Multi-mode control method and device for steer-by-wire system

Abstract

The invention discloses a multi-mode control method and device for a steer-by-wire system. The multi-mode control method comprises the steps that communication connection between a vehicle wireless communication system and a mobile terminal is established, and safety verification is completed; selecting a main driving vehicle control mode or a mobile terminal vehicle control mode according to the driving intention; safety identification is completed through double-hand pressing authentication and dynamic action verification, and the zero-degree bit mapping relation between a mobile terminal gravity sensor and a steering wheel and between the mobile terminal gravity sensor and a steering wheel is checked; executing a control strategy of up-down follow-up, steering wheel silence or steering wheel silence based on a checking result to realize multi-dimensional decoupling control of the steering wheel and the steering wheel; and automatically switching to a main driving mode and aligning according to the fault signal or instruction. Through deep integration of the mobile terminal and the steering system, a four-level mode collaborative architecture is constructed, dynamic checking and a safety protocol are combined, the steering control freedom degree and the intelligent level are improved, and the problems that a traditional steering system is low in safety, poor in comfort, fixed in transmission ratio and insufficient in intelligence are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of steer-by-wire systems, and in particular to a multi-mode control method and device for a steer-by-wire system. Background Art

[0002] At present, the field of passenger cars mainly adopts mechanical steering system as the technical solution. The core structure of the system consists of a three-section steering column, such as Figure 1 As shown in the figure, the upper section (AB) connects to the steering wheel, the lower section (CD) connects to the steering rack, and the middle section (BC) connects the two sections via a cross-axis universal joint. The steering wheel input torque is transmitted to the steering gear via the AB-BC-CD shaft system to drive the wheels. Simultaneously, the front wheel load torque is transmitted to the steering wheel through a reverse path, creating road feel for the driver. In the context of autonomous driving technology, traditional steering systems still rely on mechanical hard connections to achieve steering operation.

[0003] In the existing technology, there are safety issues. In a collision accident, the mechanical steering column is prone to invasive displacement, causing secondary damage to the driver's chest. The problem of insufficient comfort: the mechanical transmission chain causes road vibrations to be directly transmitted to the steering wheel, and the vibrations are easily transmitted to the steering wheel, reducing driving comfort. The problem of fixed transmission ratio: the transmission ratio of the traditional steering system is fixed, that is, the angular transfer characteristics cannot be changed, resulting in the steering response characteristics of the car being unable to compensate for changes in parameters such as vehicle speed and lateral acceleration, increasing the driver's operating burden. The problem of poor intelligent compatibility: the traditional steering system is difficult to seamlessly integrate with the autonomous driving control system, which limits the development and application of autonomous driving technology.

[0004] Therefore, inventing a multi-mode control method and device for a wire-controlled steering system with a multi-modal steering control architecture, which can adjust the steering transmission ratio in real time, establish a two-way communication protocol between the vehicle and the mobile terminal, and support the direct control of the steering system by the automatic driving system has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The purpose of the present invention is to provide a multi-mode control method for a wire-controlled steering system. The present invention effectively solves the inherent defects of traditional steering systems in terms of safety, intelligence and comfort, and also creates a new steering interaction mode based on mobile terminals to meet users' needs for personalized driving experience.

[0006] To achieve this objective, the present invention provides a multi-mode control method for a steer-by-wire system, which includes:

[0007] Establishing a communication connection between the vehicle wireless communication system and the mobile terminal, and associating the vehicle wireless communication system with the mobile terminal after completing security verification;

[0008] Select a steering mode according to the input steering mode selection instruction, where the steering mode includes the main driver control mode and the mobile terminal control mode;

[0009] In the mobile terminal vehicle control mode, the vehicle's operating state is safely identified, and after the safety identification is passed, the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel, a control strategy is selected from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy according to the driver's needs;

[0010] When the vehicle receives an active exit command from the mobile terminal vehicle control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal vehicle control mode, the mobile terminal vehicle control mode is switched to the main driving vehicle control mode.

[0011] Preferably, the specific selection method of selecting a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode according to the driver's needs is:

[0012] When the steering wheel and steering wheel need to rotate with the rotation of the gravity sensor of the mobile terminal, select the up and down following control strategy of the steering wheel and steering wheel;

[0013] When the steering wheel is required to rotate along with the gravity sensor of the mobile terminal, and the steering wheel does not rotate along with the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected;

[0014] When the steering wheel is required to rotate along with the rotation of the gravity sensor of the mobile terminal and the steering wheel does not rotate along with the rotation of the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected.

[0015] Preferably, after the vehicle is started, the vehicle first enters the main driving control mode, and the mobile terminal control mode can be switched only when it is parked; after the mobile terminal is connected to the vehicle, other steering modes are switched in the mobile terminal; when the mode is switched, the mobile terminal sends a control instruction to the vehicle, and after the signal receiving module in the vehicle's wireless communication system receives the control instruction, it transmits the control instruction to the steering controller, so that the vehicle switches to the corresponding steering mode.

