Steer-by-wire control method, device and system and vehicle

Abstract

The invention provides a steer-by-wire control method, device and system and a vehicle, the method can be applied to the field of vehicles, the method comprises the steps that a first steering ratio and a first predicted steering angle are obtained, the first steering ratio is used for indicating the corresponding relation between the steering angle of a steering wheel and the steering angle of wheels, and the first predicted steering angle is used for indicating the steering angle of the wheels; the first predicted steering angle is an angle estimated based on the steering intention of the driver; determining first angle information according to the first steering ratio and the first predicted steering angle; acquiring second angle information, wherein the second angle information is used for indicating a steering angle of a wheel provided by the intelligent driving function; according to the first angle information and the second angle information, third angle information is determined, and the third angle information is used for indicating the steering angle of the wheel to be executed by the wheel actuator; and sending the third angle information to a wheel actuator. According to the method, quick response of the wheels to the intelligent driving instruction can be ensured, so that the driving safety of the vehicle during steering is improved.

Description

Steering by wire control method, device, system and vehicle TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, and more particularly, to a steering by wire control method, device, system and vehicle. BACKGROUND

[0002] With the wide use of intelligent vehicles in daily life, users expect intelligent vehicles to bring more comfortable intelligent experience. In this context, steering by wire (SBW) systems are gradually introduced and applied in the field of intelligent vehicles. The steering by wire system replaces the traditional mechanical connection with electronic signals, realizing the electrification of steering operation, which not only provides more accurate steering control, but also enables personalized settings according to the needs of the driver, thereby enhancing driving comfort.

[0003] However, the current SBW assisted driving control method adopts torque steering control, that is, when the assisted driving function is accessed, the steering angle of the steering wheel is controlled by superimposing the intelligent driving torque instruction and the hand feeling simulation torque, and the steering angle of the wheels is adjusted according to the steering angle of the steering wheel, thereby realizing synchronization with the operation of the steering wheel. Such processing method will result in slow response of the wheels to the intelligent driving instruction, which may affect the driving safety of the vehicle.

[0004] SUMMARY

[0005] The present application provides a steering by wire control method, device, system and vehicle, which can ensure the quick response of the wheels to the intelligent driving instruction, thereby improving the driving safety of the vehicle when steering.

[0006] In a first aspect, a steering by wire control method is provided, the method comprising: obtaining a first steering ratio and a first predicted steering angle, the first steering ratio being used to indicate the correspondence between the steering angle of the steering wheel and the steering angle of the wheels, and the first predicted steering angle being an angle estimated based on the steering intention of the driver; determining first angle information according to the first steering ratio and the first predicted steering angle; obtaining second angle information, the second angle information being used to indicate the steering angle of the wheels provided by an intelligent driving function; determining third angle information according to the first angle information and the second angle information, the third angle information being used to indicate the steering angle of the wheels to be executed by a wheel actuator; and sending the third angle information to the wheel actuator.

[0007] In a possible implementation, the third angle information can indicate the rotation of the pinion and / or the displacement of the rack in the wheel actuator, thereby indicating the steering angle of the wheels to be executed by the wheel actuator.

[0008] In a possible implementation, after receiving the third angle information, the wheel actuator can control the steering angle of the wheel based on the third angle information.

[0009] In the embodiments of the present application, in the scenario of human-machine co-driving, the third angle information to be executed by the wheel actuator can be obtained according to the first angle information estimated by the human driving end and the second angle information provided by the intelligent driving end, and the third angle information is sent to the wheel actuator. In this way, the quick response of the wheel to the intelligent driving instruction can be ensured, thereby improving the driving safety of the vehicle during steering.

[0010] With reference to the first aspect, in some implementations of the first aspect, the method further includes: determining a first torque according to the third angle information; and sending execution torque information to the steering wheel actuator according to the first torque, the execution torque information being used to instruct the steering wheel actuator to generate a corresponding torque.

[0011] In a possible implementation, the execution torque information being used to instruct the steering wheel actuator to generate a corresponding torque can be understood as: the execution torque information instructs the steering wheel actuator to generate a torque, so that the steering wheel reaches a corresponding steering angle.

[0012] In the embodiments of the present application, the execution torque information can be sent to the steering wheel actuator according to the first torque. In this way, the synchronization between the steering wheel and the wheel can be maintained, so that the driver feels a more natural and consistent control experience during steering, thereby improving the driving comfort.

[0013] With reference to the first aspect, in some implementations of the first aspect, the determining of the first torque according to the third angle information includes: determining a second steering angle of the steering wheel according to the third angle information and the first steering ratio; and determining the first torque according to the second steering angle.

[0014] In the embodiments of the present application, in the process of determining the first torque based on the third angle information, the second steering angle of the steering wheel can be determined according to the third angle information and the first steering ratio, and then the first torque can be determined based on the second steering angle. In this way, the first torque can be determined simply and quickly, thereby facilitating more efficient obtaining of the execution torque information.

[0015] With reference to the first aspect, in some implementations of the first aspect, before the execution torque information is sent to the steering wheel actuator according to the first torque, the method further includes: obtaining a vibration torque generated when the steering wheel vibrates; and the sending of the execution torque information to the steering wheel actuator according to the first torque includes: sending the execution torque information to the steering wheel actuator according to the first torque and the vibration torque.

[0016] In the embodiments of the present application, the vibration torque generated in response to the intelligent driving reminding function is considered in the process of determining the execution torque information, so that the steering wheel can quickly respond to the intelligent driving reminding function.

[0017] With reference to the first aspect, in some implementations of the first aspect, before the execution torque information is sent to the steering wheel actuator according to the first torque, the method further includes: obtaining a second torque, the second torque being determined based on a vehicle speed, a third steering angle and a torque generated when the wheel actuator controls the wheel steering, the third steering angle being a steering angle corresponding to the steering wheel being turned by the driver; and sending the execution torque information to the steering wheel actuator according to the first torque and the second torque.

[0018] In some implementations of the first aspect, the second torque is determined based on the vehicle speed, the third steering angle and the torque generated when the wheel actuator controls the wheel steering, including: determining a hand feeling compensation torque according to the vehicle speed and the steering angle of the steering wheel, determining a basic road feeling torque according to the torque generated when the wheel actuator controls the wheel steering, the vehicle speed and the steering angle of the steering wheel, and finally obtaining the second torque according to the basic road feeling torque and the hand feeling compensation torque.

[0019] In the embodiments of the present application, the influence of the vehicle speed, the actual steering angle of the steering wheel and the torque generated when the wheel actuator controls the wheel steering is considered in the process of determining the execution torque information. In this way, the execution torque information obtained can be more consistent with the actual driving situation of the vehicle, thereby improving the overall control performance of the vehicle.

[0020] With reference to the first aspect, in some implementations of the first aspect, before the first steering ratio and the first predicted steering angle are obtained, the method further includes: obtaining information about the steering wheel being turned by the driver and driving intention information of the driver; and determining the first predicted steering angle according to the information about the steering wheel being turned by the driver and the driving intention information of the driver.

[0021] In a possible implementation, the information about the steering wheel being turned by the driver can include at least one of the following: a hand force applied by the driver on the steering wheel, a steering angle of the steering wheel and a steering rate of the steering wheel.

[0022] In a possible implementation, the driving intention information can include at least one of the following: an intention coefficient of the driver, a driving mode, an accelerator pedal opening degree and a brake pedal opening degree.

[0023] In the embodiments of the present application, the first predicted steering angle can be estimated based on the information about the steering wheel being turned by the driver and the driving intention information, so that the first angle information can be obtained according to the first predicted steering angle, thereby realizing man-machine co-driving.

[0024] With reference to the first aspect, in some implementations of the first aspect, the information about the steering of the steering wheel by the driver includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, and the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle.

[0025] In a possible implementation, when the first predicted steering angle is determined according to the third steering angle, the first hand force, and the intention coefficient of the driver, the determination can be implemented through a preset formula.

[0026] In a possible implementation, a correspondence between a steering angle, a hand force of a driver, and a predicted steering angle can be established in advance, and the first predicted steering angle can be determined based on the correspondence.

[0027] With reference to the first aspect, in some implementations of the first aspect, the determining the first predicted steering angle according to the information about the steering of the steering wheel by the driver and the driving intention information includes: obtaining a vibration waveform generated when the steering wheel vibrates; performing waveform superposition on the third steering angle according to a reverse waveform of the vibration waveform, and performing low-pass filtering processing on a result of the waveform superposition to obtain a fourth steering angle; and determining the first predicted steering angle according to the fourth steering angle, the first hand force, and the intention coefficient of the driver.

[0028] In the embodiments of the present application, when the first predicted steering angle is determined, the influence of the vibration of the steering wheel on the actual steering angle of the steering wheel is considered, so that the first predicted steering angle obtained more accurately reflects the actual steering intention of the driver. In this way, the accuracy of vehicle steering can be ensured, and thus the driving safety of the vehicle when steering is further improved.

