wheel is successfully centered.

[0189] In some embodiments, the first prompt message text is displayed on the vehicle screen. In some embodiments, the first prompt message audio is broadcast on the vehicle speaker. For example, the first prompt message text or the first prompt message audio may be "The steering wheel has returned to the center position. Please drive carefully."

[0190] In some embodiments, in the event that the steering wheel fails to be centered, a reference correction position of the steering wheel is determined based on the preset coordinates.

[0191] It should be understood that steering wheel centering failure means that the steering wheel cannot maintain the vehicle's straight driving. In this case, the steering wheel's reference correction position needs to be calibrated again. Since the preset coordinates are the coordinates of the key points of the steering wheel when the steering wheel is returned to the center position, the reference correction position of the steering wheel can be determined based on the preset coordinates.

[0192] In some embodiments, the steering wheel position corresponding to the preset coordinates is determined as the reference correction position of the steering wheel.

[0193] In this case, since the preset coordinates are the key point coordinates of the steering wheel when the steering wheel is returned to the center position, aligning the key point coordinates of the steering wheel with the preset coordinates can determine the steering wheel position corresponding to the preset coordinates as the reference correction position of the steering wheel.

[0194] In some embodiments, if the steering wheel fails to center, a second prompt message regarding the steering wheel failure is displayed on the vehicle computer, the second prompt message being used to indicate that the steering wheel has not returned to center. The second prompt message includes a second prompt message text and a second prompt message audio.

[0195] In some embodiments, if a steering wheel fails to be centered, the LED light is highlighted on the instrument panel or flashes on the vehicle screen to inform the driver that the steering wheel has been centered successfully. For example, a flashing red LED light indicates that the steering wheel has failed to be centered.

[0196] In some embodiments, the second prompt message text is displayed on the vehicle screen. In some embodiments, the second prompt message audio is played on the vehicle speaker. For example, the second prompt message text or second prompt message audio may be "The steering wheel cannot be returned to the correct position. Please pull over, slow down, and inspect immediately."

[0197] Step 305 : When there is a risk of collision with the vehicle, determine not to respond to the centering operation of the steering wheel.

[0198] It should be understood that when there is a risk of collision for the vehicle, in order to avoid a collision of the vehicle, the instruction to perform a centering operation on the steering wheel is suppressed.

[0199] Embodiments of the present application provide a method for handling a steer-by-wire column failure. When a vehicle's steer-by-wire column fails and the steering angle of the vehicle's wheels is greater than or equal to a first preset angle, the method can obtain a reference rotor angle of the steering motor for the wheel. This reference rotor angle is the rotor angle of the steering motor when the vehicle's wheels are aligned. Because wheel steering can be controlled based on the steering wheel and the steering motor, the steering wheel is aligned based on the steering angle of the wheel and the reverse direction of the steering motor. In this case, a reference correction position of the vehicle's steering wheel is determined based on the reference rotor angle of the steering motor and a second transmission ratio between the steering motor and the steering wheel. This reference correction position is the position of the steering wheel when the steering wheel is aligned. Because the vehicle may be at risk of collision, the method rotates the steering wheel to the reference correction position in response to a centering operation on the vehicle's steering wheel if the vehicle is not at risk of collision. Otherwise, the method does not respond to the centering operation on the vehicle's steering wheel. That is, in the case where the vehicle's wire-controlled steering column is damaged, the steering wheel's return position is first determined, and then the steering wheel is returned to the center, so as to control the vehicle's steering based on the steering wheel's return position.

[0200] Figure 4It is a structural schematic diagram of a device for processing a wire-controlled steering column failure provided in an embodiment of the present application.

[0201] For example, Figure 4 As shown, the apparatus 400 includes:

[0202] an acquisition module 401 for acquiring a reference rotor angle of a steering motor for a wheel when a steer-by-wire column of a vehicle fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, the reference rotor angle being the rotor angle of the steering motor when the wheel of the vehicle is aligned;

[0203] a determination module 402 for determining a reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and a reference rotor angle of the steering motor, the reference correction position being the position of the steering wheel when it is returned to center;

[0204] The rotation module 403 is configured to rotate the steering wheel to the reference correction position in response to a centering operation on the steering wheel of the vehicle.

[0205] In one possible implementation, the device 400 includes:

[0206] An acquisition module 401 is configured to acquire a first transmission ratio between the wheel and the steering motor;

[0207] a determination module 402, configured to determine a reference rotor angle of the steering motor based on the first transmission ratio and the steering angle of the wheel;

[0208] The apparatus 400 further includes:

[0209] a determination module 402 for determining a return angle of the steering wheel based on a second transmission ratio between the steering motor and the steering wheel and a reference rotor angle of the steering motor, the return angle being an angle at which the steering wheel returns to the reference correction position;

[0210] The determination module 402 is configured to determine a reference correction position of the steering wheel based on the return angle and the driving state parameters of the vehicle.

