SOA service-based steer-by-wire cooperative control method, vehicle, storage medium and program product

Abstract

The invention discloses a steering-by-wire cooperative control method based on SOA service, a vehicle, a storage medium and a program product, and the method comprises the steps: obtaining the power state information of the vehicle through responding to a starting signal of the vehicle; when the power state information meets a preset condition, vehicle control information is obtained based on service subscription of the signal and service conversion module; wherein the signal and service conversion module comprises a braking service extraction main module, a road feeling simulator service extraction main module, a steering angle service extraction module and a steering actuator service extraction module; and based on the vehicle control information and subscription information of the air bag restraint system controller, steering control over the vehicle is conducted through a steering actuator. High decoupling, flexible expansion and efficient cooperation of the system can be achieved, the performance, safety, reliability and adaptability to future intelligent requirements of the steer-by-wire system are remarkably improved, and the method can be widely applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a SOA service-based steer-by-wire collaborative control method, a vehicle, a storage medium, and a program product. Background Art

[0002] In traditional vehicle electrical and electronic architectures, steer-by-wire (SbW) systems require real-time access to status and control signals (such as braking force, yaw rate, vehicle speed, and collision signals) from multiple vehicle subsystems (e.g., braking system, body stability system, powertrain, and airbag system). Existing architectures generally use point-to-point or signal-oriented communication methods (e.g., CAN / LIN bus). This approach results in: Fixed interface definition and poor scalability: Adding or modifying a signal source (such as adding a sensor or functional module) often requires modifying the software interface definition, communication matrix, and even hardware connections of the steer-by-wire controller, which affects the entire system, resulting in a long development cycle and high costs.

[0003] Complex signal dependencies: The signal interaction logic between controllers is tightly coupled, and the system complexity increases exponentially with the increase in functionality, making it difficult to manage and maintain.

[0004] Low resource utilization: Regardless of whether a signal is actually used, as long as the physical connection exists, the signal will be broadcast and occupy bus bandwidth.

[0005] Low functional integration and difficulty in coordination: As vehicle functionality becomes increasingly complex, the demand for deep coordination between the steering system and other systems (particularly active safety systems such as AEB and ESC, and passive safety systems such as airbags) is growing. Under the existing architecture, achieving cross-domain coordination (e.g., deep linkage between steering and braking, steering and airbags) typically requires establishing dedicated, customized communication interfaces and logic between relevant controllers (e.g., ESC, airbag, and steering).

[0006] Low development efficiency: Each collaboration requires customized development, resulting in a large amount of repetitive work.

[0007] Collaboration logic is dispersed across various controllers, making it difficult to manage and optimize them uniformly, increasing system inconsistency and the risk of failure.

[0008] Inconvenient system upgrades and maintenance: For systems based on hard signals and point-to-point communication, software updates or function upgrades often require the simultaneous modification and calibration of multiple controllers. This process is cumbersome and high-risk, and is not conducive to OTA upgrades and subsequent function expansion.

[0009] In summary, the traditional vehicle architecture based on hard signals and point-to-point communication leads to significant complexity, inefficiency and high cost issues in the steer-by-wire system in terms of signal acquisition, functional coordination (especially coordination with safety systems), redundant design, system expansion and maintenance, which restricts the development of advanced steering functions and the overall intelligence and safety of the vehicle. Summary of the Invention

[0010] The main purpose of the embodiments of the present invention is to propose a steer-by-wire collaborative control method, vehicle, storage medium and program product based on SOA services, in order to solve at least one problem of the prior art.

[0011] To achieve the above objectives, an embodiment of the present invention provides a coordinated control method for steer-by-wire based on SOA services. The control method includes: Responding to a start signal of the vehicle, acquiring power state information of the vehicle; When the power status information meets the preset conditions, the vehicle control information is obtained based on the service subscription of the signal and service conversion module; Among them, the signal and service conversion module includes the braking service extraction main module, the road feel simulator service extraction main module, the steering angle service extraction module and the steering actuator service extraction module; Based on the vehicle control information and the subscription information of the airbag controller, the steering actuator is used to control the steering of the vehicle.

