Steer-by-wire control method, apparatus and electronic device

Abstract

A steer-by-wire control method, apparatus and electronic device, related to the field of intelligent vehicles, includes: obtaining a steering parameter of a vehicle, where the steering parameter is a steering transmission ratio between a steering wheel and tires; converting a steering signal of the steering wheel into a desired steering angle of the vehicle according to the steering parameter of the vehicle; calculating a desired wheel speed of each wheel of the vehicle according to the desired steering angle; and performing wheel speed control for each wheel of the vehicle according to the desired wheel speed of each wheel.

Description

[Technical Field]

[0001] This disclosure claims priority to a Chinese patent application entitled "Steer-by-wire control method, apparatus and electronic device," filed on March 10, 2023, bearing application number 202310247001.5, the entire contents of which are incorporated herein by reference. The present disclosure relates to the field of intelligent vehicles, and more particularly to steer-by-wire control methods, apparatus and electronic devices. [Background technology]

[0002] With the development of intelligent vehicle technology, automotive steer-by-wire systems are gradually replacing traditional mechanical steering systems, realizing vehicle steering through electric power, and automotive steer-by-wire systems have significantly improved the safety performance of automobiles, so automotive steer-by-wire systems have become an important direction in the development of intelligent automobiles. Compared with traditional steering systems, steer-by-wire systems can reduce the mechanical and hydraulic structures, and further reduce the constraints on the spatial arrangement between the mechanical parts of the steering system, providing a good basis for the design of intelligent driving cabins.

[0003] While steer-by-wire technology offers many advantages, it also has the disadvantage of not having a backup steering function after software failure. If the steer-by-wire signal fails, the steer-by-wire system cannot meet the requirements for safe driving. To solve this problem, vehicles equipped with steer-by-wire systems are usually provided with an electronic clutch device to ensure that the steering system continues to provide mechanical steering capability and achieve vehicle steering in the event of a software failure.

[0004] Although the combination of the steer-by-wire system and the electronic clutch realizes the switching from the steer-by-wire system to the traditional steering system, its structure is relatively complicated and the cost is high, so it is not suitable for use in intelligent vehicles. Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a steer-by-wire control method, apparatus, and electronic device, in which when the steering signal fails and the primary steering system cannot operate normally, the backup steering system adjusts the wheel speed of the vehicle to achieve steering control of the vehicle. [Means for solving the problem]

[0006] First, the present disclosure provides a steer-by-wire control method, which includes: Obtaining a steering parameter of a vehicle, wherein the steering parameter is a steering transmission ratio between a steering wheel and tires; converting a steering signal of the vehicle's steering wheel into a desired steering angle corresponding to the vehicle according to the steering parameters; Calculating a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and performing wheel speed control for each wheel of the vehicle in accordance with the desired wheel speed for each wheel.

[0007] Through the above method, when the primary steering system fails and the steer-by-wire signal is lost, the backup steering system can ensure that the desired wheel speed of each wheel of the vehicle can be calculated according to the desired steering angle of the vehicle, and by adjusting the wheel speed of the vehicle, steering control for the vehicle when the primary steering system fails can be achieved, with a relatively simple structure and no additional mechanical structure required.

[0008] In one possible design, after converting the steering signal of the vehicle's steering wheel into a desired steering angle corresponding to the vehicle, Obtaining a current speed of the vehicle; acquiring a slip angle of a tire of the vehicle in response to the current vehicle speed being greater than a vehicle speed threshold; and correcting the desired steering angle based on the slip angle of the tire.

[0009] According to the above method, the desired steering angle of the vehicle can be adjusted in real time according to the driving data of the vehicle during the driving process, and the control accuracy of the vehicle steering can be ensured.

[0010] In one possible design, calculating a desired wheel speed for each wheel of the vehicle comprises: Obtaining a current yaw angular velocity of the vehicle; adjusting a deflection angle corresponding to a target wheel in response to the yaw angular velocity not matching a theoretical yaw angular velocity of the vehicle; and calculating a desired wheel speed for each of the wheels based on the deflection angle. Through the above method, the driving situation of the vehicle is monitored and the desired wheel speed of each wheel of the vehicle is adjusted in real time, so that the desired wheel speed of each wheel of the vehicle in the actual driving situation can be obtained, thereby ensuring the steering accuracy of the vehicle.