[0211] In one possible implementation, the device 400 includes:

[0212] A rotation module 403 is configured to rotate the steering wheel by the return angle to obtain a reference correction position;

[0213] A driving trajectory acquisition module is used to obtain the driving trajectory of the vehicle;

[0214] A driving trajectory determination module is used to determine whether the driving trajectory of the vehicle is a straight trajectory;

[0215] An acquisition module 401 is configured to acquire, when the vehicle's driving trajectory is a non-linear trajectory, a correction offset of the steering wheel after the steering motor rotates the reference rotor angle;

[0216] The determination module 402 is configured to determine a reference correction position of the steering wheel based on the reference correction position and the correction offset.

[0217] In one possible implementation, the device 400 includes:

[0218] An image acquisition module is used to acquire an alignment image of the steering wheel;

[0219] an identification module, configured to identify the centering image of the steering wheel and obtain the coordinates of key points of the steering wheel, the coordinates of the key points being reference point coordinates for determining whether the steering wheel is centered;

[0220] A centering determination module, configured to determine whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and preset coordinates;

[0221] A determination module 402 is configured to maintain the steering wheel at the reference correction position if the steering wheel is successfully centered;

[0222] The determination module 402 is configured to determine a reference correction position of the steering wheel based on the preset coordinates when the steering wheel fails to be centered.

[0223] In one possible implementation, the device 400 includes:

[0224] A steering wheel centering module is used to determine whether the key point coordinates of the steering wheel are equal to the preset coordinates;

[0225] A steering wheel centering determination module, configured to determine that the steering wheel is successfully centered when the coordinates of the key point are equal to the preset coordinates;

[0226] a steering wheel centering determination module, configured to determine that the steering wheel centering has failed if the coordinates of the key point are not equal to the preset coordinates;

[0227] The apparatus 400 further includes:

[0228] The determination module 402 is configured to determine the steering wheel position corresponding to the preset coordinates as a reference correction position of the steering wheel.

[0229] In one possible implementation, the device 400 includes:

[0230] An acquisition module 401 is configured to acquire driving state parameters of the vehicle and environment perception parameters of the vehicle, wherein the environment perception parameters are used to determine the driving environment of the vehicle;

[0231] a collision risk determination module, configured to determine whether the vehicle has a collision risk based on the driving state parameter and the environment perception parameter;

[0232] a collision risk determination module, configured to determine a response to a centering operation of the steering wheel when there is no collision risk with the vehicle;

[0233] The collision risk determination module is configured to determine not to respond to a centering operation on the steering wheel when there is a collision risk on the vehicle.

[0234] In one possible implementation, the device 400 includes:

[0235] a collision risk determination module, configured to determine, when the vehicle speed is less than or equal to a preset speed, whether the safety distance is greater than or equal to a first preset distance, the safety distance being a minimum distance that should be maintained between the vehicle and other vehicles;

[0236] a collision risk determination module, configured to determine that there is no collision risk for the vehicle if the safety distance is greater than or equal to a first preset distance;

[0237] The collision risk determination module is configured to determine that the vehicle has a collision risk when the safety distance is less than a first preset distance or the vehicle speed exceeds a preset speed.

[0238] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0239] For example, Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 503, and the processor 502 is used to call and execute the executable program code 503 to perform a method for processing a wire-controlled steering column failure.

[0240] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to execute a method for handling a wire-controlled steering column failure provided in an embodiment of the present application.

[0241] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0242] In the case of dividing the functional modules into corresponding functional modules, the device may further include a collision risk determination module, an image acquisition module, and a recognition module. It should be noted that all relevant contents of the various steps involved in the above method embodiment can be referred to the functional description of the corresponding functional modules and will not be repeated here.

[0243] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for handling a steer-by-wire column failure, and thus can achieve the same effect as the above-mentioned implementation method.

[0244] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0245] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor (DSP) and a microprocessor, and the storage module may be a memory.

[0246] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for handling a wire-controlled steering column failure provided in the above embodiment.

[0247] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for handling a wire-controlled steering column failure provided by the above embodiment.

[0248] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the method for handling a steer-by-wire column failure provided in the above embodiment.

[0249] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0250] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0251] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0252] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for handling a steer-by-wire column failure, characterized in that: The method comprises: When a steer-by-wire column of a vehicle fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, obtaining a reference rotor angle of a steering motor of the wheel, the reference rotor angle being a rotor angle of the steering motor when the wheel of the vehicle is aligned; Determining a reference correction position of a steering wheel of the vehicle based on the steering angle of the wheel and a reference rotor angle of the steering motor, the reference correction position being the position of the steering wheel when it is returned to center; In response to a centering operation of a steering wheel of the vehicle, the steering wheel is rotated to the reference correction position.