[0029] With reference to the first aspect, in some implementations of the first aspect, before the obtaining the first steering ratio and the first predicted steering angle, the method further includes: determining a second steering ratio according to the vehicle speed and the third steering angle; obtaining a smart driving steering ratio coefficient provided by the intelligent driving function, the smart driving steering ratio coefficient being associated with a driving environment of the vehicle; and determining the first steering ratio according to the second steering ratio and the smart driving steering ratio coefficient.

[0030] In the embodiments of the present application, the second steering ratio can be accurately adjusted through the setting of the smart driving steering ratio coefficient, and the first steering ratio more consistent with the actual situation of the vehicle is obtained. In this way, the vehicle can change the action amplitude of the steering wheel in a special scene, and thus the driving experience of the driver is further improved.

[0031] With reference to the first aspect, in some implementations of the first aspect, before the obtaining the information of the steering wheel being turned by the driver and the driving intention information of the driver, the method comprises: obtaining information of the steering wheel being turned by the intelligent driving function; and the determining the first predicted steering angle according to the information of the steering wheel being turned by the driver and the driving intention information comprises: determining the first predicted steering angle according to the information of the steering wheel being turned by the driver, the driving intention information and the information of the steering wheel being turned by the intelligent driving function.

[0032] In a possible implementation, the information of the steering wheel being turned by the intelligent driving function comprises at least one of the following: a torque acting on the steering wheel, an intelligent driving coordination coefficient, a steering angle of the steering wheel, and a steering rate of the steering wheel.

[0033] In the embodiments of the present application, in the process of obtaining the first predicted steering angle, the information of the steering wheel being turned by the intelligent driving function is considered, so that the man-machine co-driving is more coordinated.

[0034] With reference to the first aspect, in some implementations of the first aspect, the information of the steering wheel being turned by the driver comprises a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, the driving intention information comprises an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel, the information of the steering wheel being turned by the intelligent driving function comprises a third torque acting on the steering wheel and an intelligent driving coordination coefficient, the intelligent driving coordination coefficient being associated with a driving environment of the vehicle; and the determining the first predicted steering angle according to the information of the steering wheel being turned by the driver, the driving intention information and the information of the steering wheel being turned by the intelligent driving function comprises: determining a fourth torque according to the third torque, the intelligent driving coordination coefficient and the first hand force; and determining the first predicted steering angle according to the fourth torque, the third steering angle and the intention coefficient of the driver.

[0035] With reference to the first aspect, in some implementations of the first aspect, before the obtaining the first steering ratio and the first predicted steering angle, the method further comprises: determining a second steering ratio according to the vehicle speed and the third steering angle; obtaining a third steering ratio provided by the intelligent driving function; and determining the first steering ratio according to the second steering ratio and the third steering ratio.

[0036] In the embodiments of the present application, the first steering ratio that is more consistent with the actual situation of the vehicle can be obtained through the second steering ratio and the third steering ratio. In this way, the steering wheel action range can be changed in special scenarios, thereby further improving the driving experience of the driver.

[0037] In a second aspect, a drive-by-wire steering control apparatus is provided, which includes an acquisition unit, a processing unit and a sending unit. The acquisition unit is configured to acquire a first steering ratio and a first predicted steering angle, the first steering ratio being used to indicate a correspondence between a steering wheel angle and a steering angle of a vehicle wheel, and the first predicted steering angle being an angle estimated based on a steering intention of a driver. The processing unit is configured to determine first angle information according to the first steering ratio and the first predicted steering angle. The acquisition unit is further configured to acquire second angle information, the second angle information being used to indicate a steering angle of the vehicle wheel provided by an intelligent driving function. The processing unit is further configured to determine third angle information according to the first angle information and the second angle information, the third angle information being used to indicate a steering angle of the vehicle wheel to be executed by a vehicle wheel actuator. The sending unit is further configured to send the third angle information to the vehicle wheel actuator.

[0038] With reference to the second aspect, in some implementations of the second aspect, the processing unit is specifically configured to: determine a second steering angle of the steering wheel according to the third angle information and the first steering ratio; and determine the first torque according to the second steering angle.

[0039] With reference to the second aspect, in some implementations of the second aspect, the processing unit is specifically configured to: determine a second steering angle of the steering wheel according to the third angle information and the first steering ratio; and determine the first torque according to the second steering angle.

[0040] With reference to the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to acquire a vibration torque generated when the steering wheel vibrates. The processing unit is specifically configured to send the execution torque information to the steering wheel actuator according to the first torque and the vibration torque.

[0041] With reference to the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to acquire a second torque, the second torque being determined based on a vehicle speed, a third steering angle and a torque generated when the vehicle wheel actuator controls the steering of the vehicle wheel, the third steering angle being a corresponding steering angle when the driver rotates the steering wheel. The processing unit is specifically configured to send the execution torque information to the steering wheel actuator according to the first torque and the second torque.

[0042] With reference to the second aspect, in some implementations of the second aspect, the obtaining unit is further configured to obtain information about the driver turning the steering wheel and driving intention information of the driver; and the processing unit is further configured to determine the first predicted steering angle based on the information about the driver turning the steering wheel and the driving intention information.

[0043] With reference to the second aspect, in some implementations of the second aspect, the information about the driver turning the steering wheel includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, and the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel.

[0044] With reference to the second aspect, in some implementations of the second aspect, the obtaining unit is further configured to obtain a vibration waveform generated when the steering wheel vibrates; and the processing unit is specifically configured to perform waveform superposition on the third steering angle based on an inverse waveform of the vibration waveform, and perform low-pass filtering processing on a result of the waveform superposition to obtain a fourth steering angle; and determine the first predicted steering angle based on the fourth steering angle, the first hand force, and the intention coefficient of the driver.

[0045] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to determine a second steering ratio based on the vehicle speed and the third steering angle; the obtaining unit is further configured to obtain a smart driving steering ratio coefficient provided by the intelligent driving function, the smart driving steering ratio coefficient being associated with a driving environment of the vehicle; and the processing unit is further configured to determine the first steering ratio based on the second steering ratio and the smart driving steering ratio coefficient.

[0046] With reference to the second aspect, in some implementations of the second aspect, the obtaining unit is further configured to obtain information about the driver turning the steering wheel provided by the intelligent driving function; and the processing unit is specifically configured to determine the first predicted steering angle based on the information about the driver turning the steering wheel, the driving intention information, and the information about the driver turning the steering wheel provided by the intelligent driving function.

[0047] With reference to the second aspect, in some implementations of the second aspect, the information of the steering wheel turning by the driver includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel, the information of the steering wheel turning provided by the intelligent driving function includes a third torque acting on the steering wheel and an intelligent driving cooperation coefficient, the intelligent driving cooperation coefficient being associated with a driving environment of the vehicle; and the processing unit is specifically configured to: determine a fourth torque according to the third torque, the intelligent driving cooperation coefficient and the first hand force; and determine the first predicted steering angle according to the fourth torque, the third steering angle and the intention coefficient of the driver.

[0048] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to determine a second steering ratio according to the vehicle speed and the third steering angle; the obtaining unit is further configured to obtain a third steering ratio provided by the intelligent driving function; and the processing unit is further configured to determine the first steering ratio according to the second steering ratio and the third steering ratio.

[0049] In a third aspect, a drive-by-wire steering control apparatus is provided, which includes at least one processor and a memory, the at least one processor being coupled with the memory and configured to read and execute instructions in the memory, so that the apparatus implements the method in any implementation of the first aspect.

[0050] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program code, when the computer program code is run on a computer, the computer is caused to execute the method in any implementation of the first aspect.

[0051] In a fifth aspect, a chip is provided, which includes a circuit configured to execute the method in any implementation of the first aspect.

[0052] In a sixth aspect, a computer program product is provided, which includes a computer program, when the computer program is run by a processor, the method in any implementation of the first aspect is executed.

[0053] In a seventh aspect, a steer-by-wire control system is provided, comprising: a controller and a wheel actuator; the controller is configured to: acquire a first steering ratio and a first predicted steering angle, the first steering ratio is used to indicate a correspondence between a steering angle of a steering wheel and a steering angle of a wheel, and the first predicted steering angle is an angle estimated based on a steering intention of a driver; determine first angle information according to the first steering ratio and the first predicted steering angle; acquire second angle information, the second angle information is used to indicate a steering angle of the wheel provided by an intelligent driving function; determine third angle information according to the first angle information and the second angle information, the third angle information is used to indicate a steering angle of the wheel to be executed by the wheel actuator; and send the third angle information to the wheel actuator; and the wheel actuator is configured to control steering of the wheel according to the third angle information.