[0016] Preferably, the up and down following control strategy of the steering wheel and steering wheel is specifically as follows: in the up and down following control strategy of the steering wheel and steering wheel, the position information of the steering wheel and steering wheel is displayed on the mobile terminal, and the mobile terminal controls the rotation of the steering wheel and steering wheel; after completing the zero-degree position calibration, the steering wheel and steering wheel rotate synchronously with the mobile terminal; the corresponding rotation angles of the steering wheel and steering wheel are transmitted to the mobile terminal, and the driver observes the rotation angles of the steering wheel and steering wheel through the mobile terminal and makes corresponding steering actions; when the driver rotates the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module then sends the electrical signal to the steering controller, and the steering controller processes the received electrical signal and the current operating status of the vehicle, and sends control instructions to the motor to realize the rotation of the steering wheel and steering wheel.

[0017] Preferably, the steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the rotation of the steering wheel, and the steering wheel does not rotate with the mobile terminal; after completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding rotation angle of the steering wheel is transmitted to the mobile terminal, and the driver observes the rotation angle of the steering wheel through the mobile terminal and makes corresponding steering actions; when the driver rotates the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module sends the signal to the steering controller, the steering controller processes the received signal and the current operating status of the vehicle, and sends a control instruction to the motor to realize the rotation of the steering wheel.

[0018] Preferably, the steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the rotation of the steering wheel, and the steering wheel does not rotate with the mobile terminal; after completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding steering wheel rotation angle is transmitted to the mobile terminal, and the driver observes the steering wheel rotation angle through the mobile terminal and makes corresponding steering actions; when the driver turns the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module then sends the signal to the steering controller, and the steering controller sends a control instruction to the motor according to the received signal to realize the rotation of the steering wheel.

[0019] Preferably, the specific steps of safely identifying the operating state of the vehicle in the mobile terminal vehicle control mode and matching the zero-degree position of the mobile terminal gravity sensor with the zero-degree positions of the steering wheel and the steering wheel respectively after the safety identification is passed are:

[0020] In the mobile terminal vehicle control mode, the driver should ensure that both hands are used for operation. When it is detected that the designated position of the mobile terminal is pressed simultaneously and the prescribed action of the mobile terminal is completed, the safety identification is passed. Before officially entering the mobile terminal vehicle control mode, the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel should be completed. In the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel, the steering angle information of the steering wheel and the steering wheel is sent to the mobile terminal by the signal receiving module in the vehicle's wireless communication system. The mobile terminal displays the steering angle information of the steering wheel and the steering wheel at this time. After controlling the steering wheel and the steering wheel to return to the initial zero-degree position, hold the mobile terminal in landscape mode and keep it horizontal to complete the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel.

[0021] Preferably, when the vehicle receives an active exit instruction from the mobile terminal vehicle control mode or a vehicle wireless communication system fault signal during the steer-by-wire strategy control in the mobile terminal vehicle control mode, the specific steps of switching the mobile terminal vehicle control mode to the main driving vehicle control mode are:

[0022] When the driver needs to change the steering mode, he can operate the mobile terminal to exit the current steering mode; when the vehicle detects that there is a fault in the mobile terminal control mode, it will automatically stop and switch to the main driving control mode; after exiting the mobile terminal control mode and entering the main driving control mode, the car's steering wheel and steering wheel should automatically align and return to the center position; when the vehicle detects that the current driving environment is not suitable for entering a certain mobile terminal control mode, the vehicle will issue a warning to the mobile terminal; when the vehicle is moving, it is prohibited to turn on the steering wheel silent mode in the mobile terminal control mode.

[0023] The present invention provides a multi-mode control device for a steer-by-wire system, comprising:

[0024] The vehicle association module is used to establish a communication connection between the vehicle wireless communication system and the mobile terminal, and associate the vehicle wireless communication system with the mobile terminal after completing the security verification;

[0025] The mode selection module is used to select a steering mode according to the input steering mode selection instruction, where the steering modes include the main driver control mode and the mobile terminal control mode;

[0026] The steering strategy module is used to safely identify the vehicle's operating status in the mobile terminal vehicle control mode, and after the safety identification is passed, match the zero-degree position of the mobile terminal's gravity sensor with the zero-degree positions of the steering wheel and steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor matches the zero-degree positions of the steering wheel and steering wheel, select a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy based on the driver's needs;

[0027] The exit module is used to switch the mobile terminal control mode to the main driving control mode when the vehicle receives an active exit command from the mobile terminal control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal control mode.