[0012] In some embodiments, in response to a start signal of the vehicle, obtaining power status information of the vehicle includes: In response to a start signal from the vehicle, the power mode main module is subscribed to by the steer-by-wire collaborative control main module; The power status information is obtained from the power mode main module and transmitted to the wire-controlled steering collaborative control main module.

[0013] In some embodiments, obtaining vehicle control information based on a service subscription to a signal and service conversion module includes: The steer-by-wire collaborative control main module subscribes to the signal and service conversion module, and then obtains vehicle status information through service extraction; The vehicle status information includes brake system related information from the brake service extraction main module, road feel simulator related information from the road feel simulator service extraction main module, steering related information from the steering angle service extraction module, and steering angle related information from the steering actuator service extraction module. Transmitting vehicle status information to the steer-by-wire collaborative control main module, which then processes the vehicle control information based on preset functional logic; The vehicle control information includes steering angle adjustment information and steering torque control information.

[0014] In some embodiments, the steer-by-wire collaborative control main module subscribes to the signal and service conversion module, and then obtains vehicle status information through service extraction, including: The main module of the steer-by-wire collaborative control subscribes to the braking service to extract the vehicle speed service unit of the main module, the intervention status service of the target system, and the relevant data service of the inertial measurement unit to obtain relevant information about the braking system; Among them, the target systems include anti-lock braking systems, traction control systems, and electronic stability control systems; The main module of the steer-by-wire collaborative control subscribes to the road feel simulator service to extract the main module's road feel simulator dynamic torque information and road feel simulator motor information, and obtains road feel simulator related information; The steering-by-wire coordinated control main module subscribes to the steering wheel angle information service and steering wheel speed information service of the steering angle service extraction module to obtain steering-related information; The steering angle information service and steering angle speed information service of the steering actuator service extraction module are subscribed to by the wire-controlled steering collaborative control main module to obtain steering angle related information.

[0015] In some embodiments, before the step of obtaining vehicle control information through the steer-by-wire coordinated control main module based on preset functional logic, the control method further includes: The main module of the coordinated control of the steering-by-wire system subscribes to the main module of the power system to obtain service information, and the preset function logic is adjusted synchronously through the service information.

[0016] In some embodiments, the steer-by-wire collaborative control main module subscribes to the power main module to obtain service information, including: Through the wire-controlled steering collaborative control main module, the gear information service, high-voltage power-on status service and vehicle ready status service of the power main module are subscribed, and then the service information is obtained through the Some IP service scheduling.

[0017] In some embodiments, vehicle control information is stored in a steer-by-wire collaborative control main module; based on the vehicle control information and subscription information of the airbag controller, a steering actuator is used to control the vehicle's steering, including: Subscribe the steering actuator to the steer-by-wire collaborative control main module and the airbag controller so that the steering actuator obtains vehicle control information and subscription information; Among them, vehicle control information includes steering angle adjustment information and steering torque control information, and subscription information includes acceleration and deceleration and heading angle information; According to the vehicle control information and subscription information, the steering actuator is used to adjust the vehicle angle and motor torque.

[0018] To achieve the above-mentioned purpose, another aspect of an embodiment of the present invention proposes a vehicle, which includes a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the above-mentioned SOA-based wire-controlled steering collaborative control method is implemented.

[0019] To achieve the above-mentioned purpose, another aspect of an embodiment of the present invention proposes a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, the above-mentioned SOA service-based wire-controlled steering collaborative control method is implemented.

[0020] To achieve the above-mentioned purpose, another aspect of an embodiment of the present invention provides a computer program product, including a computer program, which implements the above-mentioned SOA service-based steer-by-wire collaborative control method when executed by a processor.

