Steering-by-wire system, steering-by-wire control method and vehicle

Abstract

The invention provides a steer-by-wire system which comprises a steering wheel angle sensor used for obtaining the steering angle of a steering wheel; the hand feeling motor is used for applying torque to the steering wheel to simulate the driving hand feeling, and the hand feeling motor is physically connected with a torsion bar of the steering wheel; the hand feeling motor sensor is used for acquiring the rotation angle of the hand feeling motor; and the execution control unit is used for controlling the wheels to steer according to the steering angle of the steering wheel or controlling the wheels to steer according to the rotation angle of the hand feeling motor. By means of the mode, the execution control unit controls the wheels to steer according to the steering angle of the steering wheel or controls the wheels to steer according to the rotation angle of the hand feeling motor, redundant signal transmission channels are reserved, two redundant hand feeling control units do not need to be arranged, stability, safety and reliability are guaranteed, meanwhile, cost is reduced, and operation is easy. And the physical occupied space is saved. The invention further provides a steering-by-wire control method and a vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to a steer-by-wire system, a steer-by-wire control method, and a vehicle. Background Technology

[0002] With the development of vehicle technology, more and more models are using steer-by-wire. Steer-by-wire systems have no mechanical connection; instead, they use a feel simulation assembly to simulate road feel and steering feel to the driver via the steering wheel. The steering wheel and feel simulation assembly interact with the steering actuator assembly via wiring harnesses. Therefore, steer-by-wire systems have extremely high requirements for stability and reliability, and typically employ redundant designs. In related technologies, the steering wheel angle sensor signal is first transmitted to two redundant feel control units, which then send it to the steering actuator assembly. While this method offers good reliability, it results in high production costs and a large footprint. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a steer-by-wire system, a steer-by-wire control method, and a vehicle that overcomes or at least partially solves the above problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a steer-by-wire system is provided, comprising: Steering wheel angle sensor, used to obtain the steering wheel angle; A hand-feed motor is used to apply torque to the steering wheel to simulate driving feel, and the hand-feed motor is physically connected to the torsion bar of the steering wheel; A hand-feed motor sensor is used to obtain the rotation angle of the hand-feed motor; An execution control unit is used to control wheel steering based on the steering angle of the steering wheel, or to control wheel steering based on the rotation angle of the hand-feel motor.

[0005] In this way, the control unit controls the wheel steering based on the steering wheel's steering angle or the rotation angle of the hand-feed motor. This retains redundant signal transmission channels and eliminates the need for two redundant hand-feed control units. It reduces costs and saves physical space while ensuring stability, safety, and reliability.

[0006] Furthermore, it also includes an actuation position sensor and a hand feel control unit. The actuation position sensor is used to acquire the steering angle of the wheel. The hand feel control unit is adapted to control the hand feel motor according to the steering angle of the wheel and the rotation angle of the hand feel motor, or the hand feel control unit is adapted to control the hand feel motor according to the steering angle of the wheel and the steering angle of the steering wheel, or the hand feel control unit is adapted to control the hand feel motor according to the steering angle of the wheel, the rotation angle of the hand feel motor, and the steering angle of the steering wheel.

[0007] Furthermore, when the tactile control unit fails, a preset tactile feel is provided by mechanical damping.

[0008] Furthermore, the steering wheel angle signal acquired by the steering wheel angle sensor is processed by the transmitting end processing module and then transmitted through the line to the receiving end processing module. After processing by the receiving end processing module, it is restored to the steering wheel angle signal and transmitted to the execution control unit; and / or, The hand-feel motor rotation angle signal acquired by the hand-feel motor sensor is processed by the transmitting end processing module and then transmitted through the line to the receiving end processing module. After being processed by the receiving end processing module, it is restored to the hand-feel motor rotation angle signal and transmitted to the execution control unit.

[0009] Furthermore, the transmitting end processing module converts the steering wheel angle signal into two differential signals, which are then transmitted through two lines and finally restored to the steering wheel angle signal by the receiving end processing module; and / or, The transmitting end processing module converts the hand-feed motor rotation angle signal into two differential signals, which are then transmitted through two lines and restored to the hand-feed motor rotation angle signal by the receiving end processing module.