[0028] Beneficial effects of the present invention: The present invention proposes a multi-mode control method for a wire-controlled steering system. By establishing a two-way control protocol between a mobile terminal and a vehicle steering system, a collaborative control architecture is constructed for a main driving mode and three mobile terminal-controlled sub-modes, thereby achieving multi-dimensional decoupling control of the steering wheel and the steering wheel while ensuring driving safety. Through a four-level mode switching system consisting of a main driving mode, an up-and-down follow-up mode, a steering wheel silent mode, and a steering wheel silent mode, the mechanical hard-connection limitations of traditional steering systems are overcome. In the steering wheel silent mode, complete decoupling of the steering wheel and the front wheel steering is achieved, allowing the driver to rotate the mobile terminal within a range of ±180° for non-cross-hand steering, thereby improving the operational convenience of the steering system. The dual safety protocol developed for simultaneous double-hand press authentication and specific action verification reduces the risk of misoperation. The innovative zero-degree position dynamic calibration system ensures accurate mapping between the mobile terminal and the vehicle steering mechanism, thereby improving the calibration efficiency of the wire-controlled steering system. The mobile terminal-controlled vehicle mode realizes real-time control of the steering transmission ratio. The combination of a vehicle speed adaptive algorithm and a steering angle compensation mechanism improves the steering response speed, and provides visual interaction through the mobile terminal interface. By building a three-level fault response mechanism to achieve automatic mode switching and emergency return control, the system integrates intelligent fault handling and improves the efficiency of steer-by-wire system fault handling. This invention achieves high-precision steering control, accelerates mode switching, and enhances the user experience, providing an innovative solution for the development of human-computer interaction technology for intelligent vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the mechanical steering system;

[0030] Figure 2 is a flow chart of the present invention;

[0031] Figure 3 This is a schematic diagram of the steering mode type;

[0032] Figure 4 Schematic diagram of a multi-mode control device for a steer-by-wire system according to the present invention;

[0033] Figure 5 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0036] Example 1

[0037] A multi-mode control method for a steer-by-wire system, comprising:

[0038] Establishing a communication connection between the vehicle's wireless communication system and the mobile terminal, and after completing security verification, associating the vehicle's wireless communication system with the mobile terminal to achieve two-way transmission of vehicle status information and control commands;

[0039] Select the steering mode according to the input steering mode selection command, such as Figure 3 As shown, the steering mode includes the main driver control mode and the mobile terminal control mode;

[0040] In the mobile terminal vehicle control mode, the vehicle's operating state is safely identified, and after the safety identification is passed, the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel, a control strategy is selected from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy according to the driver's needs;

[0041] When the vehicle receives an active exit command from the mobile terminal vehicle control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal vehicle control mode, the mobile terminal vehicle control mode is switched to the main driving vehicle control mode.

[0042] In the above technical solution, the communication connection method is wireless connection, including Bluetooth, Wi-Fi, data network, etc.

[0043] In the above technical solution, the gravity sensor of the mobile terminal can identify that it is currently kept level. When the mobile terminal remains level, it is easier for the driver to perform steering operations later.

[0044] In the above technical solution, since the steering wheel and steering wheel need to rotate with the mobile terminal, the so-called zero-degree position of the mobile terminal should be set to the position that is most convenient for the driver to operate. For example, when a pad is used as a mobile terminal, the zero-degree position is set when the pad is horizontal. The zero-degree position of the steering wheel and steering wheel means that their rotation angle is zero.

[0045] In the above technical solution, the triggering condition for the vehicle wireless communication system fault signal is communication interruption, specifically including: 1. The steering system still fails to receive the steering instruction sent to the vehicle by the mobile terminal within the specified time, which is regarded as a communication interruption; 2. The mobile terminal fails and an error code is sent to the steering system, prompting the vehicle that the current signal is unavailable. Possible faults of the mobile terminal include sensor failure, system freeze, and too high delay; 3. Poor network contact and too high signal delay.

[0046] In the above technical solution, system failure should specifically refer to the communication failure between the mobile terminal and the steering system, and the failure of the steering system execution is not considered for the time being.

[0047] In the above technical solution, innovative points such as decoupling control of the steering wheel and the steering wheel, mobile terminal interaction, and safety verification are integrated into a complete technical solution, forming a technical system that is different from existing technologies.

[0048] In the above technical solution, the specific method for selecting a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode according to the driver's needs is:

[0049] When the steering wheel and steering wheel need to rotate with the rotation of the gravity sensor of the mobile terminal, select the up and down following control strategy of the steering wheel and steering wheel;

[0050] When the steering wheel is required to rotate along with the gravity sensor of the mobile terminal, and the steering wheel does not rotate along with the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected;

[0051] When the steering wheel is required to rotate along with the rotation of the gravity sensor of the mobile terminal and the steering wheel does not rotate along with the rotation of the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected.