[0021] An embodiment of the present invention obtains vehicle power status information in response to a vehicle startup signal. When the power status information meets preset conditions, vehicle control information is obtained based on a service subscription to a signal and service conversion module. The signal and service conversion module includes a brake service extraction main module, a road feel simulator service extraction main module, a steering angle service extraction module, and a steering actuator service extraction module. Based on vehicle control information and subscription information from an airbag controller, the steering actuator is used to control vehicle steering. Through SOA-based service-oriented design (particularly the signal and service conversion module and service subscription mechanism) and collaboration with the airbag controller, the present invention achieves high system decoupling, flexible expansion, and efficient collaboration (especially safety collaboration), significantly improving the performance, safety, reliability, and adaptability of steer-by-wire systems to future intelligent needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of an implementation environment for SOA-based steer-by-wire collaborative control provided by an embodiment of the present invention; Figure 2 A flowchart of a coordinated control method for steer-by-wire based on SOA services provided by an embodiment of the present invention; Figure 3 A schematic diagram of a system architecture for an application of a steer-by-wire collaborative control method based on SOA services provided by an embodiment of the present invention; Figure 4 A schematic diagram of the business process of a steer-by-wire collaborative control method based on SOA services provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] It should be noted that although the system diagrams illustrate functional module divisions and the flowcharts illustrate a logical sequence, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the system or the sequence in the flowcharts. The terms "first / S100," "second / S200," and the like in the specification, claims, and drawings are used to distinguish similar objects and are not necessarily intended to describe a specific sequence or precedence.

[0025] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] It can be understood that the SOA service-based steer-by-wire collaborative control method provided in the embodiment of the present invention can be applied to any computer device with data processing and computing capabilities (such as an on-board terminal device or a related control system of a vehicle), and this computer device can be various terminals or servers. When the computer device in the embodiment is a server, the server is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. In some embodiments, the terminal is a smart phone, tablet computer, laptop computer, desktop computer, etc., but is not limited to this.

[0027] like Figure 1 FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the invention. Figure 1 , the implementation environment includes at least one terminal 102 and a server 101. The terminal 102 and the server 101 can be connected to the network in a wireless or wired manner to complete data transmission and exchange.

[0028] Server 101 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), as well as big data and artificial intelligence platforms.

[0029] In addition, server 101 can also be a node server in a blockchain network. Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm.

[0030] Terminal 102 may be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, etc. Terminal 102 may also be a vehicle-mounted terminal of the various device types described above, but is not limited thereto. Terminal 102 and server 101 may be connected directly or indirectly via wired or wireless communication, which is not limited in this embodiment of the present invention.

[0031] Based on the example Figure 1 In the implementation environment shown, an embodiment of the present invention provides a wire-controlled steering collaborative control method based on SOA services. The following is explained using the example of the wire-controlled steering collaborative control method based on SOA services applied to the server 101. It can be understood that the wire-controlled steering collaborative control method based on SOA services can also be applied to the terminal 102.

[0032] Reference Figure 2 , Figure 2 This is a flowchart of a SOA service-based steer-by-wire collaborative control method for a server provided in an embodiment of the present invention. The execution subject of the SOA service-based steer-by-wire collaborative control method can be any of the aforementioned computer devices (including servers or terminals). Figure 2 , the method may include the following steps: S100, in response to a vehicle start signal, obtaining power status information of the vehicle; It should be noted that, in some embodiments, step S100 may include the following steps: in response to the vehicle's start signal, subscribing to the power mode main module through the wire-controlled steering collaborative control main module; obtaining power status information from the power mode main module and transmitting it to the wire-controlled steering collaborative control main module.

[0033] For example, in some specific embodiments, when the driver starts the vehicle, the wire-controlled steering collaborative control main module subscribes to the power mode main module inside the central computing platform to obtain the current power state, that is, the power state is Standby, IGON, etc., which is used by the wire-controlled steering collaborative control main module to perform wire-controlled steering collaborative control logic execution judgment.