[0011] In one possible design, providing steering control to each wheel of the vehicle according to a desired wheel speed for each wheel comprises: determining an inside wheel and an outside wheel when the vehicle is steering; Obtaining a first wheel speed corresponding to each outer wheel; determining a corresponding second wheel speed for each inner wheel according to the desired wheel speed for each wheel and the first wheel speed; adjusting a wheel speed of each inner wheel of the vehicle and a wheel speed of each outer wheel of the vehicle according to the first wheel speed and the second wheel speed;

[0012] Through the above method, the inside and outside wheels when the vehicle is steering are determined, and then the wheel speed of each wheel of the vehicle is adjusted according to the desired wheel speed of each wheel of the vehicle, thereby realizing steer-by-wire based on wheel speed control.

[0013] In one possible design, the desired wheel speed for each wheel of the vehicle is calculated via a four-wheel wheel speed relationship.

[0014] The above formulas are [Formula 1] and [Formula 2], where L is the wheelbase of the vehicle, J f is the front wheel tread, J r is the rear wheel tread, V1 is the desired wheel speed of the left rear wheel, V2 is the desired wheel speed of the right rear wheel, V3 is the desired wheel speed of the left front wheel, V4 is the desired wheel speed of the right front wheel, and δ0 is the deflection angle of the left wheel.

[0015]

number

[0016]

number

[0017] In a second aspect, the present disclosure provides a steer-by-wire control device, the device comprising: an acquisition module for acquiring a steering parameter of a vehicle, where the steering parameter is a steering transmission ratio between a steering wheel and tires; a conversion module used for converting a steering signal of the steering wheel of the vehicle into a desired steering angle corresponding to the vehicle according to the steering parameters; and a processing module used to calculate a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and to provide steering control to each wheel of the vehicle according to the desired wheel speed.

[0018] In one possible design, the apparatus further comprises a correction module, the correction module comprising: Obtaining a current speed of the vehicle; acquiring a slip angle of a tire of the vehicle in response to the current vehicle speed being greater than a vehicle speed threshold; and correcting the desired steering angle based on the tire slip angle.

[0019] In one possible design, the processing module comprises: Obtaining a current yaw angular velocity of the vehicle; adjusting a deflection angle corresponding to a target wheel in response to the yaw angular velocity not matching a theoretical yaw angular velocity of the vehicle; and calculating a desired wheel speed for each of the wheels based on the deflection angle.

[0020] In one possible design, the processing module comprises: determining an inside wheel and an outside wheel when the vehicle is steering; Obtaining a first wheel speed corresponding to each outer wheel; determining a corresponding second wheel speed for each inner wheel according to the desired wheel speed for each wheel and the first wheel speed; adjusting a wheel speed of each inner wheel of the vehicle and a wheel speed of each outer wheel of the vehicle according to the first wheel speed and the second wheel speed.

[0021] In one possible design, the processing module comprises: It is further used to calculate the desired wheel speed of each wheel of the vehicle through a four-wheel wheel speed relationship.

[0022] The above equations are [Equation 3] and [Equation 4], where L is the wheelbase of the vehicle, J f is the front wheel tread, J r is the rear wheel tread, V1 is the desired wheel speed of the left rear wheel, V2 is the desired wheel speed of the right rear wheel, V3 is the desired wheel speed of the left front wheel, V4 is the desired wheel speed of the right front wheel, and δ0 is the deflection angle of the left wheel.

[0023]

number

[0024]

number

[0025] Thirdly, the present disclosure provides an electronic device, a memory used to store computer programs; and a processor that is used to implement the steps of the steer-by-wire control method when executing the computer program stored in the memory.

[0026] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored therein, the computer program implementing the steps of the above-described steer-by-wire control method when executed by a processor.

