Steering-by-wire system and vehicle

Abstract

The invention relates to a steer-by-wire system and a vehicle. A steer-by-wire system of the present disclosure includes: a first domain controller configured to be connected to a steering driving module of a vehicle to perform steering control of the vehicle; and a second domain controller configured to be connected to a steering drive module of the vehicle to perform steering control of the vehicle. Wherein the first domain controller and the second domain controller are communicatively connected to each other via the Ethernet, and the system is configured to use the second domain controller to perform steering control when the steering control performed by the first domain controller fails.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to a steer-by-wire system and a vehicle. Background Art

[0002] With the development of new energy vehicles, steer-by-wire (SBW) systems are gradually replacing mechanical steering structures. However, existing SBW systems suffer from insufficient safety redundancy. Even with backups of relevant functional modules, the vehicle still requires a large number of high-safety modules. A safety redundancy approach that reduces the number of redundant modules while maintaining sufficient safety performance is desired. Furthermore, safety redundancy is also desired for internal communications and power supply. Summary of the Invention

[0003] In view of the above problems, the present disclosure is directed to providing a steer-by-wire system and a vehicle.

[0004] A first aspect of the present disclosure relates to a steer-by-wire system comprising: a first domain controller configured to connect to a vehicle's steering drive module to control the vehicle's steering; and a second domain controller configured to connect to the vehicle's steering drive module to control the vehicle's steering. The first and second domain controllers are communicatively connected to each other via Ethernet, and the system is configured to use the second domain controller to perform steering control if steering control by the first domain controller fails.

[0005] According to one or more embodiments, optionally, the system further includes a central controller, the first domain controller and the second domain controller are each communicatively connected to the central controller via Ethernet, and the central controller is configured to transmit steering instructions related to personalized configuration and / or steering instructions related to intelligent driving to the first domain controller and / or the second domain controller.

[0006] According to the steer-by-wire system of one or more embodiments, optionally, the first domain controller or the second domain controller is each connected to a steering drive module of the vehicle via a Controller Area Network (CAN) flexible data-rate bus.

[0007] According to the wire-controlled steering system of one or more embodiments, optionally, the first domain controller includes an upper steering basic control logic module and a lower steering basic control logic backup module, and the second domain controller includes an upper steering basic control logic backup module and a lower steering basic control logic module.

[0008] According to one or more embodiments of the steer-by-wire system, optionally, the first domain controller is connected to the first downward turn angle sensor and the first upward turn torque angle sensor, and the second domain controller is connected to the second downward turn angle sensor and the second upward turn torque angle sensor.

[0009] According to the steer-by-wire system of one or more embodiments, optionally, the system is further configured to mutually verify the sensing data from the first downward turn angle sensor and the second downward turn angle sensor, and / or to mutually verify the sensing data from the first upward turn torque angle sensor and the second upward turn torque angle sensor.

[0010] According to the steer-by-wire system of one or more embodiments, optionally, the steering drive module of the vehicle includes a first upper steering drive module, a second upper steering drive module, a first lower steering drive module, and a second lower steering drive module.

[0011] According to the steer-by-wire system of one or more embodiments, optionally, the system further includes a first voltage conversion module and a second voltage conversion module, the first voltage conversion module being configured to convert a first voltage from a power battery of the vehicle into two second voltage outputs, each second voltage output respectively powering a steering drive motor of the vehicle and respectively connected to the second voltage conversion module, the second voltage conversion module being controlled by a second domain controller and providing a third voltage output, the third voltage output powering at least the steering drive module, wherein the first voltage is higher than the second voltage, and the second voltage is higher than the third voltage.

[0012] According to the wire-controlled steer system of one or more embodiments, optionally, the system further includes a third voltage conversion module and a low-voltage battery, one of the two second voltage outputs of the first voltage conversion module is further connected to the third voltage conversion module, the low-voltage battery is also connected to the third voltage conversion module and provides a second voltage, the third voltage conversion module is controlled by the first domain controller and provides a third voltage output, and the third voltage output at least powers the steering drive module.

[0013] A vehicle according to a second aspect of the present disclosure includes a steer-by-wire system according to any one of the aforementioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A block diagram of a steer-by-wire system according to some embodiments is shown.

[0015] Figure 2 A block diagram of a steer-by-wire system according to some embodiments is shown. DETAILED DESCRIPTION

[0016] The following describes some of the various embodiments of the present disclosure, which are intended to provide a basic understanding of the present disclosure, but are not intended to identify the key or decisive elements of the present disclosure or to limit the scope of protection.

[0017] For purposes of brevity and illustration, the principles of the present disclosure are described herein primarily with reference to exemplary embodiments thereof. However, those skilled in the art will readily recognize that the same principles are equally applicable to and can be implemented in all types of steer-by-wire systems and vehicles, and that any such variations do not depart from the true spirit and scope of this patent application.