[0034] S200, when the power status information meets a preset condition, obtaining vehicle control information based on a service subscription to a signal and service conversion module; Among them, the signal and service conversion module includes the braking service extraction main module, the road feel simulator service extraction main module, the steering angle service extraction module and the steering actuator service extraction module; It should be noted that, in some embodiments, obtaining vehicle control information based on service subscription to the signal and service conversion module may include the following steps: subscribing to the signal and service conversion module through the wire-steering collaborative control main module, and then obtaining vehicle status information through service extraction; wherein, the vehicle status information includes braking system related information of the braking service extraction main module, road feel simulator related information of the road feel simulator service extraction main module, steering related information of the steering angle service extraction module and steering angle related information of the steering actuator service extraction module; transmitting the vehicle status information to the wire-steering collaborative control main module, and obtaining vehicle control information through the wire-steering collaborative control main module based on preset functional logic processing; wherein, the vehicle control information includes steering angle adjustment information and steering torque control information.

[0035] In some embodiments, the signal and service conversion module is subscribed to by the wire-steer collaborative control main module, and then the vehicle status information is obtained through service extraction, which can include the following steps: subscribing to the vehicle speed service unit of the braking service extraction main module, the intervention status service of the target system and the related data service of the inertial measurement unit through the wire-steer collaborative control main module to obtain braking system related information; wherein, the target system includes an anti-lock braking system, a traction control system and an electronic stability control system; subscribing to the road feel simulator service extraction main module's road feel simulator dynamic torque information and road feel simulator motor information through the wire-steer collaborative control main module to obtain road feel simulator related information; subscribing to the steering wheel angle information service and steering wheel speed information service of the steering angle service extraction module through the wire-steer collaborative control main module to obtain steering related information; subscribing to the steering angle information service and steering angle speed information service of the steering actuator service extraction module through the wire-steer collaborative control main module to obtain steering angle related information.

[0036] For example, in some specific implementations, the steer-by-wire collaborative control main module subscribes to the vehicle speed service unit, the ABS / TCS / ESC intervention service unit, and the IMU service unit to obtain braking system-related information for logical analysis. The steer-by-wire collaborative control main module subscribes to the steering wheel angle service unit and the steering wheel speed service unit to obtain steering-related information and combine this information for logical analysis. The steer-by-wire collaborative controller main module subscribes to steering angle service information and steering angle speed information to obtain steering angle-related information. This information is used to implement redundant backup to ensure functional safety requirements and is used for logical analysis related to steer-by-wire collaborative control functions. It subscribes to road feel simulator dynamic torque information and road feel simulator motor information to obtain road feel simulator-related information. The aforementioned brake service abstraction main module, road feel simulator service abstraction main module, steering angle service abstraction module, and steering actuator service abstraction module are all S2S (Signal to Service or Service to Signal) modules, which isolate sensors and actuators through the service abstraction module, achieving hardware-software separation and high cohesion and low coupling. Standardized and universal service interfaces are formed for the application.

[0037] It should also be noted that, in some embodiments, before the step of obtaining vehicle control information based on preset functional logic through the wire-controlled steering main module, the control method may also include the following steps: subscribing to the power main module through the wire-controlled steering main module to obtain service information, and synchronously adjusting the preset functional logic through the service information.

[0038] In some embodiments, subscribing to the power main module through the wire-controlled steering collaborative control main module to obtain service information can include the following steps: subscribing to the gear information service, high-voltage power-on status service and vehicle Ready status service of the power main module through the wire-controlled steering collaborative control main module, and then obtaining the service information in the form of Some IP service scheduling.

[0039] For example, in some specific implementations, the wire-controlled steering collaborative control main module subscribes to the high-voltage power-on status, gear information, and vehicle Ready status service units to determine the internal logic of its own software, realizes real-time reception of service information through service subscription, and synchronously adjusts its own internal functional logic through the service information content. According to the deployment principle, the power main module and the wire-controlled steering collaborative control main module are located in different cores of the central computing platform and communicate with each other, and obtain service information through SomeIP service scheduling.