[0027] For each aspect in the second to fourth aspects and the technical effects that can be achieved by each aspect, please refer to the explanation of the first aspect and the technical effects that can be achieved by various possible solutions in the first aspect, and redundant explanations will not be repeated here. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a flowchart of a steer-by-wire control method provided in an embodiment of the present disclosure. [Figure 2] 1 is a schematic diagram of a steering structure of a vehicle provided in an embodiment of the present disclosure. FIG. [Figure 3] FIG. 2 is a schematic diagram of a signal conversion provided in the disclosed embodiment; [Figure 4] FIG. 1 is a schematic diagram of a steer-by-wire control device provided in an embodiment of the present disclosure. [Figure 5] 1 is a schematic diagram of an electronic device structure provided in an embodiment of the present disclosure; DETAILED DESCRIPTION OF THE INVENTION

[0029] To clarify the objectives, technical solutions, and advantages of the present disclosure, the present disclosure will be described in more detail below with reference to the drawings. Specific operation methods in method embodiments can also be applied to device or system embodiments. In the description of the present disclosure, "plurality" is understood to mean "at least two." "And / or" describes a relationship between related objects and indicates that three types of relationships may exist. For example, A and / or B can refer to three cases: A alone, A and B simultaneously, and B alone. "A and B are connected" can refer to two cases: A and B are directly connected and A and B are connected via C. In addition, in the description of the present disclosure, terms such as "first," "second," etc. are used merely for the purpose of distinction and do not indicate or imply relative importance or order.

[0030] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0031] Currently, vehicles using steer-by-wire technology typically include two steering systems, with a backup steering system capable of taking over the primary steering system's operation when the primary steering system fails, ensuring that the vehicle can still achieve normal steering function when the primary steering system fails. The currently used backup steering systems are generally electronic clutch devices, which function as the backup steering system to achieve steering function when the primary steering system fails. However, the electronic clutch device is essentially a modification of the traditional mechanical steering system, and although it can achieve a switch from steer-by-wire to traditional mechanical steering, its spatial structure is complex and its cost is relatively high, making it unsuitable for use in intelligent vehicles.

[0032] In view of the above problems, an embodiment of the present disclosure provides a steer-by-wire control method, which first obtains a desired steering angle of a vehicle according to steering parameters of the vehicle, and then calculates a desired wheel speed of each wheel of the vehicle corresponding to the desired steering angle. Then, different driving forces or braking forces are applied to the four wheels of the vehicle according to the desired wheel speeds of each wheel of the vehicle, thereby controlling the vehicle's running. Furthermore, during the vehicle's running process, the desired steering angle and desired wheel speed of the vehicle are adjusted by obtaining vehicle running data to ensure the steering accuracy of the vehicle. When the primary steering system fails, the backup steering system can control the vehicle's steering.

[0033] Therefore, the method provided in the embodiments of the present disclosure can realize steer-by-wire control based on wheel speed control, and when the primary steering system of the vehicle fails, the backup steering system can realize accurate control of the vehicle steering, preventing accidents caused by loss of control over the vehicle steering due to steering failure.

[0034] The technical solution of the present disclosure will be further described below through specific examples. Referring to FIG. 1, this is a steer-by-wire control method provided in the present disclosure, and the implementation flow of the method is as follows:

[0035] S11, obtain the steering parameters of the vehicle;

[0036] First, if the system detects that a serious malfunction has occurred in the vehicle's primary steering system while the vehicle is running and that the driver's desired steering cannot be achieved, the backup steering system is activated. At this time, the backup steering system acquires the vehicle's steering parameters through a steering feel simulator. Here, the steering parameters are the steering wheel-tire steering transmission ratio, i.e., the ratio between the steering wheel steering angle and the steering angle of the wheels when the steering wheel is rotated. For example, if the wheels rotate 20 degrees when the steering wheel is rotated 360 degrees, the steering wheel-tire steering transmission ratio is 360 divided by 20, i.e., the steering wheel-tire steering transmission ratio is 18:1.