[0010] Furthermore, the transmitting end processing module amplifies the steering wheel steering angle signal into a voltage, and the amplified voltage signal is transmitted through the line and then restored to the steering wheel steering angle signal by the receiving end processing module; and / or, The transmitting end processing module amplifies the rotation angle signal of the hand-feel motor into a voltage, and the amplified voltage signal is transmitted through the line and then restored to the rotation angle signal of the hand-feel motor by the receiving end processing module.

[0011] Furthermore, the execution control unit includes a first execution control unit and a second execution control unit, which have the same function and can work together or be operated by one of them.

[0012] Furthermore, it also includes a first power supply and a second power supply, the first power supply being adapted to supply power to the first execution control unit, and the second power supply being adapted to supply power to the second execution control unit.

[0013] According to a second aspect of this application, a steer-by-wire control method is provided, comprising: The control unit acquires the steering wheel angle signal; The control unit acquires the rotation angle signal of the hand-feed motor and synchronizes it with the steering wheel angle; If the execution control unit obtains the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the steering wheel steering angle signal, and the execution control unit transmits the wheel steering angle to the feel control unit. If the execution control unit cannot obtain the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the hand-feed motor rotation angle signal, and the execution control unit transmits the wheel steering angle to the hand-feed control unit.

[0014] According to a third aspect of this application, a vehicle is provided, including the steer-by-wire system described in the first aspect of this application.

[0015] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0018] Figure 1 This is a schematic diagram of the steer-by-wire system provided by the present invention; Figure 2 This is a schematic diagram of an embodiment of the steer-by-wire system provided by the present invention; Figure 3 This is a schematic diagram of an embodiment of the steer-by-wire system provided by the present invention; Figure 4 This is a schematic diagram of an embodiment of the steer-by-wire system provided by the present invention; Figure 5 This is a schematic diagram of an embodiment of the steer-by-wire system provided by the present invention; Figure 6 This is a schematic diagram of the steer-by-wire control method provided by the present invention; Figure 7 This is a schematic diagram of sensor signal transmission in the steer-by-wire system provided by the present invention; Figure 8 This is a schematic diagram of sensor signal transmission in the steer-by-wire system provided by the present invention.

[0019] Explanation of reference numerals in the attached figures 110. Steering wheel angle sensor; 120. Steering wheel; 130. Steering wheel torsion bar; 210. Hand-feed motor sensor; 220. Hand-feed motor; 230. Hand-feed control unit; 310. Execution control unit; 311. First execution control unit; 312. Second execution control unit; 320. Execution motor; 330. Execution position sensor; 411. First power supply; 412. Second power supply; 420. Voltage conversion circuit; 510. Wheel; 610. Transmitter processing module; 620. Receiver processing module; 621. First receiver processing module; 622. Second receiver processing module. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0021] According to the first aspect of this application, Figure 1 As shown, a steer-by-wire system is provided, comprising: Steering wheel angle sensor 110 is used to obtain the steering angle of steering wheel 120; The hand-feed motor 220 is used to apply torque to the steering wheel 120 to simulate driving feel. The hand-feed motor 220 is physically connected to the torsion bar 130 of the steering wheel. The hand-feed motor sensor 230 is used to obtain the rotation angle of the hand-feed motor 220; The execution control unit 310 is used to control the steering of the wheel 510 according to the steering angle of the steering wheel 120, or to control the steering of the wheel 510 according to the rotation angle of the hand-feel motor 220.

[0022] In the above manner, the control unit 310 controls the steering of the wheel 510 according to the steering angle of the steering wheel 120 or according to the rotation angle of the hand-feed motor 220. This retains redundant signal transmission channels and eliminates the need for two redundant hand-feed control units. It reduces costs and saves physical space while ensuring stability, safety and reliability.

[0023] In some embodiments, the steer-by-wire system provided in this application further includes an actuation position sensor 330, which is used to acquire the steering angle of the wheel. In some embodiments, the actuation position sensor 330 is disposed on the wheel steering tie rod.