[0040] S300, using a steering actuator to control the vehicle steering based on the vehicle control information and the subscription information of the airbag controller; It should be noted that the vehicle control information is stored in the wire-controlled steering collaborative control main module; in some embodiments, step S300 may include the following steps: subscribing to the wire-controlled steering collaborative control main module and the airbag controller through the steering actuator, so that the steering actuator obtains vehicle control information and subscription information; wherein, the vehicle control information includes steering angle adjustment information and steering torque control information, and the subscription information includes acceleration and deceleration and heading angle information; according to the vehicle control information and subscription information, the steering actuator is used to adjust the vehicle angle and motor torque.

[0041] For example, in some specific embodiments, the steering actuator subscribes to the steering angle adjustment information and steering torque control information sent by the wire-controlled steering collaborative control main module, and subscribes to the acceleration and deceleration and yawate information (i.e., heading angle information) sent by the ACU (airbag controller), and makes comprehensive judgments to perform angle adjustment and motor torque adjustment.

[0042] It should be understood that the functional logic applied to service information in the embodiment of the present invention can be pre-integrated into the corresponding module through the script of the relevant software algorithm. The core of the embodiment of the present invention lies in the interactive mode of data signals realized by the wire-controlled steering collaborative control method based on SOA service, and the relevant functional logic can be set by itself according to actual application requirements.

[0043] In order to explain the principle of the technical solution of the present invention in detail, the overall process of the present invention is described below in combination with some specific embodiments. It is easy to understand that the following is an explanation of the technical principle of the present invention and cannot be regarded as a limitation of the present invention.

[0044] First, it's important to note that traditional automakers currently develop steer-by-wire systems using an object-oriented approach. The steer-by-wire controller receives signals forwarded and received by the gateway, implementing the internal functional logic software. Because the signals received are relatively fixed, this approach offers limited support for subsequent functional upgrades and expansions. This prevents software and hardware decoupling, requiring frequent modifications, and hinders flexible changes, shortening development cycles, and reducing costs.

[0045] At present, with the increasing degree of automobile electrification, SOA service-based development has gradually become the first choice for vehicle manufacturers' architecture development. To a certain extent, it can reduce more costs and increase more user scenarios, meet more user needs, and enhance functional experience. SOA service development is suitable for vehicle architecture development and application, realizing maximum service utilization, high availability, and good portability.

[0046] In view of this, the present invention proposes a coordinated control method for wire-controlled steering based on SOA services; in practical application scenarios, the control method of the present invention can be applied to Figure 3The system architecture shown is specifically based on Figure 3 The system architecture shown in Figure 4 As shown, the control method of the present invention can be implemented as follows: Step S1, when the driver starts the vehicle, the wire-controlled steering collaborative control main module 400 obtains the current power status, i.e., the power status is Standby, IG ON, etc., by subscribing to the internal power mode main module 100 of the central computing platform, which is used for the wire-controlled steering collaborative control main module 400 to perform wire-controlled steering collaborative control logic execution judgment.

[0047] In step S2, when the current power supply status meets the requirements, the steer-by-wire collaborative control main module 400 subscribes to the high-voltage power-on status, gear position information, and vehicle ready status service units to determine its internal software logic. This service subscription enables real-time reception of service information and synchronizes its internal functional logic based on the service information content. Based on deployment principles, the power main module 200 and the steer-by-wire collaborative control main module 400, located in different cores of the central computing platform, communicate with each other and obtain service information through the Some IP service dispatching mechanism. The steer-by-wire collaborative control main module 400 subscribes to the vehicle speed service unit, the ABS / TCS / ESC intervention service unit, and the IMU service unit to obtain braking system-related information for logical judgment. The steer-by-wire collaborative control main module subscribes to the steering wheel angle service unit and the steering wheel speed service unit to obtain steering-related information and combine this information for logical judgment. The steer-by-wire collaborative controller main module subscribes to steering angle service information and steering angle speed information to obtain steering-related information. This steering wheel angle information and steering angle-related information are used to implement redundant backup to ensure functional safety requirements and to determine relevant functional logic for the steer-by-wire collaborative control. By subscribing to the road feel simulator's dynamic torque information and motor information, relevant information about the road feel simulator is obtained. The aforementioned brake service extraction main module 300, road feel simulator service extraction main module 500, steering angle service extraction module 600, and steering actuator service extraction module 700 are all S2S (Signal to Service or Service to Signal) modules, an architectural model for the mutual conversion of signals and services. This service extraction module isolates sensors and actuators, achieving software-hardware separation and high cohesion and low coupling. This creates a standard, universal service interface for the application.