[0054] In combination with the seventh aspect, in some implementations of the seventh aspect, the system further comprises a steering wheel actuator, and the controller is further configured to: determine a first torque according to the third angle information; and send execution torque information to the steering wheel actuator according to the first torque, and the steering wheel actuator is configured to generate a corresponding torque according to the execution torque information.

[0055] In an eighth aspect, a vehicle is provided, comprising: a steer-by-wire control device in any one of the implementations of the second aspect, or a steer-by-wire control device in the third aspect, or a steer-by-wire control system in any one of the implementations of the seventh aspect. BRIEF DESCRIPTION OF DRAWINGS

[0056] FIG. 1 is a functional schematic diagram of a vehicle according to an embodiment of the present application;

[0057] FIG. 2 is a system architecture according to an embodiment of the present application;

[0058] FIG. 3 is a system architecture suitable for a steer-by-wire control method according to an embodiment of the present application;

[0059] FIG. 4 is another system architecture suitable for a steer-by-wire control method according to an embodiment of the present application;

[0060] FIG. 5 is a schematic flowchart of a steer-by-wire control method according to an embodiment of the present application;

[0061] FIG. 6 is a schematic flowchart of another steer-by-wire control method according to an embodiment of the present application;

[0062] FIG. 7 is a steer-by-wire control device according to an embodiment of the present application;

[0063] FIG. 8 is another steer-by-wire control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0064] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" herein is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0065] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as prefixes in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be considered as redundant limitation because of the use of such prefix words.

[0066] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0067] FIG. 1 is a functional schematic diagram of a vehicle 100 provided by the embodiments of the present application.

[0068] The vehicle 100 can include various subsystems, for example, a perception system 120, a computing platform 130, and a steering system 140. Alternatively, the vehicle 100 can include more or fewer subsystems, and each subsystem can include one or more components. In addition, each subsystem and component of the vehicle 100 can be interconnected by wired or wireless means.

[0069] The perception system 120 can include several sensors for sensing information about the environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global positioning system (GPS), a Beidou system, or other positioning systems. The perception system 120 can include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0070] Some or all of the functionality of the vehicle 100 can be controlled by the computing platform 130. The computing platform 130 can include processors 131-13n (n is a positive integer), which are circuits having the capability to process signals, in one implementation, the processors can be circuits having the capability to read and execute instructions, such as central processing units (CPUs), microprocessors, graphics processing units (GPUs) (which can be understood as a kind of microprocessor), or digital signal processors (DSPs), etc.; in another implementation, the processors can implement certain functions through the logical relationship of hardware circuits, which is fixed or can be reconfigured, such as application-specific integrated circuits (ASICs) or programmable logic devices (PLDs) implemented hardware circuits, such as FPGAs. In the reconfigurable hardware circuit, the processor loads the configuration document to implement the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to implement the functions of the above part or all units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 130 can also include a memory for storing instructions, and some or all of the processors 131-13n can call the instructions in the memory to implement corresponding functions.

[0071] The computing platform 130 can control the functionality of the vehicle 100 based on inputs received from various subsystems (e.g., the perception system 120). In some embodiments, the computing platform 130 can be used to provide control over many aspects of the vehicle 100 and its subsystems.

[0072] The steering system 140 is capable of controlling the steering of the wheels through electronic signals, and can adjust the steering feedback according to the speed, road conditions and driving mode of the vehicle 100.

[0073] Optionally, the above components are only an example, and in actual application, components in each module can be added or deleted according to actual needs.

[0074] The vehicle 100 in the present application can include: a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the vehicle 100 can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), a recreational device, a toy vehicle, etc. The type of the vehicle is not limited in the embodiments of the present application.

[0075] The following takes the vehicle 100 as an intelligent vehicle as an example to explain the technical problems to be solved and the technical solutions adopted in the present application.

[0076] With the wide use of intelligent vehicles in daily life, users expect the intelligent vehicles to bring more comfortable intelligent experience. In this context, the steer-by-wire system is gradually introduced and applied in the field of intelligent vehicles.

[0077] SBW can bring more performance improvement compared to the traditional electric power steering system (EPS), for example, SBW cancels the intermediate shaft, which can reduce the collision damage to the driver when the vehicle has an accident; for another example, SBW supports the feature of variable steering ratio, which makes the vehicle easy to operate at low speed and stable to steer at high speed. For another example, the SBW system can better support various advanced driving systems (ADS) and automatic driving functions. It can be integrated with other sensors and control systems to realize functions such as automatic lane keeping and automatic parking, thereby improving the safety and convenience of driving.

[0078] Due to the great difference between the control architecture of the SBW system and the EPS system, the design of the access of intelligent driving functions is also different. The EPS system realizes the steering of man-machine co-driving by superimposing the human driving instruction and the intelligent driving instruction in the assist motor instruction, and ensures the alignment of the steering wheel and the wheels and the transmission of the driver's feedback torque by setting the mechanical column. There is no mechanical connection between the upper and lower steering (steering wheel and wheels) of the SBW system. When the human driving instruction and the intelligent driving instruction act at the same time, the control algorithm is needed to ensure that the action of the wheels and the feedback of the steering wheel remain synchronized.

[0079] However, the current SBW auxiliary driving function adopts torque steering control, that is, when the auxiliary driving function is accessed, the steering angle of the steering wheel is controlled by superimposing the intelligent driving torque instruction and the hand feeling simulation torque, and the steering angle of the wheels is adjusted according to the steering angle of the steering wheel, so as to realize the synchronization with the operation of the steering wheel. Such processing method will cause the slow response of the wheels to the intelligent driving instruction, which may affect the driving safety of the vehicle.

[0080] The embodiment of the present application provides a steer-by-wire control method, device, system and vehicle, which can ensure that a wheel responds to an intelligent driving instruction quickly, thereby improving driving safety of the vehicle during steering.

[0081] Fig. 2 is a system architecture provided by the embodiment of the present application.

[0082] The SBW can be composed of a handwheel actuator (HWA) controller, a roadwheel actuator (RWA) controller and a domain controller.

[0083] The HWA controller can also be referred to as an upper steering controller, which can control a feedback torque or a steering angle of a handwheel through a torque control method; the RWA controller can also be referred to as a lower steering controller, which can control a steering angle of a roadwheel through an angle control method.

[0084] According to the position of the arrangement of the steer-by-wire control algorithm, the SBW can include three architectures as shown in Fig. 2, i.e., an architecture shown in (a) of Fig. 2 in which the steer-by-wire control algorithm is arranged in the HWA controller, an architecture shown in (b) of Fig. 2 in which the steer-by-wire control algorithm is arranged in the RWA controller, and an architecture shown in (c) of Fig. 2 in which the steer-by-wire control algorithm is arranged in the domain controller. The steer-by-wire control algorithm can calculate corresponding upper steering torque and lower steering angle information based on current working condition information of the vehicle, so as to ensure accurate synchronization between operation of the handwheel and steering action of the roadwheel.

[0085] The control method provided by the embodiment of the present application can improve the response strategy of intelligent driving control information and / or intelligent driving reminding information in the above three architectures.

[0086] It should be noted that in the present application, the upper steering can be understood as steering action of the handwheel, and the lower steering can be understood as steering action of the roadwheel.

[0087] It should be further noted that in the present application, the auxiliary driving function can also be understood as one of intelligent driving functions.

[0088] Fig. 3 is a system architecture to which the control method provided by the embodiment of the present application is applicable.

[0089] As shown in Fig. 3, the system architecture can include a driver intention perception module, a variable steering ratio module, a hand feeling simulation module, a vibration generation and interference suppression module, an HWA torque superposition module, an HWA angle closed loop module, an upper and lower synchronization module, an RWA angle arbitration module, an HWA actuator and an RWA actuator; the above architecture can support human driving function and intelligent driving function.

[0090] Wherein, for the human driving function, when the driver turns the steering wheel, the vehicle can collect the steering angle of the steering wheel through the sensor, the down steering angle information can be calculated based on the steering angle of the steering wheel and the steering ratio obtained by the variable steering ratio module by the up-down synchronization module, and then the down steering angle information is output to the RWA actuator to complete the steering action of the vehicle. At the same time, the hand feeling simulation module can obtain the simulated hand feeling torque according to the actual torque motor and other information fed back by the RWA actuator, and send the simulated hand feeling torque to the HWA actuator, which is responsible for generating torque and providing steering feeling to the driver.