[0052] In the above technical solution, by clearly defining the three specific control strategies in the mobile terminal vehicle control mode, the technical features are refined, the driving intention and the physical control strategy form a logical mapping relationship, and a closed-loop control link from user needs to execution strategy is constructed. The specific device diagram is shown below. Figure 4 shown.

[0053] In the above technical solution, after the vehicle is started, the vehicle first enters the main driving control mode, and the mobile terminal control mode can be switched only when it is parked; after the mobile terminal is connected to the vehicle, other steering modes are switched in the mobile terminal; when the mode is switched, the mobile terminal sends a control instruction to the vehicle, and after the signal receiving module in the vehicle's wireless communication system receives the control instruction, it transmits the control instruction to the steering controller, so that the vehicle switches to the corresponding steering mode.

[0054] In the above technical solution, the parking state specifically refers to a situation where the vehicle speed is zero.

[0055] The above technical solution establishes a complete technical path from the vehicle's initial state to mode switch execution by clarifying the logical conditions and control flow for steering mode switching, as well as by defining hierarchical technical features. This ensures the safety of mode switching and system stability. Upon vehicle startup, the vehicle is first initialized to the primary driving mode to avoid system state confusion. Switching restrictions in the parked state tie the activation of the pad control mode to the vehicle's stationary state, helping to prevent safety hazards caused by accidental activations while driving.

[0056] In the above technical solution, the up and down following control strategy of the steering wheel and steering wheel is specifically as follows: in the up and down following control strategy of the steering wheel and steering wheel, the position information of the steering wheel and steering wheel is displayed on the mobile terminal, and the mobile terminal controls the rotation of the steering wheel and steering wheel; after completing the zero-degree position calibration, the steering wheel and steering wheel rotate synchronously with the mobile terminal; the corresponding rotation angles of the steering wheel and steering wheel are transmitted to the mobile terminal, and the driver observes the rotation angles of the steering wheel and steering wheel through the mobile terminal and makes corresponding steering actions; when the driver rotates the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module then sends the electrical signal to the steering controller, and the steering controller processes the received electrical signal and the current operating status of the vehicle, and sends control instructions to the motor to realize the rotation of the steering wheel and steering wheel.

[0057] In the above technical solution, when the driver rotates the mobile terminal, the rotation angle sensor on the mobile terminal captures the rotation angle information such as angle and angular acceleration, and converts them into electrical signals.

[0058] In the above technical solution, the current operating status of the vehicle refers to the various dynamic parameters, system health status and environmental conditions that are monitored in real time during the operation of the vehicle.

[0059] In the above technical solution, the "up and down" in the up and down follow-up mode specifically refers to the mobile terminal rotating with the steering wheel and the steering wheel at a certain transmission ratio.

[0060] In the above technical solution, the angle and angular velocity signals received by the steering controller cannot be directly executed by the vehicle's steering system. Instead, they must be determined based on the vehicle's current state. The vehicle may be unable to execute the received steering command (due to reasons such as unsafe steering or encountering an obstacle during steering, etc.).

[0061] In the above technical solution, the steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the rotation of the steering wheel, and the steering wheel does not rotate with the mobile terminal; after completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding rotation angle of the steering wheel is transmitted to the mobile terminal, and the driver observes the rotation angle of the steering wheel through the mobile terminal and makes corresponding steering actions; when the driver rotates the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module then sends the signal to the steering controller, the steering controller processes the received signal and the current operating status of the vehicle, and sends a control instruction to the motor to realize the rotation of the steering wheel.

[0062] In the above technical solution, by only controlling the rotation of the steering wheel and keeping the steering wheel stationary, the ineffective power consumption of the steering wheel motor is reduced, the battery life of the system is extended, and the reverse steering wheel can also be folded and stored in the front cabin to expand the interior space of the vehicle.

[0063] In the above technical solution, the steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the rotation of the steering wheel, and the steering wheel does not rotate with the mobile terminal; after completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding steering wheel rotation angle is transmitted to the mobile terminal, and the driver observes the steering wheel rotation angle through the mobile terminal and makes corresponding steering actions; when the driver turns the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle wireless communication system, and the signal receiving module then sends the signal to the steering controller, and the steering controller sends a control instruction to the motor according to the received signal to realize the rotation of the steering wheel.

[0064] In the above technical solution, the upper part in the steering wheel silent mode refers to the steering wheel, and the lower part refers to the steering wheel. In this mode, the steering wheel rotates with the mobile terminal, but the steering wheel does not rotate with the mobile terminal.

[0065] In the above technical solution, only the steering wheel rotation is controlled, which can be used for driver steering operation training without the need for actual vehicle movement; it supports steering wheel simulation driving games to avoid tire wear.