[0024] In some embodiments, the steer-by-wire system provided in this application further includes a feel control unit 230, such as... Figures 2-3 As shown, the hand-feed control unit 230 is adapted to control the hand-feed motor 220 based on the steering angle of the wheel 510 and the rotation angle of the hand-feed motor 220. In some embodiments, such as Figures 4-5 As shown, the hand-feed control unit 230 is adapted to control the hand-feed motor 220 according to the steering angle of the wheel 510 and the steering angle of the steering wheel 120. In some embodiments, such as Figures 4-5 As shown, the hand feel control unit 230 is adapted to control the hand feel motor according to the steering angle of the wheel 510, the rotation angle of the hand feel motor 220, and the steering angle of the steering wheel 120. In this way, the hand feel control unit 230 can simulate the steering feel of a traditional vehicle by combining the working conditions of each component, making driving more refined and allowing the driver to drive with greater peace of mind.

[0025] In some embodiments, when the feel control unit 230 fails, a preset feel is provided by mechanical damping. Simultaneously, a warning is issued to the driver that the vehicle malfunctions and needs to slow down.

[0026] In existing solutions, the steering wheel angle sensor 110 and the actuator control unit 310 commonly use protocols such as PWM, ABZ, SENT, HALL, and SPI to transmit signals. These high-frequency signals are easily interfered with and cannot be transmitted over long distances. For example, the TDK motor angle position sensor used in the existing solution can only transmit signals up to 60cm using the ABZ signal, and the Hella steering wheel angle position sensor uses the SENT protocol, with an officially recommended transmission distance of 15-30cm. Therefore, in existing drive-by-wire solutions, both the steering wheel angle sensor and the hand-feed motor angle position sensor directly transmit their sensor signals to the hand-feed control unit. After processing by the hand-feed control unit, the signals are then transmitted to the actuator control unit via CAN, LIN, or other communication networks suitable for long-distance transmission. The actuator control unit's ability to obtain steering wheel angle information is crucial, as it relates to the vehicle's steering function. Therefore, existing solutions use two hand-feed control units to process the steering wheel angle signal and then transmit it to the actuator control unit via CAN, LIN, or other networks.

[0027] In some embodiments, the steering wheel angle signal acquired by the steering wheel angle sensor 110 is processed by the transmitting end processing module 610 and then transmitted through a line to the receiving end processing module 620. After processing by the receiving end processing module 620, the signal is restored to a steering wheel angle signal and transmitted to the execution control unit 310. In this way, without passing through the feel control unit 230, the steering wheel angle signal is processed by the transmitting end processing module 610 and transmitted through a line, thereby increasing the signal transmission distance.

[0028] In some embodiments, the hand-feel motor rotation angle signal acquired by the hand-feel motor sensor 210 is processed by the transmitting end processing module 610 and then transmitted through a line to the receiving end processing module 620. After processing by the receiving end processing module 620, it is restored to the hand-feel motor rotation angle signal and transmitted to the execution control unit 310. In this way, without passing through the hand-feel control unit 230, the hand-feel motor rotation angle signal is processed by the transmitting end processing module 610 and transmitted through a line, thereby increasing the signal transmission distance.

[0029] In some embodiments, such as Figure 7 As shown, the transmitting end processing module 610 converts the steering wheel angle signal into two differential signals, which are then transmitted through two separate lines before being restored to the steering wheel angle signal by the receiving end processing module 620. This method does not change the signal voltage. By converting the steering wheel angle signal into two differential signals and then restoring them using an operational amplifier, the transmission distance of the signal is increased, common-mode interference can be filtered out, and the signal quality is improved.

[0030] In some embodiments, such as Figure 7As shown, the transmitting end processing module 610 converts the hand-feed motor rotation angle signal into two differential signals, which are then transmitted through two separate lines before being restored to the hand-feed motor rotation angle signal by the receiving end processing module 620. This method does not change the signal voltage. By converting the hand-feed motor rotation angle signal into two differential signals, and then having the operational amplifier of the receiving end processing module 620 restore the two differential signals, the signal transmission distance is increased, common-mode interference can be filtered out, and the signal quality is improved.

[0031] In some embodiments, such as Figure 8 As shown, the transmitting end processing module 610 boosts the voltage of the steering wheel steering angle signal. After transmission through the line, the boosted signal is restored to the steering wheel steering angle signal by the receiving end processing module 620. In this way, the transmission distance of the signal is increased by increasing the signal voltage, and then the receiving end processing module 620 performs voltage reduction and restoration. This method has a relatively simple circuit.