[0091] For the intelligent driving control function, the automatic driving function and the auxiliary driving function are connected to the SBW through the angle interface, and when controlling, the driver intention perception module can estimate the steering intention of the driver based on the hand force of the driver, so as to obtain the estimated steering wheel angle, the up-down synchronization module can generate the RWA angle information of the human driving end based on the estimated steering wheel angle and the steering ratio output by the variable steering ratio module, and output the RWA angle information of the human driving end to the RWA angle arbitration module. The RWA angle arbitration module can arbitrate and superimpose the RWA angle information of the intelligent driving end and the RWA angle information of the human-machine end based on the intelligent driving cooperation coefficient k1 to obtain the RWA final execution angle information, and the RWA actuator executes the final execution angle information to realize human-machine co-driving and wheel steering action. At the same time, through the HWA angle closed loop module, the driver's action (up steering) and the actual steering action (down steering) of the wheel can be kept synchronous.

[0092] For the intelligent driving reminding function (for example, the lane departure warning function), the intelligent driving controller can send a vibration signal to the SBW, the vibration generation and interference suppression module can determine the vibration torque based on the vibration signal and send it to the HWA torque superposition module, the HWA torque superposition module can superimpose the vibration torque and the hand feeling torque output by the hand feeling simulation module, and output the HWA final execution torque to the HWA actuator, so as to realize the vibration of the steering wheel. In addition, the vibration generation and interference suppression module can perform vibration suppression processing on the steering wheel angle and torque signals collected by the sensor, and output the processed signals (for example, the filtered steering wheel angle) to the driver intention perception module for processing, so as to isolate the vibration interference of the wheel.

[0093] It should be noted that the architecture shown in FIG. 3 is only an example and should not be construed as limiting the architecture applicable to the control method. Those skilled in the art can modify the architecture shown in FIG. 3 according to actual needs.

[0094] The functions of some modules in the architecture 300 will be described in detail below.

[0095] The driver intention perception module can identify the steering intention of the driver according to the hand force of the driver, so as to determine the steering wheel angle of the human driving,

[0096] Specifically, the steering wheel angle of the human driving can be estimated by the following formula:

[0097] Ang SW = Ang SW_sensor + Trq SW_sensor × λ (1-1)

[0098] Wherein, Ang SW_sensor is the steering wheel angle collected by the sensor, Trq SW_sensor is the hand force of the driver collected by the sensor, λ is a coefficient related to the steering angle and the vehicle speed, and Ang SW is the final estimated steering wheel angle of the human driving.

[0099] The reason why the driver intention perception module identifies the steering intention of the driver based on the hand force of the driver is that when the SBW receives the intelligent driving control request, it is necessary to ensure that the wheel moves first, in order to ensure the up-down synchronization (synchronization of the steering wheel and the wheel movement), it is necessary to use the HWA angle closed loop module to keep the steering angle and the wheel angle synchronized, at this time, the steering angle may be limited, that is, when the driver tries to turn the steering wheel, he may feel a lot of resistance and not smooth control feeling, which makes the steering angle unable to accurately transmit the intention of the driver, therefore, the steering angle expected by the driver can be estimated according to the hand force of the driver, so that the steering intention of the driver can be decoupled (separated) from the actual steering angle of the steering wheel. This means that even if the steering angle is limited, the SBW can still determine the true steering intention of the driver according to the force applied by the driver on the steering wheel, and adjust the direction of the vehicle accordingly.

[0100] The angle arbitration module can arbitrate the RWA angle information of the human driving obtained based on the estimated steering wheel angle and the RWA angle information provided by the intelligent driving, to obtain the RWA final execution angle information.

[0101] Specifically, the RWA final execution angle information can be obtained by the following formula:

[0102] Ang Cmd_RWA = Ang Act_RWA + k1 × (Ang SW_RWA - Ang Act_RWA ) + (1-k1) × (Ang Ads_RWA - Ang Act_RWA )

[0103] (1-2) or,

[0104] AngCmd_RWA = k1 x Ang SW_RWA + (1 - k1) Ang Ads_RWS (1-3)

[0105] wherein, Ang Ads_RWA is the RWA angle information provided by the intelligent driving function, Ang SW_RWA is the RWA angle information of the human driving obtained by the up-down synchronization module according to the estimated steering wheel angle, Ang Act_rWA is the actual steering angle of the current vehicle collected by the sensor, k1 is the intelligent driving coordination coefficient, which is associated with the driving environment of the vehicle, and Ang Cmd_RWA is the final RWA execution angle information.

[0106] Through the RWA angle arbitration module, the intelligent driving angle information can directly cause the steering action of the vehicle wheel. At the same time, through the intelligent driving coordination coefficient, the current driving scene and the intervention of the driver can be comprehensively considered to ensure the reasonable distribution between intelligent driving and manual driving.

[0107] The variable steering ratio module can provide a steering ratio coefficient k2 in some intelligent driving function modes. After safety judgment, the intelligent driving steering ratio coefficient k2 is multiplied by the basic variable steering ratio of the human driving, which can realize the control requirement of the steering wheel action amplitude in some scenes to improve the driving experience of the driver.

[0108] After obtaining the steering ratio, the HWA angle information can be determined according to the steering ratio. Specifically, the HWA angle information can be calculated through the following formula:

[0109] Ang Cmd_HWA = k2 x Ratio Normal x Ang Cmd_RWA (1-4)

[0110] wherein, Ratio Normal is the basic variable steering ratio of the human driving, which can be obtained based on the working condition information such as vehicle speed and steering wheel angle; k2 is the intelligent driving steering ratio coefficient, which is associated with the driving environment of the vehicle, and Ang Cmd_HWA is the HWA angle information, which is used for output to the HWA angle closed loop module.

[0111] The above variable steering ratio module can provide a smaller steering ratio coefficient through the intelligent driving function in the scene of automatic parking or emergency steering, so as to realize the reduction of the amplitude of the steering wheel action, or even make the steering wheel silent (k2 = 0), thereby preventing the sudden intervention of the intelligent driving function from causing the feeling of hitting the hand of the driver, and improving the driving experience of the driver in the human-machine co-driving.

[0112] The vibration generation and interference suppression module can be used to superimpose the generated vibration torque on the intelligent driving feedback torque in response to the vibration reminder function sent by the intelligent driving controller, so as to realize the vibration of the steering wheel to remind the driver. In addition, the vibration generation and interference suppression module can also perform reverse waveform superposition and low-pass filtering vibration suppression interference processing on the steering wheel information collected by the sensor, and estimate the steering wheel angle using the processed signal, which can isolate the interference caused by the vibration reminder function.

[0113] Optionally, the vibration suppression processing process can be: based on the information such as the start time, time interval, frequency and amplitude of the vibration waveform, and the response of the HWA actuator to the steering wheel displacement, torque and time delay, in different vibration modes, generate a reverse waveform on the steering wheel angle and torque, so that the steering wheel angle and torque signal collected by the sensor after superimposing the reverse waveform can be cancelled out, and the low-pass filtering processing of the signal superimposed with the reverse waveform can further eliminate interference, thereby obtaining the filtered steering wheel rotation angle.

[0114] FIG. 4 is another system architecture suitable for the control method provided by the embodiment of the application.

[0115] For the vehicle in the EPS and SBW switching process, the torque interface used by the auxiliary driving function, and the angle interface used by the automatic driving function, based on this status, the system architecture shown in FIG. 4 is designed, in which the torque interface of the auxiliary driving function can be adapted to realize the priority response of the wheel to the intelligent driving information. Compared with the system architecture shown in FIG. 3, the driver intention perception module in the system architecture shown in FIG. 4 is replaced by a man-machine co-driving module, and the way of determining the steering ratio of the variable steering ratio module is changed.

[0116] The functions of some modules in the architecture 400 will be described in detail below.

[0117] The man-machine co-driving module can superimpose the HWA torque information of the intelligent driving end and the driver's hand force to obtain the final steering wheel torque of man-machine co-driving, which can be realized by the following formula:

[0118] Trq Sum_Adas = k1 x Trq SW + (1-k1) Trq Adas (1-5)

[0119] Wherein, Trq Adas is the torque information of the steering wheel provided by the auxiliary driving function, Trq SW is the driver's hand force, k1 is the intelligent driving cooperation coefficient, and Trq Sum_Adas is the final steering wheel torque of man-machine co-driving.

[0120] After the final steering wheel torque of the man-machine co-driving is determined, the estimated steering wheel angle in the man-machine co-driving can be obtained through the following formula:

[0121] Ang SW_Adas =Ang SW_sensor +Trq Sum_Adas ×λ (1-6)

[0122] Wherein, Ang SW_sensor is the steering wheel angle collected by the sensor, λ is a coefficient related to the steering wheel angle, vehicle speed and the like, and Ang SW_Adas is the estimated steering wheel angle in the man-machine co-driving.

[0123] After the estimated steering wheel angle is obtained, the man-machine co-driving module can send the estimated steering wheel angle to the up-down synchronization module, and the up-down synchronization module can determine the RWA angle information of the man-machine co-driving or the human driving based on the estimated steering wheel angle and the steering ratio, so as to realize the control of the wheels. In the whole process, the man-machine co-driving module estimates the angle of the steering wheel, saves the time of the mechanical action of the steering wheel, and ensures the rapid response of the wheels.