[0048] In step S3, the steering actuator 800 performs angle adjustment and motor torque adjustment by subscribing to the steering angle adjustment information and steering torque control information sent by the wire-controlled steering collaborative control main module 400 and subscribing to the acceleration and deceleration and yawate information (i.e., heading angle information) sent by the ACU (airbag controller 900).

[0049] In summary, the present invention proposes a control method for wire-controlled coordinated control of steering based on SOA services. Through the SOA service-based approach, the coordinated control-related software of the wire-controlled steering is separated from the controller itself, and the software of the wire-controlled coordinated steering is deployed through the use of regional controllers and central computing platforms, which can realize flexible changes in software and the SOA service-based approach, the vehicle-related controller is exposed through the service-based approach, so as to achieve a certain degree of separation between the controller and its exposed service unit, and greatly reduce the change of the controller hardware. The wire-controlled coordinated control main module subscribes to vehicle-related services such as vehicle speed service, wheel speed service, steering angle information service, etc., to realize its own functions, and through the service subscription and provision method through Some IP communication method, Ethernet transmission improves the transmission rate and practice service utilization rate is higher, subscription is on demand, unnecessary information is filtered, and functional scalability is better, and software update rate is faster.

[0050] An embodiment of the present invention further provides a vehicle control device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program implements the control method of the above embodiment when executed by the processor.

[0051] For example, the processor and memory in a vehicle controller can be connected via a bus. Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer executable programs. Furthermore, the memory can include high-speed random access memory and non-transitory memory, such as at least one disk drive, flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include memory remotely located relative to the control processor, and these remote memories can be connected to the control device via a network.

[0052] The non-transitory software program and instructions required to implement the control method of the above embodiment are stored in the memory, and when executed by the processor, the control method of the above embodiment is executed.

[0053] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0054] An embodiment of the present invention further provides a vehicle, comprising the vehicle control device of the above embodiment.

[0055] The vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. It can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle must have an electric motor that can output power or store mechanical energy as a generator. If the vehicle is a new energy vehicle, it can be a hybrid or a pure electric vehicle.

[0056] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0057] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to execute the above-mentioned SOA service-based steer-by-wire collaborative control method.

[0058] It is worth noting that since the computer-readable storage medium of an embodiment of the present invention can execute the wire-controlled steering collaborative control method based on SOA service in any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer-readable storage medium of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the wire-controlled steering collaborative control method based on SOA service in any of the above-mentioned embodiments.

[0059] In addition, an embodiment of the present invention also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. The processor of the computer device reads the computer program or computer instructions from the computer-readable storage medium, and the processor executes the computer program or computer instructions, so that the computer device executes the above-mentioned SOA service-based wire-controlled steering collaborative control method.

[0060] It is worth noting that since the computer program product of an embodiment of the present invention can execute the wire-controlled steering collaborative control method based on SOA service in any of the above-mentioned embodiments, the specific implementation methods and technical effects of the computer program product of an embodiment of the present invention can refer to the specific implementation methods and technical effects of the wire-controlled steering collaborative control method based on SOA service in any of the above-mentioned embodiments.

[0061] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0062] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

Claims

1. A steer-by-wire collaborative control method based on SOA services, characterized in that: The control method comprises: Responding to a start signal of the vehicle, acquiring power state information of the vehicle; When the power status information satisfies a preset condition, obtaining vehicle control information based on a service subscription to a signal and service conversion module; The signal and service conversion module includes a brake service extraction main module, a road feel simulator service extraction main module, a steering angle service extraction module and a steering actuator service extraction module; Based on the vehicle control information and the subscription information of the airbag controller, a steering actuator is used to perform steering control on the vehicle.