[0018] Moreover, in the following description, reference is made to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical, and structural changes may be made to these embodiments without departing from the spirit and scope of the present disclosure. In addition, although a feature of the present disclosure is disclosed in conjunction with only one of several embodiments, this feature may be combined with one or more other features of other embodiments as may be desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be regarded in a limiting sense, and the scope of the present disclosure is defined by the appended claims and their equivalents.

[0019] Terms such as “having” and “including” indicate that in addition to the units (modules) and steps directly and clearly stated in the specification and claims, the technical solution of the present disclosure does not exclude the situation where it has other units (modules) and steps that are not directly or clearly stated.

[0020] Figure 1 FIG2 shows a schematic diagram of a module of a steer-by-wire system according to some embodiments. It can be understood that for the convenience of description, Figure 1 A steer-by-wire system is shown with multiple modules and devices, but in various embodiments, the steer-by-wire system may only include Figure 1 part of the system, or possibly the entire system.

[0021] In some embodiments, the steer-by-wire system includes a first domain controller (domain controller 1 in the figure) and a second domain controller (domain controller 2 in the figure). The first domain controller is configured to be connected to a steering drive module (e.g. Figure 1The first domain controller and the second domain controller are connected to the vehicle's steering drive module to control the vehicle's steering. The first domain controller and the second domain controller are connected to each other via Ethernet, and the system is configured to use the second domain controller to control the steering when the steering control performed by the first domain controller fails. The domain controller mainly controls the basic control functions of the steering of the vehicle's steering drive module, for example, it is mainly responsible for the lower steering control logic and the upper steering control logic. The first domain controller and the second domain controller are backups for each other. When a domain controller fails internally (for example, an internal module of the domain controller fails, such as a basic steering control logic module fails) or externally (for example, a communication line associated with the domain controller (such as an Ethernet line, a CAN line, etc.) fails, a steering-related sensor fails, a power supply failure, etc.), the other domain controller can provide control of the vehicle's steering drive. In this way, it is possible to achieve redundant control of the vehicle's steering drive via multiple domain controllers, thereby improving the safety of the vehicle's wire-controlled steering.

[0022] In some embodiments, the wire-controlled steering system also includes a central controller, and the first domain controller and the second domain controller are each connected to the central controller via Ethernet communication, and the central controller is configured to transmit steering instructions related to personalized configuration and / or steering instructions related to intelligent driving to the first domain controller and / or the second domain controller. Requests for high-level functions such as personalization of steering modes and intelligent driving (high-level steering function modules in the figure) can be uniformly arbitrated and processed by the central controller or upper-level applications, for example, and the central controller provides a standard steering control interface to the domain controllers. In this way, the upper-level application software (functional logic, user interaction, strategy) that is easy to change is isolated from the relatively stable underlying basic control software, allowing them to communicate through well-defined standard interfaces. When modifying the upper-level software, there is no need to change the underlying software, thereby achieving software-software decoupling with the downstream domain controllers.

[0023] Among them, high-level functions include multi-mode steering, user-defined personalized steering settings, steering requests for intelligent driving, etc. For example, the driver will select modes such as "comfort" and "sport" through the car computer, or customize parameters such as steering wheel weight and feedback. For example, the lane keeping, automatic lane changing, automatic parking and other operations in assisted / automatic driving modes.

[0024] Furthermore, the entire wire-controlled steering system uses Ethernet redundant communication, so that the steering function remains normal even if a single communication line fails. Ethernet communication can also meet the needs of large data communication between the domain controller and the central controller. In other words, the central controller and the domain controller, as well as the domain controller and the domain controller (the first domain controller and the second domain controller) use Ethernet redundant communication. Figure 1The Ethernet ring network design allows communication via the Ethernet on the other side if one side fails.

[0025] Furthermore, the introduction of a central controller allows the domain controller to focus on basic steering control functions, freeing the control software (running on the domain controller) from relying on the specific details of the hardware (such as sensor model, motor model, and driver chip). Software accesses the hardware through an abstraction layer (usually a standardized driver interface). When replacing hardware, only the interface adaptation layer (often called the driver layer) needs to be modified, leaving the upper-level control software largely unchanged, thus achieving hardware-software decoupling.

[0026] In some embodiments, the first or second domain controller of the steer-by-wire system is each connected to the vehicle's steering actuation module via a Controller Area Network (CAN) FD bus with flexible data rates. This redundant CAN communication ensures that steering functionality remains normal even if a single communication path fails. In other words, dual-channel CAN FD communication between the domain controller and the steering actuation module achieves communication redundancy, enabling control via the other channel in the event of a failure on one side.