[0124] The variable steering ratio module can directly give the intelligent driving steering ratio, and the variable steering ratio module can arbitrate the use of the human driving steering ratio or the intelligent driving steering ratio according to the current working condition, and perform smoothing processing when the steering ratio is switched.

[0125] It should be noted that the functions of other modules in the architecture 400 have been described in detail in the architecture 300, and will not be described here.

[0126] FIG. 5 is a schematic flowchart of a steer-by-wire control method according to an embodiment of the present application. The method 500 can be applied to the architecture shown in FIGS. 2 to 4, and the execution subject of the method 500 can be a controller or a steer-by-wire system. In the following, the method 500 will be described with the controller as the execution subject. The method 500 can include steps S501 to S505.

[0127] S501, obtaining a first steering ratio and a first predicted steering angle.

[0128] The first steering ratio is used to indicate the corresponding relationship between the steering angle of the steering wheel and the steering angle of the wheels, and the first predicted steering angle is an angle estimated based on the steering intention of the driver.

[0129] In one embodiment, the first predicted steering angle can be obtained in various ways.

[0130] In a possible implementation, before step S501, the method 500 further includes: obtaining information of the driver turning the steering wheel and driving intention information of the driver, and determining the first predicted steering angle according to the information of the driver turning the steering wheel and the driving intention information.

[0131] Optionally, the information of the driver turning the steering wheel can include at least one of the following: a hand force applied by the driver on the steering wheel, a steering angle of the steering wheel, and a steering rate of the steering wheel.

[0132] Optionally, the driving intention information can include at least one of the following: an intention coefficient of the driver, a driving mode, an accelerator pedal opening degree, and a brake pedal opening degree, wherein the intention coefficient of the driver is associated with a vehicle speed and a steering angle of the steering wheel.

[0133] For example, the first predicted steering angle can be determined according to a third steering angle of the steering wheel, a first hand force applied by the driver on the steering wheel, and an intention coefficient of the driver.

[0134] Optionally, the first predicted steering angle can be determined according to the third steering angle, the first hand force, and the intention coefficient of the driver by using a preset formula, for example, by using the above formula (1-1).

[0135] Optionally, a correspondence between a steering angle, a hand force of the driver, and a predicted steering angle can be established in advance, and the first predicted steering angle can be determined based on the third steering angle, the first hand force, and the correspondence.

[0136] In a possible implementation, when the steering wheel vibrates, the controller can obtain a vibration waveform of the steering wheel when the steering wheel vibrates; perform waveform superposition on the third steering angle according to a reverse waveform of the vibration waveform, and perform low-pass filtering processing on a result of the waveform superposition to obtain a fourth steering angle; and then determine the first predicted steering angle according to the fourth steering angle, the first hand force, and the intention coefficient of the driver. In this way, when determining the first predicted steering angle, the influence of the vibration of the steering wheel on the actual steering angle of the steering wheel is considered, so that the first predicted steering angle more accurately reflects the actual steering intention of the driver.

[0137] In a possible implementation, before step S501, the controller obtains information of the steering wheel provided by an intelligent driving function, and then the controller can determine the first predicted steering angle according to the information of the driver turning the steering wheel, the driving intention information, and the information of the steering wheel provided by the intelligent driving function.

[0138] Optionally, the information of the steering wheel provided by the intelligent driving function includes at least one of the following: a torque acting on the steering wheel, an intelligent driving cooperation coefficient, a steering angle of the steering wheel, and a steering rate of the steering wheel.

[0139] Exemplarily, the first predicted steering angle can be determined according to the third steering angle of the steering wheel, the first hand force applied by the driver on the steering wheel, the intention coefficient of the driver, the third moment acting on the steering wheel, and the intelligent driving cooperation coefficient. Specifically, the first predicted steering angle can be determined by the above formulas (1-5) and (1-6).

[0140] In one embodiment, the first steering ratio can be obtained in various ways.

[0141] In a possible implementation, before step S501, the method 500 further includes: determining a second steering ratio according to the vehicle speed and the third steering angle; obtaining an intelligent driving steering ratio coefficient provided by the intelligent driving function; and determining the first steering ratio according to the second steering ratio and the intelligent driving steering ratio coefficient. In this way, the vehicle can change the action amplitude of the steering wheel in special scenarios, thereby further improving the driving experience of the driver.

[0142] The intelligent driving steering ratio coefficient can be associated with the driving environment of the vehicle.

[0143] In a possible implementation, before step S501, the method 500 further includes: determining a second steering ratio according to the vehicle speed and the third steering angle; obtaining a third steering ratio provided by the intelligent driving function; and determining the first steering ratio according to the second steering ratio and the third steering ratio.

[0144] In a possible implementation, the first steering ratio can be a fixed value of a preset value, which is associated with the driving mode started by the vehicle.

[0145] For example, when the vehicle starts the sports mode, the first steering ratio can be set to be smaller, and when the vehicle starts the normal driving mode, the first steering ratio can be set to be larger.

[0146] S502, determining first angle information according to the first steering ratio and the first predicted steering angle.

[0147] Exemplarily, the first angle information can be calculated by the following formula.

[0148] θ down = R / θ up (1-7)

[0149] wherein θ down is the first angle information, which can also be understood as the angle estimated by the human driving end, θ up is the first predicted steering angle, and R is the first steering ratio.

[0150] S503, obtaining second angle information.

[0151] The second angle information is used to indicate the steering angle of the vehicle wheel provided by the intelligent driving function.

[0152] S504, determine third angle information according to the first angle information and the second angle information.

[0153] The third angle information is used to indicate a steering angle of the wheel to be executed by the wheel actuator.

[0154] Optionally, the third angle information can indicate the steering angle of the wheel to be executed by the wheel actuator by indicating the rotation of the pinion and / or the displacement of the rack in the wheel actuator.

[0155] Exemplarily, the third angle information can be determined by formula (1-3).

[0156] S505, send the third angle information to the wheel actuator.

[0157] Correspondingly, after receiving the third angle information, the wheel actuator can control the steering angle of the wheel based on the third angle information.

[0158] In the embodiments of the present application, in the scenario of human-machine co-driving, the third angle information to be executed by the wheel actuator can be obtained according to the first angle information estimated by the human driving end and the second angle information provided by the intelligent driving end, and the third angle information is sent to the wheel actuator. In this way, the quick response of the wheel to the intelligent driving instruction can be ensured, thereby improving the driving safety of the vehicle during steering.

[0159] In one embodiment, after the wheel actuator controls the steering angle of the wheel based on the third angle information, the torque of the steering wheel can be adjusted based on the steering angle of the wheel.

[0160] Specifically, after step S505, the method 500 further includes: determining a first torque according to the third angle information; and sending execution torque information to the steering wheel actuator, the execution torque information being used to instruct the steering wheel actuator to generate a corresponding torque. In this way, the synchronization between the steering wheel and the wheel can be maintained, so that the driver feels a more natural and consistent control experience during steering, thereby improving the driving comfort.

[0161] The execution torque information being used to instruct the steering wheel actuator to generate a corresponding torque can be understood as: the execution torque information instructs the steering wheel actuator to generate a torque so that the steering wheel reaches a corresponding steering angle.

[0162] In a possible implementation, in the process of determining the first torque based on the third angle information, a second steering angle of the steering wheel can be determined according to the third angle information and the first steering ratio, and then the first torque can be determined based on the second steering angle. In this way, the first torque can be determined simply and quickly, thereby facilitating more efficient obtaining of the execution torque information.

[0163] In a possible implementation, when the steering wheel vibrates, the controller can acquire a vibration torque generated when the steering wheel vibrates, and then send the execution torque information to the steering wheel actuator based on the vibration torque and the first torque.

[0164] In a possible implementation, when the controller acquires the second torque, the controller can send the execution torque information to the steering wheel actuator based on the first torque and the second torque, where the second torque is determined based on the vehicle speed, a third steering angle, and a torque generated when the wheel actuator controls the wheel steering. The third steering angle is a steering angle corresponding to the steering wheel rotation by the driver. In this way, the obtained execution torque information can be more consistent with the actual driving situation of the vehicle, thereby improving the overall control performance of the vehicle.

[0165] In a possible implementation, the second torque determined based on the vehicle speed, the third steering angle, and the torque generated when the wheel actuator controls the wheel steering includes: determining a hand feel compensation torque according to the vehicle speed and the steering angle, determining a basic road feel torque according to the torque generated when the wheel actuator controls the wheel steering, the vehicle speed, and the steering angle, and finally determining the second torque according to the basic road feel torque and the hand feel compensation torque.