2. The SOA service-based steer-by-wire collaborative control method according to claim 1, characterized in that: The step of obtaining the power supply status information of the vehicle in response to the start signal of the vehicle includes: In response to the start signal of the vehicle, subscribing to the power mode main module through the steer-by-wire collaborative control main module; The power status information is obtained from the power mode main module and transmitted to the wire-controlled steering collaborative control main module.

3. The SOA service-based steer-by-wire collaborative control method according to claim 1, characterized in that: The obtaining of vehicle control information based on the service subscription to the signal and service conversion module includes: The signal and service conversion module is subscribed to by the steer-by-wire collaborative control main module, and the vehicle status information is obtained through service extraction; The vehicle status information includes brake system related information from the brake service extraction main module, road feel simulator related information from the road feel simulator service extraction main module, steering related information from the steering angle service extraction module, and steering angle related information from the steering actuator service extraction module. Transmitting the vehicle status information to the steer-by-wire coordinated control main module, and obtaining the vehicle control information through the steer-by-wire coordinated control main module based on preset functional logic processing; The vehicle control information includes steering angle adjustment information and steering torque control information.

4. The SOA service-based steer-by-wire collaborative control method according to claim 3, characterized in that: The steer-by-wire collaborative control main module subscribes to the signal and service conversion module, and then obtains vehicle status information through service extraction, including: Subscribing to the vehicle speed service unit, the intervention status service of the target system, and the related data service of the inertial measurement unit of the brake service extraction main module through the wire-controlled steer-by-wire collaborative control main module to obtain the relevant information of the brake system; Wherein, the target systems include anti-lock braking systems, traction control systems, and electronic stability control systems; Subscribing to the road feel simulator service through the steer-by-wire collaborative control main module to extract the road feel simulator dynamic torque information and road feel simulator motor information of the main module to obtain the road feel simulator related information; Subscribing to the steering wheel angle information service and the steering wheel speed information service of the steering angle service extraction module by the steer-by-wire coordinated control main module to obtain the steering related information; The steering angle related information is obtained by subscribing to the steering angle information service and the steering angle speed information service of the steering actuator service extraction module through the wire-controlled steering collaborative control main module.

5. The SOA service-based steer-by-wire collaborative control method according to claim 3, characterized in that: Before the step of obtaining the vehicle control information through the steer-by-wire coordinated control main module based on preset functional logic, the control method further includes: The power main module is subscribed to through the wire-controlled steering collaborative control main module to obtain service information, and the preset function logic is adjusted synchronously through the service information.

6. The SOA service-based steer-by-wire collaborative control method according to claim 5, characterized in that: Subscribing to the power main module through the steer-by-wire collaborative control main module to obtain service information includes: The gear information service, high-voltage power-on status service and vehicle ready status service of the power main module are subscribed to through the wire-controlled steering collaborative control main module, and then the service information is obtained in the form of Some IP service scheduling.

7. The SOA service-based steer-by-wire collaborative control method according to claim 1, characterized in that: The vehicle control information is stored in the steer-by-wire coordinated control main module; the steering actuator is used to control the vehicle steering based on the vehicle control information and the subscription information of the airbag controller, including: subscribing to the steer-by-wire collaborative control main module and the airbag controller through the steering actuator, so that the steering actuator obtains the vehicle control information and the subscription information; The vehicle control information includes steering angle adjustment information and steering torque control information, and the subscription information includes acceleration and deceleration and heading angle information; The steering actuator is used to adjust the vehicle angle and the motor torque according to the vehicle control information and the subscription information.

8. A vehicle, characterized in that: It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the SOA service-based wire-controlled steering collaborative control method according to any one of claims 1 to 7 is implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the SOA service-based steer-by-wire collaborative control method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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