[0066] In the above technical solution, the specific steps of safely identifying the vehicle's operating status in the mobile terminal vehicle control mode and matching the zero-degree position of the mobile terminal's gravity sensor with the zero-degree positions of the steering wheel and the steering wheel after the safety identification is passed are:

[0067] In the mobile terminal vehicle control mode, the driver should ensure that he operates with both hands. When it is detected that the designated position of the mobile terminal is pressed at the same time and the prescribed action of the mobile terminal is completed, the safety identification is passed; after officially entering the mobile terminal vehicle control mode, the driver should also complete some specific actions to ensure the driver's concentration; before officially entering the mobile terminal vehicle control mode, the zero-degree position calibration of the mobile terminal and the steering wheel and steering wheel should be completed to ensure the convenience of the driver's steering; in the zero-degree position calibration of the mobile terminal and the steering wheel and steering wheel, the steering angle information of the steering wheel and steering wheel is sent to the mobile terminal by the signal receiving module in the vehicle's wireless communication system, and the mobile terminal displays the steering angle information of the steering wheel and steering wheel at this time. After controlling the steering wheel and steering wheel to return to the initial zero-degree position, hold the mobile terminal in landscape mode and keep it horizontal to complete the zero-degree position calibration of the mobile terminal and the steering wheel and steering wheel.

[0068] In the above technical solution, safety identification is achieved by pressing the mobile terminal with both hands, which is then recognized by the mobile terminal's pressure sensor. Specifically, the mobile terminal will randomly set a certain angle (positive on the left, negative on the right), and the driver will successfully authenticate by turning the corresponding angle as prompted.

[0069] In the above technical solution, safety identification must be operated with both hands, both hands must press the designated position at the same time, and the designated verification action must be completed to prove that the driver is concentrating, otherwise the safety identification will not pass.

[0070] In the above technical solution, the gyroscope provided in the mobile terminal is calibrated.

[0071] In the above technical solution, by pressing with both hands and dynamic action verification (such as random angle rotation), the driver's concentration is ensured and incorrect operation is effectively prevented; through zero-degree dynamic calibration (holding the Pad horizontally in landscape mode), left-right symmetry can be ensured during steering, which is in line with the driver's driving habits (making it easy to find the center position).

[0072] In the above technical solution, when the vehicle receives an active exit command from the mobile terminal control mode or a vehicle wireless communication system failure signal during the steer-by-wire strategy control in the mobile terminal control mode, the specific steps for switching the mobile terminal control mode to the main driving control mode are as follows:

[0073] When the driver needs to change the steering mode, he can operate the mobile terminal to exit the current steering mode; when the vehicle detects that there is a fault in the mobile terminal control mode, it will automatically stop and switch to the main driving control mode; after exiting the mobile terminal control mode and entering the main driving control mode, the car's steering wheel and steering wheel should automatically align and return to the center position; when the vehicle detects that the current driving environment is not suitable for entering a certain mobile terminal control mode, the vehicle will issue a warning to the mobile terminal; when the vehicle is moving, it is prohibited to turn on the steering wheel silent mode in the mobile terminal control mode.

[0074] In the above technical solution, the steering wheel and wheels are automatically corrected in an emergency to prevent steering out of control and increase the fault tolerance rate in the event of a failure; the steering wheel and wheels are forcibly aligned after exiting to avoid the risk of steering misalignment after mode switching.

[0075] Example 2

[0076] Multi-mode control methods based on steer-by-wire systems, such as Figure 2 As shown, it includes:

[0077] S1, associate the corresponding vehicle with the Pad:

[0078] Enable external connection mode for the vehicle and the Pad. Once the Pad finds the connected vehicle and completes password recognition, the vehicle and Pad are linked. Once the driver's Pad is linked to the vehicle, the vehicle sends status information to the Pad, which in turn sends control commands. Vehicle status information includes the current steering wheel and steering wheel angles, vehicle speed, and gear position. Control commands include the angles and speeds of the Pad, steering wheel, and steering wheel, as well as steering mode switching information. The connection and control between the Pad and the vehicle are achieved through custom-written software, and its control method is the foundation of software design.

[0079] S2, selects the steering system mode according to the driver's intention:

[0080] The driver enters the software application interface of the Pad and selects different steering modes based on the obtained vehicle status information. The steering modes include main driving mode and Pad control mode. The Pad control mode includes up and down follow-up mode, steering wheel silent mode, and steering wheel silent mode. After the vehicle is started, the vehicle first enters the main driving mode. The Pad control mode can only be switched when the vehicle is parked. After the Pad is connected to the vehicle, other steering modes can be switched in the Pad. When switching modes, the Pad sends a control command to the vehicle. After receiving the control command, the vehicle signal receiving module passes the command to the controller, causing the vehicle to switch to the corresponding steering mode.

[0081] S3: Identify the driver's status and perform zero-degree calibration of the pad, steering wheel, and steering wheel.