[0166] It should be understood that, in various embodiments of the present application, the terms and / or descriptions of various embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0167] FIG. 6 is a schematic flowchart of another steer-by-wire control method provided by an embodiment of the present application. The method 600 can be a detailed description of steps S501 to S505 in the method 500. The method 600 can include S601 to S621.

[0168] S601, detecting that a user operates the steering wheel to rotate.

[0169] Optionally, the user operating the steering wheel to rotate can be detected by an angle sensor, a torque sensor, a current sensor, or a hand detection sensor.

[0170] For example, whether the driver places a hand on the steering wheel is detected by a camera, and whether the driver rotates the steering wheel is determined by detecting the position and action of the hand.

[0171] For another example, whether the user operates the steering wheel to rotate is determined by detecting the rotation angle of the steering wheel by an angle sensor.

[0172] S602, measuring the steering angle and the steering torque of the steering wheel.

[0173] Optionally, the steering wheel's rotation angle and torque can be detected by a torque angle sensor (TAS) sensor. The steering wheel's rotation angle can be the third rotation angle in the method 500.

[0174] S603, determine whether the intelligent driving vibration mode is activated.

[0175] The intelligent driving vibration mode can refer to a haptic feedback mechanism for conveying warnings or information to the driver. For example, the vibration mode is activated to remind the driver to pay attention to specific situations or risks by vibrating the steering wheel.

[0176] When the intelligent driving vibration mode is activated, step S604 can be performed, otherwise, the steering wheel rotation angle and torque measured in step S602 can be directly output.

[0177] S604, obtain the frequency and amplitude of the vibration.

[0178] S605, perform inverse waveform superposition and low-pass filtering on the steering wheel rotation angle.

[0179] S606, output the processed steering wheel rotation angle and torque.

[0180] The processed steering wheel rotation angle can be the fourth rotation angle in the method 500.

[0181] S607, determine whether the intelligent driving control mode is activated.

[0182] Specifically, when the intelligent driving control mode is activated, step S608 can be performed, otherwise, the steering wheel rotation angle measured in step S602 can be directly output.

[0183] S608, determine the driver's intention coefficient λ according to the vehicle speed and the steering wheel rotation angle.

[0184] Optionally, a corresponding relationship between the vehicle speed, the steering wheel rotation angle and the driver's intention coefficient λ can be established in advance, and in step S608, the driver's intention coefficient λ is determined according to the vehicle speed, the steering wheel rotation angle and the corresponding relationship.

[0185] S609, determine the estimated steering wheel angle according to the steering wheel rotation angle, λ and the driver's hand force.

[0186] Specifically, the estimated steering wheel angle can be determined by formula (1-1), and the estimated steering wheel angle can be the first predicted rotation angle in the method 500.

[0187] S610, output the estimated steering wheel angle.

[0188] S611, calculate the RWA angle information of the human driver according to the steering ratio and the estimated steering wheel angle.

[0189] The RWA angle information of the human driver can be the first angle information in the method 500.

[0190] Exemplarily, before step S611, the intelligent driving steering ratio coefficient k2 can be obtained, and the intelligent driving steering ratio coefficient k2 is judged for safety based on the current working condition and the intelligent driving function. Meanwhile, the basic variable steering ratio is determined according to the vehicle speed and the steering wheel angle. In the case that the intelligent driving steering ratio coefficient k2 is judged for safety and qualified, the steering ratio is determined according to the basic variable steering ratio coefficient and the intelligent driving steering ratio coefficient k2, that is, the steering ratio can be the first steering ratio in the method 500.

[0191] S612, obtain the RWA angle information provided by the intelligent driving and the intelligent driving cooperation coefficient k1.

[0192] The RWA angle information provided by the intelligent driving can be the second angle information in the method 500.

[0193] S613, determine the RWA final execution angle information according to the RWA angle information of the human driver, the RWA angle information of the intelligent driving, and the intelligent driving cooperation coefficient k1.

[0194] The RWA final execution angle information can be the third angle information in the method 500.

[0195] Exemplarily, the RWA final execution angle information can be determined according to the above formula (1-2) or (1-3).

[0196] S614, send the RWA final execution angle information to the RWA executor.

[0197] Specifically, the RWA executor can control the wheel steering according to the RWA final execution angle information after receiving the RWA final execution angle information.

[0198] S615, receive the actual steering angle of the next steering feedback by the RWA executor.

[0199] The actual steering angle of the next steering can be understood as the steering angle of the wheel.

[0200] S616, calculate the steering angle information of the previous steering according to the steering ratio and the actual steering angle of the next steering.

[0201] The steering angle information of the previous steering can be understood as the steering angle of the steering wheel.

[0202] S617, in the case that the intelligent driving control mode is activated, determine the intelligent driving feedback torque according to the steering angle information of the previous steering.

[0203] The intelligent driving feedback torque can be the first torque in the method 500.

[0204] Optionally, the step S617 and the steps S618-S619 can be performed simultaneously.

[0205] In the step S618, a road feeling estimation is performed to determine a basic road feeling torque.

[0206] Exemplarily, the basic road feeling torque can be determined according to the vehicle speed, the steering wheel angle and an RWA actual motor torque, where the RWA actual motor torque can be a torque generated by a motor when the RWA actuator controls the wheel rotation.

[0207] In the step S619, the basic road feeling torque is superimposed with a hand feeling compensation torque to obtain a final hand feeling torque.

[0208] The final hand feeling torque can be the second torque in the method 500.

[0209] Exemplarily, the hand feeling compensation torque can be determined by the vehicle speed and the steering wheel angle.

[0210] Optionally, the final hand feeling torque can be equal to the sum of the basic road feeling torque and the hand feeling compensation torque.

[0211] In the step S620, in a case where the intelligent driving vibration mode is activated, the final hand feeling torque, the intelligent driving feedback torque and a vibration torque are superimposed to generate HWA final execution torque information.

[0212] The HWA final execution torque information can be the execution torque information in the method 500.

[0213] In the step S621, the HWA final execution torque information is sent to the HWA actuator.

[0214] Specifically, after receiving the HWA final execution torque information, the HWA actuator can cause the steering wheel to generate a corresponding torque according to the HWA final execution information.

[0215] In the embodiments of the present application, in the scenario of man-machine co-driving, the RWA final execution angle information can be obtained according to the angle information estimated by the man driving end and the angle information provided by the intelligent driving end, so as to control the wheel steering, so as to ensure the quick response of the wheel to the intelligent driving instruction, thereby improving the driving safety of the vehicle during steering, and enhancing the coordination between the steering wheel and the wheel. After the wheel responds to the intelligent driving instruction, the steering angle of the steering wheel can be adjusted based on the steering angle of the wheel, so that the driver experiences a more natural and consistent control experience during steering, thereby improving the driving comfort.

[0216] It should be understood that, in various embodiments of the present application, the terms and / or descriptions among various embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0217] Fig. 7 is a schematic diagram of a steer-by-wire control device provided by an embodiment of the present application. The device 700 can include an acquisition unit 710, a sending unit 720 and a processing unit 730. The acquisition unit 710 is configured to acquire instructions and / or data. The sending unit 720 is configured to send instructions and / or data. The processing unit 730 is configured to perform data processing, so that the device 700 implements the aforementioned steer-by-wire control method.

[0218] Optionally, the device 700 further includes a storage unit configured to implement a corresponding storage function and store corresponding instructions and / or data.

[0219] In one embodiment, the device 700 includes the acquisition unit 710, the sending unit 720 and the processing unit 730. The acquisition unit 710 is configured to acquire a first steering ratio and a first predicted steering angle. The first steering ratio is used to indicate a corresponding relationship between a steering angle of a steering wheel and a steering angle of a wheel. The first predicted steering angle is an angle estimated based on a steering intention of a driver. The processing unit 730 is configured to determine first angle information according to the first steering ratio and the first predicted steering angle. The acquisition unit 710 is further configured to acquire second angle information. The second angle information is used to indicate a steering angle of the wheel provided by an intelligent driving function. The processing unit 730 is further configured to determine third angle information according to the first angle information and the second angle information. The third angle information is used to indicate a steering angle of the wheel to be executed by a wheel actuator. The sending unit 720 is further configured to send the third angle information to the wheel actuator.

[0220] In a possible implementation, the processing unit 730 is further configured to determine a first torque according to the third angle information, and send execution torque information to a steering wheel actuator according to the first torque. The execution torque information is used to indicate that the steering wheel actuator generates a corresponding torque.

[0221] In a possible implementation, the processing unit 730 is specifically configured to determine a second steering angle of the steering wheel according to the third angle information and the first steering ratio, and determine the first torque according to the second steering angle.

[0222] In a possible implementation, the acquisition unit 710 is further configured to acquire a vibration torque generated when the steering wheel vibrates. The processing unit 730 is specifically configured to send the execution torque information to the steering wheel actuator according to the first torque and the vibration torque.