[0027] In some embodiments, the first domain controller of a steer-by-wire system includes an upper steering basic control logic module and a lower steering basic control logic backup module, while the second domain controller includes an upper steering basic control logic backup module and a lower steering basic control logic module. This allows the system to execute steering control logic if either domain controller fails.

[0028] In some embodiments, the first domain controller of a steer-by-wire system is connected to a first downward steering angle sensor AS and a first upward torque angle sensor TAS, while the second domain controller is connected to a second downward steering angle sensor AS and a second upward torque angle sensor TAS. This allows for redundant design of the steering angle sensors, preventing steering control failures due to sensor failures.

[0029] In some embodiments, the steer-by-wire system is further configured to mutually verify the sensor data from the first downward steering angle sensor and the second downward steering angle sensor, and / or to mutually verify the sensor data from the first upward torque angle sensor and the second upward torque angle sensor. When the sensors are normal, the information of the two sensors can be used to mutually verify each other to further improve the accuracy of control; when one of the sensors fails, the information of the other sensor providing the steering function can be guaranteed, thus ensuring that the steering capability is not lost. Thus, the two domain controllers can be responsible for the downward steering control logic and the upward steering control logic, and realize the control of steering functions such as steering assist, upper and lower alignment, and active return according to the information provided by the downward steering angle sensor, the downward steering angle sensor, the upward torque angle sensor, and the upward torque angle sensor. The other two domain controllers also provide standard control interfaces and status interfaces to transmit information to the central controller.

[0030] In some embodiments, the vehicle's steering drive module includes a first upper steering drive module SWA1 (tactile drive), a second upper steering drive module SWA2 (tactile drive), a first lower steering drive module SRA1, and a second lower steering drive module SRA2. These steering drive modules can control the steering wheel motor and drive motor, responding to instructions from the two domain controllers to enable and adjust steering functions (including steering wheel tactile drive and vehicle steering drive). In this way, both upper and lower steering drive modules are redundantly designed and can be dually redundantly backed up via the two domain controllers and dual CAN FD channels.

[0031] Continue to refer Figure 2 , which shows a module schematic diagram of a steer-by-wire system 200 according to some embodiments.

[0032] In some embodiments, the steer-by-wire system further includes a first voltage conversion module (e.g. Figure 2 DCDC box) and the second voltage conversion module (such as Figure 2The first voltage conversion module is configured to convert the first voltage from the vehicle's power battery into two second voltage outputs, each of which supplies power to the vehicle's steering drive motor and is connected to the second voltage conversion module. The second voltage conversion module is controlled by the second domain controller and provides a third voltage output, which supplies power to at least the steering drive module, wherein the first voltage is higher than the second voltage, and the second voltage is higher than the third voltage. The first voltage, the second voltage, and the third voltage are for different voltage domains in the vehicle. For example, the first voltage corresponds to the high voltage (e.g., 800V) of the power battery, the second voltage corresponds to a lower voltage (e.g., 48V) to supply power to some low-voltage devices, and the third voltage corresponds to an even lower voltage (e.g., 12V) to supply power to other low-voltage devices. For example, for lower steering, the motor requires high power, and using two 48V circuits for redundant power supply can greatly reduce the wire diameter and reduce the electromagnetic interference of the entire vehicle.

[0033] The first voltage conversion module can be, for example, a dual-channel DC-DC converter module. This module contains two independent voltage conversion systems to power the driver circuit, eliminating the need for a single DC-DC converter. The second voltage conversion module can be, for example, a 48V / 12V voltage conversion module. For devices such as domain controllers, for example, a 12V redundant power supply is used. If one power supply fails, the other can be used to provide power.

[0034] In some embodiments, the steer-by-wire system further includes a third voltage conversion module (e.g. Figure 2 Domain controller 1 box conversion semiconductor components) and low-voltage batteries (such as Figure 2 48V battery), one of the two second voltage outputs of the first voltage conversion module is also connected to the third voltage conversion module, the low voltage battery is also connected to the third voltage conversion module and provides a second voltage, the third voltage conversion module is controlled by the first domain controller and provides a third voltage output, and the third voltage output is used to power at least the steering drive module. Figure 2 As shown, the voltage source for a steer-by-wire system can be divided into two parts. The high-power drive circuits are powered by dual redundant 48V circuits (i.e., dual DC-DC converter modules). The dual DC-DC converter modules use the output of the isolated 48V circuits to convert the high-voltage power battery to 48V, which is used to power the higher-power drive circuits a and b. If one 48V power circuit fails, the other circuit can still provide power, ensuring normal operation of the steering function.

[0035] Therefore, if Figure 2As shown, two low-voltage power supply circuits A and B can also be implemented to provide redundant power supply to the domain controller, the hand-feeling drive module SWA, the sensor (such as TAS), the steering drive module SRA, etc.