2. The method according to claim 1, characterized in that The obtaining of a reference rotor angle of the steering motor of the wheel includes: obtaining a first transmission ratio between the wheel and the steering motor; determining a reference rotor angle of the steering motor based on the first transmission ratio and the steering angle of the wheel; The determining of a reference correction position of a steering wheel of the vehicle based on a steering angle of the wheel and a reference rotor angle of the steering motor comprises: determining a return angle of the steering wheel based on a second transmission ratio between the steering motor and the steering wheel and a reference rotor angle of the steering motor, the return angle being an angle at which the steering wheel returns to the reference correction position; A reference correction position of the steering wheel is determined based on the return angle and a driving state parameter of the vehicle.

3. The method according to claim 2, characterized in that The driving state parameter includes a driving trajectory of the vehicle, and determining a reference correction position of the steering wheel based on the return angle and the driving state parameter of the vehicle includes: Rotating the steering wheel by the return angle to obtain a reference correction position; Obtaining a driving trajectory of the vehicle; determining whether the vehicle's travel trajectory is a straight line trajectory; When the vehicle's driving trajectory is a non-linear trajectory, obtaining a correction offset of the steering wheel after the steering motor rotates by the reference rotor angle; A reference correction position of the steering wheel is determined based on the reference correction position and the correction offset.

4. The method according to claim 1, wherein After determining the reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and the reference rotor angle of the steering motor, the method includes: Acquiring a centering image of the steering wheel; Recognizing the centering image of the steering wheel to obtain key point coordinates of the steering wheel, where the key point coordinates are reference point coordinates for determining whether the steering wheel is centered; Determining whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and the preset coordinates; When the steering wheel is successfully aligned, maintaining the steering wheel at the reference correction position; In the event that the steering wheel fails to be centered, a reference correction position of the steering wheel is determined based on the preset coordinates.

5. The method according to claim 4, characterized in that The determining whether the steering wheel is successfully centered based on the key point coordinates of the steering wheel and the preset coordinates includes: Determining whether the key point coordinates of the steering wheel are equal to the preset coordinates; When the coordinates of the key point are equal to the preset coordinates, determining that the steering wheel is successfully centered; When the coordinates of the key point are not equal to the preset coordinates, determining that the steering wheel alignment has failed; In the case where the steering wheel fails to be centered, determining the reference correction position of the steering wheel based on the preset coordinates includes: The steering wheel position corresponding to the preset coordinates is determined as the reference correction position of the steering wheel.

6. The method according to claim 1, characterized in that The method includes, before rotating the steering wheel to the reference correction position in response to the centering operation on the steering wheel of the vehicle, comprising: Acquiring a driving state parameter of the vehicle and an environmental perception parameter of the vehicle, wherein the environmental perception parameter is used to determine a driving environment of the vehicle; determining whether the vehicle has a collision risk based on the driving state parameter and the environment perception parameter; In a case where there is no risk of collision of the vehicle, determining a response to a centering operation of the steering wheel; In a case where there is a risk of collision of the vehicle, it is determined not to respond to a centering operation of the steering wheel.

7. The method according to claim 6, characterized in that The driving state parameter includes the speed of the vehicle, the environmental perception parameter includes the safety distance of the vehicle, and determining whether the vehicle has a collision risk based on the driving state parameter and the environmental perception parameter includes: When the vehicle speed is less than or equal to a preset speed, determining whether the safety distance is greater than or equal to a first preset distance, the safety distance being a minimum distance that should be maintained between the vehicle and other vehicles; When the safety distance is greater than or equal to a first preset distance, determining that there is no collision risk for the vehicle; When the safety distance is less than a first preset distance or the vehicle speed exceeds a preset speed, it is determined that the vehicle has a collision risk.

8. A device for handling steer-by-wire column failure, characterized in that: The device comprises: an acquisition module, configured to acquire a reference rotor angle of a steering motor of a wheel when a steer-by-wire column of a vehicle fails and a steering angle of a wheel of the vehicle is greater than or equal to a first preset angle, the reference rotor angle being a rotor angle of the steering motor when the wheel of the vehicle is aligned; a determination module, configured to determine a reference correction position of the steering wheel of the vehicle based on the steering angle of the wheel and a reference rotor angle of the steering motor, wherein the reference correction position is the position of the steering wheel when it is returned to center; A rotation module is configured to rotate the steering wheel to the reference correction position in response to a centering operation on the steering wheel of the vehicle.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

Images