[0082] Before entering Pad Control mode, driver safety must be verified to avoid incorrect operation. In Pad Control mode, the driver must use both hands. This mode is entered when the driver simultaneously presses the designated position on the Pad with both hands and completes the prescribed action. After officially entering Pad Control mode, the driver must also complete certain specific actions to ensure driver concentration. Before officially entering Pad Control mode, the zero-degree position of the Pad, steering wheel, and steering wheel must be verified to ensure steering convenience. During this zero-degree verification, the steering angle information of the Pad and steering wheel is transmitted to the Pad by the vehicle information transmission module, and the Pad displays the current steering angle information. After returning the steering wheel and steering wheel to their initial zero-degree position, hold the Pad in landscape mode and keep it horizontal to complete the zero-degree verification.

[0083] S4, the steering system enters working mode:

[0084] In the main driving mode:

[0085] The vehicle's steering is controlled by the steering wheel, and the steering operation is similar to that of a traditional car, with the wheels turning as the steering wheel is turned. When the driver turns the steering wheel, the steering angle sensor and torque sensor on the steering wheel capture these movements and convert them into electrical signals. These electrical signals are then transmitted to the controller, which processes the received signals and the current vehicle status (such as speed, longitudinal acceleration, yaw rate, etc.) and sends control commands to the steering actuator motor to achieve the vehicle's steering. At the same time, the controller also simulates road feedback through the return torque motor to provide the driver with real-time road feel.

[0086] The Pad control mode includes up and down follow-up mode, steering wheel silent mode and steering wheel silent mode:

[0087] In up-and-down follow-up mode, the position information of the steering wheel and steering wheel is displayed on the Pad, and the Pad controls the rotation of the steering wheel and steering wheel. After completing the zero-degree position calibration, the steering wheel and steering wheel rotate synchronously with the Pad. The corresponding rotation angles of the steering wheel and steering wheel are transmitted to the Pad. The driver observes the rotation angles of the steering wheel and steering wheel through the Pad and makes corresponding steering movements. When the driver turns the Pad, the angle sensor on the Pad captures these movements and converts them into electrical signals. These electrical signals are then sent to the vehicle's signal receiving module, which in turn sends the signals to the controller. The controller processes the received signals and the current state of the vehicle (such as vehicle speed, longitudinal acceleration, yaw angular velocity, etc.) and sends control instructions to the motor to realize the rotation of the steering wheel and steering wheel.

[0088] In the silent steering wheel mode, the position information of the steering wheel and steering wheel is displayed on the Pad. The Pad controls the rotation of the steering wheel, but the steering wheel does not rotate with the Pad. After completing the zero-degree position calibration, the steering wheel rotates synchronously with the Pad. The corresponding rotation angle of the steering wheel is transmitted to the Pad. The driver observes the rotation angle of the steering wheel through the Pad and makes corresponding steering movements. When the driver turns the Pad, the angle sensor on the Pad captures these movements and converts them into electrical signals. These electrical signals are then sent to the vehicle's signal receiving module, which then sends the signals to the controller. The controller processes the received signals and the current state of the vehicle (such as vehicle speed, longitudinal acceleration, yaw angular velocity, etc.), and sends control instructions to the motor to realize the rotation of the steering wheel.

[0089] In steering wheel silent mode, the position of the steering wheel and steering wheel is displayed on the Pad. The Pad controls steering wheel rotation, but the steering wheel does not rotate with the Pad. After completing zero-degree position calibration, the steering wheel rotates synchronously with the Pad. The corresponding steering wheel rotation angle is transmitted to the Pad, and the driver observes the steering wheel rotation angle through the Pad and makes corresponding steering movements. When the driver turns the Pad, the angle sensor on the Pad captures these movements and converts them into electrical signals. These electrical signals are then transmitted to the vehicle's signal receiving module, which in turn sends the signals to the controller. Based on the received signals, the controller sends control commands to the motor to realize steering wheel rotation.

[0090] In Pad control mode, the vehicle speed is controlled below 30kph to ensure driving safety.

[0091] In the Pad control mode, the Pad can be operated within ±90° to ensure that the driver does not need to cross his hands for steering operations.

[0092] In the Pad control mode, the vehicle's real-time steering ratio information will also be displayed on the Pad synchronously, and the driver can adjust the steering ratio according to his or her needs within the set range.

[0093] In the Pad control mode, when the driver stops pressing the specified position of the Pad with both hands at the same time, the steering wheel and steering wheel will automatically return to the center position at a safe speed.

[0094] In the silent steering wheel mode of the Pad control mode, the driver can also choose to retract and fold the steering wheel into the front cabin of the car to provide the driver with a more spacious riding space.