[0036] Furthermore, two domain controllers distribute power to the control ECU and the drive circuits for smaller functions, enabling intelligent power distribution and reducing overall vehicle power consumption. The steer-by-wire system is divided into two redundant 12V and 48V power supplies. The high-power drive circuit utilizes a redundant 48V power supply, significantly reducing the wire diameter for such high-power motors. The 12V power supply is intelligently distributed by the domain controller, minimizing power consumption. Two completely independent transformer circuits provide mutual redundancy, meeting redundant power supply requirements while also eliminating the need for a transformer (module) housing.

[0037] Notice, Figure 2 The diagram shows the domain controllers installed above the voltage conversion modules. For example, domain controller 1 is installed in the third voltage conversion module, and domain controller 2 is installed in the second voltage conversion module. This indicates that the domain controllers control the power distribution at the output of the voltage conversion modules, thereby enabling the domain controllers to control the power distribution to 12V and 48V devices. It is understood that the domain controllers themselves can also be powered by the low-voltage outputs (e.g., 12V outputs) of the second and third voltage conversion modules.

[0038] In some embodiments, the embodiments of the steer-by-wire system under the central controller and the domain controller can meet, for example, the design of redundant communication buses, redundant power supply, and redundant design of sensing and drive execution, and can better meet the needs of users and the entire vehicle for faster iteration of high safety, multi-mode, and multi-scenario steer-by-wire systems.

[0039] According to yet another aspect of the present disclosure, a vehicle is provided. The vehicle includes a steer-by-wire system according to any of the aforementioned embodiments. The term "vehicle" as used in this disclosure is intended to refer to any suitable vehicle having a drive system, such as a gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, and the like.

[0040] The above primarily describes the steer-by-wire system and vehicle of the present disclosure. While only certain specific embodiments of the present disclosure have been described, those skilled in the art will appreciate that the present disclosure may be implemented in numerous other forms without departing from its spirit and scope. Therefore, the examples and embodiments presented are to be considered illustrative rather than restrictive, and the present disclosure may encompass various modifications and alternatives without departing from the spirit and scope of the present disclosure as defined in the appended claims.

Claims

1. A steer-by-wire system, characterized in that: The system comprises: a first domain controller configured to be connected to a steering drive module of a vehicle to perform steering control of the vehicle; a second domain controller configured to be connected to a steering drive module of a vehicle to perform steering control of the vehicle; The first domain controller and the second domain controller are communicatively connected to each other via Ethernet, and the system is configured to use the second domain controller to perform steering control when the steering control performed by the first domain controller fails.

2. The system according to claim 1, wherein: The system also includes a central controller, and the first domain controller and the second domain controller are each communicatively connected to the central controller via Ethernet. The central controller is configured to transmit steering instructions related to personalized configuration and / or steering instructions related to intelligent driving to the first domain controller and / or the second domain controller.

3. The system according to claim 1, wherein: The first domain controller or the second domain controller is each connected to a steering drive module of the vehicle via a Controller Area Network (CAN) flexible data rate bus.

4. The system according to claim 1, wherein: The first domain controller includes an upper steering basic control logic module and a lower steering basic control logic backup module, and the second domain controller includes an upper steering basic control logic backup module and a lower steering basic control logic module.

5. The system according to claim 1, wherein: The first domain controller is connected to a first downward-turning angle sensor and a first upward-turning torque angle sensor, and the second domain controller is connected to a second downward-turning angle sensor and a second upward-turning torque angle sensor.

6. The system according to claim 5, characterized in that The system is further configured to mutually verify sensing data from the first downward turning angle sensor and the second downward turning angle sensor, and / or to mutually verify sensing data from the first upward turning torque angle sensor and the second upward turning torque angle sensor.

7. The system according to claim 1, wherein: The steering drive module of the vehicle includes a first upper steering drive module, a second upper steering drive module, a first lower steering drive module, and a second lower steering drive module.

8. The system according to claim 1, wherein: The system also includes a first voltage conversion module and a second voltage conversion module, the first voltage conversion module is configured to convert a first voltage from the vehicle's power battery into two second voltage outputs, each second voltage output respectively powers a steering drive motor of the vehicle and is respectively connected to the second voltage conversion module, the second voltage conversion module is controlled by the second domain controller and provides a third voltage output, the third voltage output at least powers the steering drive module, wherein the first voltage is higher than the second voltage, and the second voltage is higher than the third voltage.

9. The system according to claim 8, characterized in that The system also includes a third voltage conversion module and a low-voltage battery. One of the two second voltage outputs of the first voltage conversion module is also connected to the third voltage conversion module. The low-voltage battery is also connected to the third voltage conversion module and provides a second voltage. The third voltage conversion module is controlled by the first domain controller and provides a third voltage output. The third voltage output at least powers the steering drive module.

10. A vehicle, characterized in that: The vehicle comprises a steer-by-wire system according to any one of claims 1-9.

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