[0037] In the above process, the higher the steering wheel-tire steering transmission ratio, the larger the steering wheel rotation range when the wheels need to be rotated to a desired angle, but the smaller the force required to rotate the steering wheel. Conversely, the lower the steering wheel-tire steering transmission ratio, the smaller the steering wheel rotation range when the wheels need to be rotated to a desired angle, and the faster the response when the steering wheel is rotated. Because different vehicle models have different steering wheel-tire steering transmission ratios, obtaining vehicle steering parameters through a steering feeling simulator will vary depending on the vehicle model.

[0038] Furthermore, the backup steering system acquires the wheel speed of each outer wheel when the vehicle performs steering, and sets the wheel speed of each outer wheel of the vehicle as the reference wheel speed when steering, and when steering to the right, the left front wheel and left rear wheel become the outer wheels and the right front wheel and right rear wheel become the inner wheels, as shown in Figure 2. Similarly, when steering to the left, the right front wheel and right rear wheel become the outer wheels and the left front wheel and left rear wheel become the inner wheels. By the above method, the steering parameters of the vehicle and the wheel speeds of the outer wheels when the vehicle performs steering can be obtained, and the steering signal of the handle can be converted into a desired steering angle of the vehicle by the steering parameters of the vehicle.

[0039] S12, converting the steering signal of the steering wheel into a desired steering angle of the vehicle according to the steering parameters.

[0040] When the backup steering system performs further steering after acquiring the steering parameters of the vehicle, the steering feeling simulator in the vehicle's steer-by-wire system converts the rotation angle of the driver's steering wheel into a steering signal according to the steering parameters of the vehicle, and converts the steering signal into a desired steering angle of the vehicle. For example, if the steering angle of the vehicle is calculated to be 10 degrees according to the steering wheel-tire steering transmission ratio of the vehicle, the steering feeling simulator generates a steering signal according to the steering parameters and converts the steering signal into a desired steering angle of the vehicle, which may be 15 degrees.

[0041] In an embodiment of the present disclosure, the above-mentioned desired steering angle of the vehicle is then used to be converted into a control signal, specifically, referring to Figure 3, in Figure 3, the steering feeling simulator transmits the generated desired steering angle to a main controller in the steer-by-wire system of the vehicle. After receiving the desired steering angle, the main controller generates a control signal corresponding to the desired steering angle and sends the control signal to a steering execution assembly of the steer-by-wire system of the vehicle.

[0042] In one possible application scenario, when a vehicle is traveling at high speed, the desired steering angle of the vehicle is affected by tire stiffness. The larger the tire stiffness, the smaller the slip angle, which in turn causes understeer, and the actual steering angle is smaller than the desired steering angle, resulting in an error in the steering of the vehicle. Therefore, the desired steering angle of the vehicle needs to be corrected, and the specific correction method is as follows:

[0043] First, a current vehicle speed of the vehicle is acquired, where the current vehicle speed is a traveling speed of the entire vehicle; if the current vehicle speed is greater than a vehicle speed threshold, a slip angle of a tire of the vehicle is acquired; and finally, the desired steering angle is corrected based on the slip angle of the tire.

[0044] In the embodiment of the present disclosure, the tire slip angle α f There are two main ways to obtain the tire slip angle, vehicle speed, and tire steering angle. One is to simplify the vehicle's driving data through a vehicle dynamics model and obtain the relationship between the tire slip angle, vehicle speed, and tire steering angle. The other is to obtain the relationship between the tire slip angle, vehicle speed, and tire steering angle directly through test data. Here, the tire slip angle α f The specific formula for calculating is [Equation 5].

[0045]

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[0046] In equation (1), l f is the distance from the center of gravity of the vehicle to the center of the front wheels, V x is the longitudinal velocity at the center of gravity of the vehicle, V y is the lateral velocity at the center of gravity of the vehicle, Yaw Rate is the yaw angular velocity of the vehicle, and δ0 is the deflection angle of the left wheel.

[0047] After the tire slip angle is obtained by the above method, the desired steering angle of the vehicle is corrected based on the tire slip angle.