[0223] The processing unit 730 can determine the execution torque information according to the first torque and the vibration torque, and control the sending unit 720 to send the execution torque information.

[0224] In a possible implementation, the obtaining unit 710 is further configured to obtain a second torque, the second torque being determined based on a vehicle speed, a third steering angle, and a torque generated when the vehicle wheel actuator controls the vehicle wheel to steer; the third steering angle being a steering angle corresponding to the steering of the steering wheel by the driver; and the processing unit 730 is specifically configured to send execution torque information to the steering wheel actuator according to the first torque and the second torque.

[0225] In a possible implementation, the obtaining unit 710 is further configured to obtain information about the steering of the steering wheel by the driver and driving intention information of the driver; and the processing unit 730 is further configured to determine the first predicted steering angle according to the information about the steering of the steering wheel by the driver and the driving intention information.

[0226] In a possible implementation, the information about the steering of the steering wheel by the driver includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate the force applied on the steering wheel by the driver, and the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with the vehicle speed and the steering angle of the steering wheel.

[0227] In a possible implementation, the obtaining unit 710 is further configured to obtain a vibration waveform generated when the steering wheel vibrates; and the processing unit 730 is specifically configured to perform waveform superposition on the third steering angle according to a reverse waveform of the vibration waveform, perform low-pass filtering processing on a result of the waveform superposition to obtain a fourth steering angle, and determine the first predicted steering angle according to the fourth steering angle, the first hand force, and the intention coefficient of the driver.

[0228] In a possible implementation, the processing unit 730 is further configured to determine a second steering ratio according to the vehicle speed and the third steering angle; the obtaining unit 710 is further configured to obtain a smart driving steering ratio coefficient provided by the intelligent driving function, the smart driving steering ratio coefficient being associated with a driving environment of the vehicle; and the processing unit 730 is further configured to determine the first steering ratio according to the second steering ratio and the smart driving steering ratio coefficient.

[0229] In a possible implementation, the obtaining unit 710 is further configured to obtain information about the steering of the steering wheel provided by the intelligent driving function; and the processing unit 730 is specifically configured to determine the first predicted steering angle according to the information about the steering of the steering wheel by the driver, the driving intention information, and the information about the steering of the steering wheel provided by the intelligent driving function.

[0230] In a possible implementation, the information about the steering of the steering wheel by the driver includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel, and the information about the steering of the steering wheel provided by the intelligent driving function includes a third torque acting on the steering wheel and a cooperative coefficient of intelligent driving, the cooperative coefficient of intelligent driving being associated with a driving environment of the vehicle; the processing unit 730 is specifically configured to: determine a fourth torque according to the third torque, the cooperative coefficient of intelligent driving, and the first hand force; and determine a first predicted steering angle according to the fourth torque, the third steering angle, and the intention coefficient of the driver.

[0231] In a possible implementation, the processing unit 730 is further configured to determine a second steering ratio according to the vehicle speed and the third steering angle, the obtaining unit 710 is further configured to obtain a third steering ratio provided by the intelligent driving function, and the processing unit 730 is further configured to determine a first steering ratio according to the second steering ratio and the third steering ratio.

[0232] FIG. 8 is a schematic diagram of another steer-by-wire control device provided by an embodiment of the present application.

[0233] The device 800 includes a memory 810, a processor 820, and a communication interface 830. The memory 810, the processor 820, and the communication interface 830 are connected through an internal connection path. The memory 810 is configured to store instructions, the processor 820 is configured to execute the instructions stored in the memory 810 to control the communication interface 830 to obtain information, so that the device 800 implements the steer-by-wire control method described above. Optionally, the memory 810 can be coupled to the processor 820 through an interface, or the memory 810 can be integrated with the processor 820.

[0234] It should be noted that the communication interface 830 uses a transceiving device such as, but not limited to, a transceiver. The communication interface 830 can also include an input / output interface.

[0235] The processor 820 stores one or more computer programs, and the one or more computer programs include instructions. When the instructions are run by the processor 820, the control device 800 performs the steer-by-wire control method in the embodiments described above.

[0236] In the implementation process, each step of the above method can be completed by integrated logic circuit of hardware in the processor 820 or instructions in the form of software. The method disclosed in combination with the embodiments of the present application can be directly embodied as hardware processor execution completion, or executed by hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory 810, and the processor 820 reads the information in the memory 810, and combines the hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0237] Optionally, the communication interface 830 in FIG. 8 can implement the acquisition unit 710 and the sending unit 720 in FIG. 7, and the processor 820 in FIG. 8 can implement the processing unit 730 in FIG. 7.

[0238] The embodiments of the present application also provide a computer readable storage medium, the computer readable storage medium stores program codes, when the computer program codes run on the computer, the computer executes any one of the above methods in FIG. 5 or FIG. 6.

[0239] The embodiments of the present application also provide a computer program product, the computer program product includes a computer program, when the computer program is run, the computer executes any one of the above methods in FIG. 5 or FIG. 6.

[0240] The embodiments of the present application also provide a chip, including: circuit, the circuit is used for executing any one of the above methods in FIG. 5 or FIG. 6.

[0241] The embodiments of the present application also provide a vehicle, including: the steer-by-wire control device as shown in FIG. 7 or FIG. 8.

[0242] The embodiments of the present application also provide a steer-by-wire control system, including: a controller and a wheel actuator; the controller is used for: acquiring a first steering ratio and a first predicted steering angle, the first steering ratio is used for indicating the correspondence between the steering angle of the steering wheel and the steering angle of the wheel, and the first predicted steering angle is an angle estimated based on the steering intention of the driver; determining first angle information according to the first steering ratio and the first predicted steering angle; second angle information, the second angle information is used for indicating the steering angle of the wheel provided by the intelligent driving function; determining third angle information according to the first angle information and the second angle information, the third angle information is used for indicating the steering angle of the wheel to be executed by the wheel actuator; sending the third angle information to the wheel actuator; the wheel actuator is used for controlling the wheel steering according to the third angle information.

[0243] In a possible implementation, the steer-by-wire control system further comprises a steering wheel actuator, and the controller is further configured to: determine a first torque according to the third angle information; and send execution torque information to the steering wheel actuator according to the first torque, and the steering wheel actuator is configured to generate a corresponding torque according to the execution torque information.

[0244] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0245] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0246] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0247] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. they can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0248] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0249] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0250] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A steer-by-wire control method, characterized by, The method comprises: obtaining a first steering ratio and a first predicted steering angle, the first steering ratio being used to indicate the correspondence between the steering angle of the steering wheel and the steering angle of the wheel, and the first predicted steering angle being an angle estimated based on the steering intention of the driver; determining first angle information according to the first steering ratio and the first predicted steering angle; obtaining second angle information, the second angle information being used to indicate the steering angle of the wheel provided by the intelligent driving function; determining third angle information according to the first angle information and the second angle information, the third angle information being used to indicate the steering angle of the wheel to be executed by the wheel actuator; sending the third angle information to the wheel actuator.

2. The method of claim 1, wherein, The method further comprises: determining a first torque according to the third angle information; sending execution torque information to the steering wheel actuator according to the first torque, the execution torque information being used to indicate the corresponding torque generated by the steering wheel actuator.

3. The method of claim 2, wherein, The determination of the first torque according to the third angle information comprises: determining a second steering angle of the steering wheel according to the third angle information and the first steering ratio; determining the first torque according to the second steering angle.

4. The method of claim 3, wherein, Before the sending of the execution torque information to the steering wheel actuator according to the first torque, the method further comprises: obtaining a vibration torque generated when the steering wheel vibrates; The sending of the execution torque information to the steering wheel actuator according to the first torque comprises: sending the execution torque information to the steering wheel actuator according to the first torque and the vibration torque.

5. The method of claim 3 or 4, wherein, Before the sending of the execution torque information to the steering wheel actuator according to the first torque, the method further comprises: obtaining a second torque, the second torque being determined based on the vehicle speed, a third steering angle and a torque generated when the wheel actuator controls the steering of the wheel, the third steering angle being the corresponding steering angle when the driver rotates the steering wheel; The sending of the execution torque information to the steering wheel actuator according to the first torque comprises: sending the execution torque information to the steering wheel actuator according to the first torque and the second torque.

6. The method of any one of claims 1 to 5, wherein, Before the obtaining of the first steering ratio and the first predicted steering angle, the method further comprises: obtaining information about the rotation of the steering wheel by the driver and driving intention information of the driver; determining the first predicted steering angle according to the information about the rotation of the steering wheel by the driver and the driving intention information.

7. The method of claim 6, wherein, The information about the rotation of the steering wheel by the driver comprises a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate the force applied by the driver on the steering wheel, and the driving intention information comprises an intention coefficient of the driver, the intention coefficient of the driver being associated with the vehicle speed and the steering angle of the steering wheel.