[0095] In Pad Control's Steering Wheel Silent Mode, the Pad controls the steering wheel, and the steering actuator motor receives no steering wheel rotation signals. This decouples the steering wheel from the steering motor, allowing passengers to enjoy the gaming benefits of a steer-by-wire car without the front wheels turning and tire wear.

[0096] S5: The driver actively exits the current mode, or the system automatically exits the mode when a fault occurs in the current mode:

[0097] When the driver needs to change steering modes, they can exit the current steering mode by operating the Pad. If the vehicle detects a malfunction in the Pad control mode, it will automatically stop and switch to the Primary Driving mode. After exiting the Pad control mode and entering the Primary Driving mode, the steering wheel and steering wheel should automatically align. If the vehicle detects that the current driving environment is not suitable for a Pad control mode, the vehicle will issue a warning to the Pad. For example, the steering wheel silent mode in the Pad control mode is prohibited while the vehicle is moving.

[0098] Example 3

[0099] A multi-mode control device for a steer-by-wire system, such as Figure 5 As shown, it includes:

[0100] The vehicle association module is used to establish a communication connection between the vehicle wireless communication system and the mobile terminal, and associate the vehicle wireless communication system with the mobile terminal after completing the security verification;

[0101] The mode selection module is used to select a steering mode according to the input steering mode selection instruction, where the steering modes include the main driver control mode and the mobile terminal control mode;

[0102] The steering strategy module is used to safely identify the vehicle's operating status in the mobile terminal vehicle control mode, and after the safety identification is passed, match the zero-degree position of the mobile terminal's gravity sensor with the zero-degree positions of the steering wheel and steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor matches the zero-degree positions of the steering wheel and steering wheel, select a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy based on the driver's needs;

[0103] The exit module is used to switch the mobile terminal control mode to the main driving control mode when the vehicle receives an active exit command from the mobile terminal control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal control mode.

[0104] Example 4

[0105] A computer program product includes a computer program, wherein when the computer program is executed by a processor, the steps of the method described in embodiment 1 are implemented.

[0106] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A multi-mode control method for a steer-by-wire system, characterized in that: It includes: Establishing a communication connection between the vehicle wireless communication system and the mobile terminal, and associating the vehicle wireless communication system with the mobile terminal after completing security verification; Select a steering mode according to the input steering mode selection instruction, where the steering mode includes the main driver control mode and the mobile terminal control mode; In the mobile terminal vehicle control mode, the vehicle's operating state is safely identified, and after the safety identification is passed, the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor is matched with the zero-degree positions of the steering wheel and the steering wheel, a control strategy is selected from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy according to the driver's needs; When the vehicle receives an active exit command from the mobile terminal vehicle control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal vehicle control mode, the mobile terminal vehicle control mode is switched to the main driving vehicle control mode.

2. The multi-mode control method of a steer-by-wire system according to claim 1, characterized in that: The specific selection method of selecting a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode according to the driver's needs is: When the steering wheel and steering wheel need to rotate with the rotation of the gravity sensor of the mobile terminal, select the up and down following control strategy of the steering wheel and steering wheel; When the steering wheel is required to rotate along with the gravity sensor of the mobile terminal, and the steering wheel does not rotate along with the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected; When the steering wheel is required to rotate along with the rotation of the gravity sensor of the mobile terminal and the steering wheel does not rotate along with the rotation of the gravity sensor of the mobile terminal, the steering wheel silent control strategy is selected.

3. The multi-mode control method of a steer-by-wire system according to claim 1, characterized in that: After the vehicle is started, it first enters the main driving control mode, and the mobile terminal control mode can be switched only when it is parked; after the mobile terminal is connected to the vehicle, other steering modes are switched in the mobile terminal; when switching modes, the mobile terminal sends a control command to the vehicle, and after the signal receiving module in the vehicle's wireless communication system receives the control command, it transmits the control command to the steering controller, causing the vehicle to switch to the corresponding steering mode.

4. The multi-mode control method of a steer-by-wire system according to claim 2, characterized in that: The up-and-down following control strategy for the steering wheel and steering wheel is specifically as follows: in the up-and-down following control strategy for the steering wheel and steering wheel, the position information of the steering wheel and steering wheel is displayed on the mobile terminal, and the mobile terminal controls the rotation of the steering wheel and steering wheel; after completing the zero-degree position calibration, the steering wheel and steering wheel rotate synchronously with the mobile terminal; The corresponding rotation angles of the steering wheel and steering wheel are transmitted to the mobile terminal. The driver observes the rotation angles of the steering wheel and steering wheel through the mobile terminal and makes corresponding steering movements. When the driver turns the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal. The electrical signal is sent to the signal receiving module in the vehicle's wireless communication system. The signal receiving module then sends the electrical signal to the steering controller. The steering controller processes the received electrical signal and the current operating status of the vehicle, and sends control instructions to the motor to realize the rotation of the steering wheel and steering wheel.