[0048] For example, when a vehicle speed threshold is preset under high-speed driving conditions, for example, when the vehicle speed threshold is set to 60 km / h, if the vehicle speed exceeds the preset vehicle speed threshold of 60 km / h while the vehicle is traveling, the tire stiffness affects the steering angle, and at this time, the tire slip angle α f Then, the desired steering angle in the actual driving situation is calculated using equation (2).

[0049] Specifically, the above equation (2) is expressed as [Equation 6].

[0050]

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[0051] Therefore, under high-speed driving conditions, the tire slip angle α f After calculating the above, the desired steering angle in a high-speed driving situation can be obtained, and the desired wheel speed of each wheel of the vehicle in an actual driving situation can be calculated based on the obtained desired steering angle, thereby improving the wheel speed control accuracy and steering accuracy when the vehicle is running at high speed.

[0052] The above method can calculate the tire slip angle and thus correct the desired steering angle of the vehicle in real time, thereby allowing the vehicle to have high steering precision.

[0053] S13: Calculate a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and perform wheel speed control for each wheel of the vehicle according to the desired wheel speed for each wheel.

[0054] After obtaining the desired steering angle of each wheel of the vehicle, the desired wheel speed of each wheel of the vehicle is calculated according to the desired steering angle of each wheel of the vehicle. Specifically, the relationship between the wheel speeds of the four wheels of the vehicle is first determined by the Ackermann steering model, and then the desired wheel speed of each wheel of the vehicle is calculated according to the wheel speed relationship equation of the four wheels and the desired steering angle, and the specific calculation formulas are [Equation 7] and [Equation 8].

[0055]

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[0056]

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[0057] In equations (3) and (4), L is the wheelbase of the vehicle, J f is the front wheel tread, J r is the rear wheel tread, V1 is the desired wheel speed of the left rear wheel, V2 is the desired wheel speed of the right rear wheel, V3 is the desired wheel speed of the left front wheel, V4 is the desired wheel speed of the right front wheel, and δ0 is the deflection angle of the left wheel.

[0058] Based on equations (3) and (4), the desired wheel speeds of the left rear wheel, the right rear wheel, the left front wheel, and the right front wheel can be determined when the current vehicle is steering. When the vehicle is steering, the outer front wheel has the largest radius and the fastest wheel speed, while the outer rear wheel has a smaller radius and a smaller wheel speed than the outer front wheel. When steering, the inner rear wheel has the smallest turning radius and the slowest wheel speed. The wheel speeds among the four wheels are adjusted by the differential gear to meet the steering conditions. For example, when steering to the right, the desired wheel speeds of the left front wheel, right front wheel, left rear wheel, and right rear wheel are calculated as 40 km / h, 39 km / h, 38 km / h, and 37 km / h, respectively. In other words, when steering, the wheel speed of the outer wheel is always higher than the wheel speed of the inner wheel, and the wheel speed of each wheel can be adjusted to the corresponding desired wheel speed through the differential gear.

[0059] After determining the desired wheel speeds corresponding to the wheels of the vehicle, in the process of the vehicle performing steering, different braking or driving forces are applied to the four wheels of the vehicle, the wheel speed of the outer wheel is taken as the reference wheel speed, and the wheel speed of the inner wheel is adjusted to achieve the desired wheel speed for the desired steering angle, thereby achieving steering.

[0060] In one possible application scenario, whether the desired wheel speed of each wheel of the vehicle is correctly implemented can be verified by the yaw angular velocity of the vehicle. Therefore, the yaw angular velocity of the vehicle needs to be detected in real time, which can avoid the calculation and response error of the wheel speed control algorithm, where one possible embodiment is as follows:

[0061] First, obtain the current yaw angular velocity of the vehicle, adjust the deflection angle corresponding to the target wheel according to whether the yaw angular velocity is equal to the theoretical yaw angular velocity of the vehicle, and finally calculate the desired wheel speed of each wheel of the vehicle based on the deflection angle.

[0062] If the yaw angular velocity acquired by the sensor does not match the theoretically calculated value of the yaw angular velocity, the PID control method can be used to adjust the wheel speed calculation input value δ of each wheel of the vehicle, i.e., the target wheel deflection angle, in real time, and further adjust the desired wheel speed of each wheel of the vehicle.