[0032] In some embodiments, such as Figure 8 As shown, the transmitting end processing module 610 boosts the hand-feed motor rotation angle signal to a voltage. This boosted signal is then transmitted through the line and restored to the hand-feed motor rotation angle signal by the receiving end processing module 620. This method increases the signal transmission distance by increasing the signal voltage, and then the receiving end processing module 620 performs voltage reduction and restoration. This method has a relatively simple circuit.

[0033] In some embodiments, the execution control unit 310 includes a first execution control unit 311 and a second execution control unit 312. The first execution control unit 311 and the second execution control unit 312 have the same function and can work together or be operated by one of them. In this way, the first execution control unit 311 and the second execution control unit 312 are redundant to each other, ensuring the stability and reliability of the system.

[0034] In some embodiments, a first power supply 411 and a second power supply 412 are also included, wherein the first power supply 411 is adapted to supply power to the first execution control unit 311, and the second power supply 412 is adapted to supply power to the second execution control unit 413.

[0035] In some embodiments, such as Figure 2 and Figure 4As shown, the hand-feel control unit 230, the first execution control unit 311, and the second execution control unit 312 each include a system power management module and a motor pre-drive module. A first power supply 411 is connected to the system power management modules of both the hand-feel control unit 230 and the first execution control unit 311 for power supply. A second power supply 412 is connected to the system power management module of the second execution control unit 413 for power supply. The system power management module of the second execution control unit 413 also supplies power to the steering wheel angle sensor 110, the hand-feel motor sensor 210, the transmitting end processing module 610, and the receiving end processing module 620. The motor pre-drive module of the hand-feel control unit 230 drives the hand-feel motor 220, and the motor pre-drive modules of the first execution control unit 311 and the second execution control unit 312 drive the execution motor 320.

[0036] In some embodiments, such as Figure 3 and Figure 5 As shown, the hand-feel control unit 230, the first execution control unit 311, and the second execution control unit 312 each include a system power management module and a motor pre-drive module. A first power supply 411 is connected to the system power management modules of both the hand-feel control unit 230 and the first execution control unit 311 for power supply. A second power supply 412 is connected to the system power management module of the second execution control unit 413 for power supply. The second power supply 412 also supplies power to the steering wheel angle sensor 110, the hand-feel motor sensor 210, the transmitting end processing module 610, and the receiving end processing module 620 via a voltage conversion circuit 420. The motor pre-drive module of the hand-feel control unit 230 drives the hand-feel motor 220, and the motor pre-drive modules of the first execution control unit 311 and the second execution control unit 312 drive the execution motor 320.

[0037] In some embodiments, an actuator angle sensor 340 is also included to detect the rotation angle of the actuator 320 and to verify it with the wheel steering angle obtained by the actuator position sensor 330.

[0038] According to a second aspect of this application, a steer-by-wire control method is provided, comprising: The control unit acquires the steering wheel angle signal; The control unit acquires the rotation angle signal of the hand-feed motor and synchronizes it with the steering wheel angle; If the execution control unit obtains the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the steering wheel steering angle signal, and the execution control unit transmits the wheel steering angle to the feel control unit. If the execution control unit cannot obtain the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the hand-feed motor rotation angle signal, and the execution control unit transmits the wheel steering angle to the hand-feed control unit.

[0039] The following will combine the embodiments and Figure 6 For example: S101, Start; Enter S102; S102, The control unit obtains the steering wheel angle signal; proceed to S103; S103, The control unit acquires the rotation angle signal of the hand-feel motor and synchronizes it with the steering wheel angle; proceed to S104; S104. Determine whether the execution control unit can obtain the steering wheel steering angle signal; if yes, proceed to S105; if no, proceed to S106. S105, The execution control unit controls the wheel steering according to the steering wheel steering angle signal; proceed to S107; S106, The control unit controls the wheel steering based on the rotation angle signal of the hand-feed motor; proceed to S107; S107, The execution control unit transmits the wheel steering angle to the feel control unit; proceed to S108; S108, The haptic control unit controls the haptic motor to simulate driving feel; proceed to S109; S109, End.