8. The method of claim 7, wherein, The determination of the first predicted steering angle according to the information about the rotation of the steering wheel by the driver and the driving intention information comprises: obtaining a vibration waveform generated when the steering wheel vibrates; performing waveform superposition on the third steering angle according to the inverse waveform of the vibration waveform, and performing low-pass filtering processing on the result of the waveform superposition to obtain a fourth steering angle; The fourth force moment is determined according to the third force moment, the intelligent driving cooperative coefficient and the first hand force.

9. The method of claim 7 or 8, wherein, Before the first steering ratio and the first predicted steering angle are acquired, the method further comprises: A second steering ratio is determined according to the vehicle speed and the third steering angle; An intelligent driving steering ratio coefficient provided by the intelligent driving function is acquired, the intelligent driving steering ratio coefficient being associated with a driving environment of the vehicle; The first steering ratio is determined according to the second steering ratio and the intelligent driving steering ratio coefficient.

10. The method of claim 6, wherein, Before the information about the steering of the steering wheel by the driver and the driving intention information of the driver are acquired, the method comprises: Information about the steering of the steering wheel provided by the intelligent driving function is acquired; The first predicted steering angle is determined according to the information about the steering of the steering wheel by the driver and the driving intention information, which comprises: The first predicted steering angle is determined according to the information about the steering of the steering wheel by the driver, the driving intention information and the information about the steering of the steering wheel provided by the intelligent driving function.

11. The method of claim 10, wherein, The information about the steering of the steering wheel by the driver comprises a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied on the steering wheel by the driver, the driving intention information comprises an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel, and the information about the steering of the steering wheel provided by the intelligent driving function comprises a third force moment acting on the steering wheel and an intelligent driving cooperative coefficient, the intelligent driving cooperative coefficient being associated with a driving environment of the vehicle; The first predicted steering angle is determined according to the third force moment, the intelligent driving cooperative coefficient and the first hand force, which comprises: A fourth force moment is determined according to the third force moment, the intelligent driving cooperative coefficient and the first hand force; The first predicted steering angle is determined according to the fourth force moment, the third steering angle and the intention coefficient of the driver.

12. The method of claim 11, wherein, Before the first steering ratio and the first predicted steering angle are acquired, the method further comprises: A second steering ratio is determined according to the vehicle speed and the third steering angle; A third steering ratio provided by the intelligent driving function is acquired; The first steering ratio is determined according to the second steering ratio and the third steering ratio.

13. A steer-by-wire control device, characterized by The apparatus comprises an acquisition unit, a processing unit and a sending unit. The acquisition unit is configured to acquire a first steering ratio and a first predicted steering angle, the first steering ratio being used to indicate a corresponding relationship between a steering angle of a steering wheel and a steering angle of a wheel, and the first predicted steering angle being an angle estimated based on a steering intention of a driver; The processing unit is configured to determine first angle information according to the first steering ratio and the first predicted steering angle; The acquisition unit is further configured to acquire second angle information, the second angle information being used to indicate a steering angle of the wheel provided by an intelligent driving function; The processing unit is further configured to determine third angle information according to the first angle information and the second angle information, the third angle information being used to indicate a steering angle of the wheel to be executed by a wheel actuator; The sending unit is further configured to send the third angle information to the wheel actuator. 14.The apparatus of claim 13, wherein, The processing unit is further configured to: determine a first torque according to the third angle information; send an actuation torque information to the steering wheel actuator, the actuation torque information being used to instruct the steering wheel actuator to generate a corresponding torque. 15.The apparatus of claim 14, wherein, The processing unit is specifically configured to: determine a second steering angle of the steering wheel according to the third angle information and the first steering ratio; determine the first torque according to the second steering angle. 16.The apparatus of claim 15, wherein, The obtaining unit is further configured to obtain a vibration torque generated when the steering wheel vibrates; The processing unit is specifically configured to send the actuation torque information to the steering wheel actuator according to the first torque and the vibration torque. 17.The apparatus of claim 15 or 16, wherein, The obtaining unit is further configured to obtain a second torque, the second torque being determined based on a vehicle speed, a third steering angle and a torque generated when the wheel actuator controls the wheel to steer, the third steering angle being a corresponding steering angle when the driver rotates the steering wheel; The processing unit is specifically configured to send the actuation torque information to the steering wheel actuator according to the first torque and the second torque. 18.The apparatus of any one of claims 13 to 17, wherein, The obtaining unit is further configured to obtain information about the driver rotating the steering wheel and driving intention information of the driver; The processing unit is further configured to determine the first predicted steering angle according to the information about the driver rotating the steering wheel and the driving intention information.

19. The apparatus of claim 18, wherein, The information about the driver rotating the steering wheel includes a third steering angle of the steering wheel and a first hand force, the first hand force being used to indicate a force applied by the driver on the steering wheel, and the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver being associated with a vehicle speed and a steering angle of the steering wheel. 20.The apparatus of claim 19, wherein, The obtaining unit is further configured to obtain a vibration waveform generated when the steering wheel vibrates; The processing unit is specifically configured to perform waveform superposition on the third steering angle according to an inverse waveform of the vibration waveform, and perform low-pass filtering processing on a result of the waveform superposition to obtain a fourth steering angle; determine the first predicted steering angle according to the fourth steering angle, the first hand force and the intention coefficient of the driver. 21.The apparatus of claim 19 or 20, wherein, The processing unit is further configured to determine a second steering ratio according to the vehicle speed and the third steering angle; The obtaining unit is further configured to obtain a smart driving steering ratio coefficient provided by the intelligent driving function, the smart driving steering ratio coefficient being associated with a driving environment of the vehicle; The processing unit is further configured to determine the first steering ratio according to the second steering ratio and the smart driving steering ratio coefficient.

22. The apparatus of claim 18, wherein the obtaining unit is further configured to obtain information of turning the steering wheel provided by the intelligent driving function. the processing unit is specifically configured to determine the first predicted turning angle according to the information of turning the steering wheel by the driver, the driving intention information, and the information of turning the steering wheel provided by the intelligent driving function. The information of turning the steering wheel by the driver includes a third turning angle of the steering wheel and a first hand force, the first hand force is used to indicate a force applied on the steering wheel by the driver, the driving intention information includes an intention coefficient of the driver, the intention coefficient of the driver is associated with a vehicle speed and a turning angle of the steering wheel, and the information of turning the steering wheel provided by the intelligent driving function includes a third torque acting on the steering wheel and an intelligent driving cooperation coefficient, the intelligent driving cooperation coefficient is associated with a driving environment of the vehicle.

23. The apparatus of claim 22, wherein, The processing unit is specifically configured to: determine a fourth torque according to the third torque, the intelligent driving cooperation coefficient, and the first hand force; and determine the first predicted turning angle according to the fourth torque, the third turning angle, and the intention coefficient of the driver.

24. The apparatus of claim 23, wherein the processing unit is further configured to determine a second steering ratio according to the vehicle speed and the third turning angle. The obtaining unit is further configured to obtain a third steering ratio provided by the intelligent driving function. The processing unit is further configured to determine the first steering ratio according to the second steering ratio and the third steering ratio. A processor and a memory, the processor is coupled with the memory, the memory is used to store computer programs or instructions, and the processor is used to execute the computer programs or instructions in the memory, so that the method in any one of claims 1 to 12 is executed. The chip includes a circuit, and the circuit is used to execute the method in any one of claims 1 to 12.

25. A steer-by-wire control apparatus characterized by The computer readable storage medium stores program codes, and when the program codes are run on a computer, the computer executes the method in any one of claims 1 to 12.

26. A chip, characterized by The computer product includes a computer program, and when the computer program is run, the computer executes the method in any one of claims 1 to 12.

27. A computer-readable storage medium, characterized in that, The system includes a controller and a wheel actuator.

28. A computer program product, characterised in that, The controller is used to:

29. A steer-by-wire control system, characterized by, obtain a first steering ratio and a first predicted turning angle, the first steering ratio is used to indicate a correspondence between a turning angle of a steering wheel and a turning angle of a wheel, and the first predicted turning angle is an angle estimated based on a turning intention of a driver; determine first angle information according to the first steering ratio and the first predicted turning angle; obtain second angle information, the second angle information is used to indicate a turning angle of the wheel provided by an intelligent driving function; determine third angle information according to the first angle information and the second angle information, the third angle information is used to indicate a turning angle of the wheel to be executed by the wheel actuator; send the third angle information to the wheel actuator. ​ ​ The wheel actuator is configured to control the wheel steering according to the third angle information.

30. A vehicle characterized by comprising: The steer-by-wire control device according to any one of claims 13 to 24, or the steer-by-wire control system according to claim 29.

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