[0063] The theoretical calculation value of the yaw angular velocity can be calculated through equation (5), and the specific equation is as follows:

[0064]

number

[0065] In equation (5), V1 is the wheel speed of the left rear wheel, and V2 is the wheel speed of the right rear wheel.

[0066] Finally, the desired wheel speed of each wheel of the vehicle is calculated based on the adjusted target wheel deflection angle. Specifically, during the vehicle's running process, the yaw angular velocity of the vehicle is acquired in real time by a yaw angular velocity sensor, and compared with the yaw angular velocity of the vehicle calculated by theoretical calculation. If the comparison results are inconsistent, the target wheel deflection angle δ0 is adjusted in real time using a PID control method to obtain the input value δ0 for calculating the wheel speed of each wheel of the vehicle in the actual driving situation. After that, the desired wheel speed of each wheel of the vehicle in the actual driving situation is calculated using equations (3) and (4), and the desired wheel speed of each wheel of the vehicle in the actual driving situation is adjusted, thereby ensuring the control accuracy of the desired steering angle.

[0067] For example, if the yaw angular velocity sensor detects the current yaw angular velocity of the vehicle as 10 rad / s during vehicle travel, the current wheel speeds of the left and right rear wheels of the vehicle can be obtained by acquiring vehicle travel data, and the theoretical yaw angular velocity of the vehicle can be calculated using Equation (5). For example, the theoretical yaw angular velocity calculated using Equation (5) is 12 rad / s, which does not match the current yaw angular velocity of the vehicle detected by the yaw angular velocity sensor. Furthermore, the wheel speed calculation input value δ0 of each wheel of the vehicle is adjusted, and the desired wheel speed of each wheel of the vehicle in the actual driving situation is calculated using Equations (3) and (4), thereby adjusting the wheel speed of each wheel of the vehicle.

[0068] During the vehicle's running process, the yaw angular velocity of the vehicle is monitored. If it does not match the theoretically calculated value, the wheel speed calculation input value δ0 is adjusted in real time using a PID control method, thereby avoiding a situation where the vehicle's yaw angular velocity does not meet the desired value due to changes in the wheel slip state. The yaw angular velocity of the vehicle is introduced to verify whether the desired wheel speed of each wheel of the vehicle is being correctly implemented, ensuring that the desired wheel speed of each wheel of the vehicle is accurately achieved, and ultimately ensuring the steering accuracy of the vehicle.

[0069] In an embodiment of the present disclosure, after obtaining the desired wheel speed of each wheel of a vehicle and the wheel speed of each outer wheel of a vehicle, the inner wheel and the outer wheel when the vehicle is steered are determined, and the corresponding first wheel speed of each outer wheel is obtained, and then the corresponding second wheel speed of each inner wheel is determined according to the desired wheel speed of each wheel and the first wheel speed, and finally the wheel speed of each inner wheel of the vehicle and the wheel speed of each outer wheel of the vehicle are adjusted according to the respective first wheel speeds and the respective second wheel speeds.

[0070] Specifically, when a vehicle performs steering, the wheel speed of the outer wheel is always greater than the wheel speed of the inner wheel. For example, when performing a right turn, the left wheel is determined as the outer wheel and the right wheel is determined as the inner wheel. During steering, the turning radius of the outer wheel is greater than that of the inner wheel within the same time period, so that the traveling distance of the outer wheel is greater than that of the inner wheel during steering. Furthermore, after determining the inner and outer wheels during steering, different driving forces or braking forces are provided to the four wheels of the vehicle according to the desired wheel speeds of each wheel of the vehicle, thereby ensuring that the four wheels of the vehicle reach their respective desired wheel speeds, and realizing steering control for the vehicle.