[0040] According to a third aspect of this application, a vehicle is provided, including the steer-by-wire system of the first aspect of this application.

[0041] The various embodiments described in this specification are mainly those that differ from other embodiments. For the same or similar parts between the various embodiments, please refer to each other.

[0042] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0043] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, computer-readable storage media, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0044] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0045] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0046] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0047] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0048] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0049] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. In the embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant content of other embodiments. Any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

[0050] The foregoing has provided a detailed description of the steer-by-wire system, steer-by-wire control method, and vehicle provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A steer-by-wire system, characterized by, The application relates to a steering wheel angle sensor for acquiring a steering angle of a steering wheel, a steering feel motor for applying a torque to the steering wheel to simulate a driving steering feel, a steering feel motor sensor for acquiring a rotation angle of the steering feel motor, and an execution control unit for controlling a steering of a vehicle wheel according to the steering angle of the steering wheel or the rotation angle of the steering feel motor. The application further comprises an execution position sensor for acquiring a steering angle of the vehicle wheel, and a steering feel control unit adapted to control the steering feel motor according to the steering angle of the vehicle wheel and the rotation angle of the steering feel motor, or to control the steering feel motor according to the steering angle of the vehicle wheel and the steering angle of the steering wheel, or to control the steering feel motor according to the steering angle of the vehicle wheel, the rotation angle of the steering feel motor and the steering angle of the steering wheel. When the steering feel control unit fails, a preset steering feel is provided by a mechanical damping. The steering wheel steering angle signal acquired by the steering wheel angle sensor is transmitted to a receiving end processing module through a sending end processing module and a line, and is restored to the steering wheel steering angle signal by the receiving end processing module and transmitted to the execution control unit; and / or The steering feel motor rotation angle signal acquired by the steering feel motor sensor is transmitted to a receiving end processing module through a sending end processing module and a line, and is restored to the steering feel motor rotation angle signal by the receiving end processing module and transmitted to the execution control unit.

2. The steer-by-wire steering system of claim 1, wherein, The sending end processing module converts the steering wheel steering angle signal into two differential signals, which are transmitted through two lines and restored to the steering wheel steering angle signal by the receiving end processing module; and / or 3. The steer-by-wire steering system of claim 2, wherein, The sending end processing module converts the steering feel motor rotation angle signal into two differential signals, which are transmitted through two lines and restored to the steering feel motor rotation angle signal by the receiving end processing module.

4. The steer-by-wire steering system of claim 1, wherein, The sending end processing module raises the voltage of the steering wheel steering angle signal, and the raised voltage signal is transmitted through a line and restored to the steering wheel steering angle signal by the receiving end processing module; and / or The sending end processing module raises the voltage of the steering feel motor rotation angle signal, and the raised voltage signal is transmitted through a line and restored to the steering feel motor rotation angle signal by the receiving end processing module.

5. The steer-by-wire steering system of claim 4, wherein, The execution control unit comprises a first execution control unit and a second execution control unit, which are identical in function and can work together or by one of them. The application further comprises a first power supply adapted to supply power to the first execution control unit and a second power supply adapted to supply power to the second execution control unit.

6. The steer-by-wire steering system of claim 4, wherein, The execution control unit acquires a steering wheel steering angle signal; The execution control unit acquires a steering feel motor rotation angle signal and synchronizes the steering feel motor rotation angle signal with the steering wheel steering angle. ​ 7. The steer-by-wire steering system of claim 1, wherein, ​ 8. The steer-by-wire steering system of claim 7, wherein, ​ 9. A control method of steer-by-wire, characterized by, ​ ​ ​ If the execution control unit acquires the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the steering wheel steering angle signal, and the execution control unit transmits the wheel steering angle to the steering feel control unit. If the execution control unit fails to acquire the steering wheel steering angle signal, the execution control unit controls the wheel steering according to the steering feel motor rotation angle signal, and the execution control unit transmits the wheel steering angle to the steering feel control unit.

10. A vehicle characterized by comprising: A steer-by-wire steering system comprising the system of any one of claims 1 to 8.

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