5. The multi-mode control method of a steer-by-wire system according to claim 2, characterized in that: The steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the steering wheel to rotate, and the steering wheel does not rotate with the mobile terminal; After completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding rotation angle of the steering wheel is transmitted to the mobile terminal, and the driver observes the rotation angle of the steering wheel through the mobile terminal and makes corresponding steering movements; when the driver turns the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle's wireless communication system, and the signal receiving module then sends the signal to the steering controller. The steering controller processes the received signal and the current operating status of the vehicle, and sends control instructions to the motor to realize the rotation of the steering wheel.

6. The multi-mode control method of a steer-by-wire system according to claim 2, characterized in that: The steering wheel silent control strategy is specifically as follows: in the steering wheel silent control strategy, the position information of the steering wheel and the steering wheel is displayed on the mobile terminal, the mobile terminal controls the steering wheel to rotate, and the steering wheel does not rotate with the mobile terminal; After completing the zero-degree position calibration, the steering wheel rotates synchronously with the mobile terminal; the corresponding steering wheel rotation angle is transmitted to the mobile terminal, and the driver observes the steering wheel rotation angle through the mobile terminal and makes corresponding steering movements; When the driver turns the mobile terminal, the angle sensor on the mobile terminal generates an electrical signal; the electrical signal is sent to the signal receiving module in the vehicle's wireless communication system, and the signal receiving module then sends the signal to the steering controller. The steering controller sends control instructions to the motor based on the received signal to realize the rotation of the steering wheel.

7. The multi-mode control method of a steer-by-wire system according to claim 1, characterized in that: The specific steps of safely identifying the operating state of the vehicle in the mobile terminal vehicle control mode and matching the zero-degree position of the mobile terminal gravity sensor with the zero-degree positions of the steering wheel and the steering wheel respectively after the safety identification is passed are: In the mobile terminal vehicle control mode, the driver should ensure that both hands are used for operation. When it is detected that the designated position of the mobile terminal is pressed simultaneously and the prescribed action of the mobile terminal is completed, the safety identification is passed. Before officially entering the mobile terminal vehicle control mode, the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel should be completed. In the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel, the steering angle information of the steering wheel and the steering wheel is sent to the mobile terminal by the signal receiving module in the vehicle's wireless communication system. The mobile terminal displays the steering angle information of the steering wheel and the steering wheel at this time. After controlling the steering wheel and the steering wheel to return to the initial zero-degree position, hold the mobile terminal in landscape mode and keep it horizontal to complete the zero-degree position calibration of the mobile terminal, the steering wheel and the steering wheel.

8. The multi-mode control method of a steer-by-wire system according to claim 1, characterized in that: When the vehicle receives an active exit command from the mobile terminal control mode or a vehicle wireless communication system fault signal during the steer-by-wire strategy control in the mobile terminal control mode, the specific steps of switching the mobile terminal control mode to the main driving control mode are as follows: When the driver needs to change the steering mode, he can operate the mobile terminal to exit the current steering mode; when the vehicle detects that there is a fault in the mobile terminal control mode, it will automatically stop and switch to the main driving control mode; after exiting the mobile terminal control mode and entering the main driving control mode, the car's steering wheel and steering wheel should automatically align and return to the center position; when the vehicle detects that the current driving environment is not suitable for entering a certain mobile terminal control mode, the vehicle will issue a warning to the mobile terminal; when the vehicle is moving, it is prohibited to turn on the steering wheel silent mode in the mobile terminal control mode.

9. A multi-mode control device for a steer-by-wire system, characterized in that: It includes: The vehicle association module is used to establish a communication connection between the vehicle wireless communication system and the mobile terminal, and associate the vehicle wireless communication system with the mobile terminal after completing the security verification; The mode selection module is used to select a steering mode according to the input steering mode selection instruction, where the steering modes include the main driver control mode and the mobile terminal control mode; The steering strategy module is used to safely identify the vehicle's operating status in the mobile terminal vehicle control mode, and after the safety identification is passed, match the zero-degree position of the mobile terminal's gravity sensor with the zero-degree positions of the steering wheel and steering wheel respectively; after the zero-degree position of the mobile terminal's gravity sensor matches the zero-degree positions of the steering wheel and steering wheel, select a control strategy from the steering wheel and steering wheel up and down follow-up control strategy, the steering wheel silent control strategy, and the steering wheel silent control strategy in the mobile terminal vehicle control mode as the current vehicle's steer-by-wire strategy based on the driver's needs; The exit module is used to switch the mobile terminal control mode to the main driving control mode when the vehicle receives an active exit command from the mobile terminal control mode or a vehicle wireless communication system failure signal during the wire-controlled steering strategy control in the mobile terminal control mode.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the apparatus according to claim 9 are implemented.

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