[0071] Based on the above method, when the primary steering system of the vehicle fails, the backup steering system is activated, and the steering wheel rotation angle signal is converted into the desired steering angle of the vehicle according to the steering parameters of the vehicle. Further, the desired wheel speed for realizing the desired steering angle is calculated in real time according to the actual driving situation of the vehicle. Different driving forces or braking forces are provided to each wheel of the vehicle according to the desired wheel speed of the vehicle. The desired wheel speed of the vehicle is adjusted in real time by combining the driving data when the vehicle is running, thereby improving the wheel speed control accuracy when the vehicle is running and further ensuring the steering accuracy of the vehicle.

[0072] Based on the same disclosed concept, an embodiment of the present disclosure further provides a steer-by-wire control device, as shown in FIG. 4, the device comprises: an acquisition module 401 for acquiring a steering parameter of a vehicle, where the steering parameter is a steering transmission ratio between a steering wheel and a tire; a conversion module 402, used for converting the steering signal of the steering wheel of the vehicle into a desired steering angle corresponding to the vehicle according to the steering parameters; and a processing module 403 used for calculating a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and performing wheel speed control for each wheel of the vehicle according to the desired wheel speed.

[0073] In one possible design, the apparatus further comprises a correction module, the correction module comprising: Obtaining a current speed of the vehicle; acquiring a slip angle of a tire of the vehicle in response to the current vehicle speed being greater than a vehicle speed threshold; and correcting the desired steering angle based on the tire slip angle.

[0074] In one possible design, the processing module comprises: Obtaining a current yaw angular velocity of the vehicle; adjusting a deflection angle corresponding to a target wheel in response to the yaw angular velocity not matching a theoretical yaw angular velocity of the vehicle; and adjusting the desired wheel speed of each of the wheels based on the deflection angle.

[0075] In one possible design, the processing module comprises: determining an inside wheel and an outside wheel when the vehicle is steering; Obtaining a first wheel speed corresponding to each outer wheel; determining a corresponding second wheel speed for each inner wheel according to the desired wheel speed for each wheel and the first wheel speed; adjusting a wheel speed of each inner wheel of the vehicle and a wheel speed of each outer wheel of the vehicle according to the first wheel speed and the second wheel speed.

[0076] In one possible design, the processing module comprises: It is further used to calculate the desired wheel speed of each wheel of the vehicle through a four-wheel wheel speed relationship.

[0077] The above equations are [Equation 10] and [Equation 11], where L is the wheelbase of the vehicle, J f is the front wheel tread, J ris the rear wheel tread, V1 is the desired wheel speed of the left rear wheel, V2 is the desired wheel speed of the right rear wheel, V3 is the desired wheel speed of the left front wheel, V4 is the desired wheel speed of the right front wheel, and δ0 is the deflection angle of the left wheel.

[0078]

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[0079]

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[0080] Based on the above-mentioned steer-by-wire control device, when the primary steering system fails and the steer-by-wire signal is lost, the backup steering system can ensure that the desired wheel speed of each wheel of the vehicle can be calculated according to the desired steering angle of the vehicle, and by adjusting the wheel speed of the vehicle, steering control for the vehicle when the primary steering system fails is realized, and the structure is relatively simple and does not require any additional mechanical structure.

[0081] Based on the same disclosed concept, the embodiment of the present disclosure further provides an electronic device, which can realize the functions of the above-mentioned steer-by-wire control method. Referring to FIG. 5, the electronic device comprises:

[0082] The system includes at least one processor 501 and a memory 502 connected to the at least one processor 501. In the embodiments of the present disclosure, the specific connection medium between the processor 501 and the memory 502 is not limited, and in FIG. 5, the processor 501 and the memory 502 are connected via a bus 500 as an example. The bus 500 is shown in FIG. 5 with a bold line, and the connection method between other components is merely a schematic illustration and is not intended to be limiting. The bus 500 can be divided into an address bus, a data bus, a control bus, etc., and is shown in FIG. 5 with a single bold line for convenience, but is not limited to simply one bus or one type of bus. Alternatively, the processor 501 can also be called a controller, and there is no limit to the name.

[0083] In an embodiment of the present disclosure, memory 502 stores instructions executable by at least one processor 501, and at least one processor 501 can perform the above-described steer-by-wire control method by executing the instructions stored in memory 502. Processor 501 can realize the functions of each module in the device shown in FIG.

[0084] Here, processor 501 is the control center of the device, and can connect each part of the entire control device using various interfaces and circuits, and realizes various functions of the device, processes data, and performs overall monitoring of the device by running or executing instructions stored in memory 502 and accessing data stored in memory 502.

[0085] In one possible design, processor 501 may include one or more processing units, and processor 501 may integrate an application processor and a modem processor, where the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communications. Note that the modem processor does not necessarily need to be integrated into processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip, and in some embodiments, they may each be implemented on separate chips.

[0086] The processor 501 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field programmable gate array, other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, which can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the steer-by-wire control method disclosed in the embodiments of the present disclosure may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in a processor.

[0087] The memory 502 is a non-volatile computer-readable storage medium used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 502 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 502 may also be, but is not limited to, any other medium that holds or stores desired program code in the form of instructions or data structures and is accessible by a computer. The memory 502 in the embodiments of the present disclosure may also be a circuit or any other device capable of implementing any memory function and used to store program instructions and / or data.

[0088] By designing and programming the processor 501, the code corresponding to the steer-by-wire control method introduced in the above embodiment can be fixed in the chip, so that when the chip is run, it can execute the steps of the steer-by-wire control method of the embodiment shown in Figure 1. How to design and program the processor 501 is a technique well known to those skilled in the art, and will not be described in detail here.

[0089] Based on the same disclosed concept, an embodiment of the present disclosure further provides a storage medium having computer instructions stored therein, which, when executed on a computer, causes the computer to perform the above-mentioned steer-by-wire control method.

[0090] In some possible embodiments, aspects of the steer-by-wire control method provided in the present disclosure may be implemented in the form of a program product, which includes program code that, when executed on an apparatus, is used to cause the control device to perform the steps of the steer-by-wire control method according to various exemplary implementations of the present disclosure described herein.

[0091] Those skilled in the art should understand that the embodiments of the present disclosure may be provided as a method, a system, or a computer program product. Therefore, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware. The present disclosure may also take the form of a computer program product embodied on a computer-usable storage medium (including, but not limited to, a magnetic disk storage device, a CD-ROM, an optical storage device, etc.) that contains one or more computer-usable program codes.

[0092] The present disclosure will be described based on flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, whereby the instructions executed by the processor of the computer or other programmable data processing device generate an apparatus that implements the functions identified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams. These computer program instructions may be stored on a computer-readable storage medium that directs a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored on the computer-readable storage medium create an article of manufacture that includes an instruction apparatus, which implements the functions identified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams.

[0093] These computer program instructions may be loaded into a computer or other programmable data processing device and cause the computer or other programmable device to perform a series of operational steps, thereby generating a computer-implemented process, whereby the instructions executing on the computer or other programmable device provide steps for implementing the functions identified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams.

[0094] Obviously, those skilled in the art can make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure intends to cover these modifications and variations.

Claims

1. 1. A steer-by-wire control method, the method comprising: Obtaining a steering parameter of a vehicle, wherein the steering parameter is a steering transmission ratio between a steering wheel and tires; converting a steering signal of a steering wheel of the vehicle into a desired steering angle corresponding to the vehicle according to the steering parameter; calculating a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and performing wheel speed control for each wheel of the vehicle in accordance with the desired wheel speed for each wheel.

2. After converting the steering signal of the vehicle's steering wheel into a desired steering angle corresponding to the vehicle, Obtaining a current speed of the vehicle; acquiring a slip angle of a tire of the vehicle in response to the current vehicle speed being greater than a vehicle speed threshold; The method of claim 1 , further comprising: correcting the desired steering angle based on a slip angle of the tire.

3. Calculating a desired wheel speed for each wheel of the vehicle includes: Obtaining a current yaw angular velocity of the vehicle; adjusting a deflection angle corresponding to a target wheel in response to the yaw angular velocity not matching a theoretical yaw angular velocity of the vehicle; and calculating a desired wheel speed for each of the wheels based on the deflection angle.

4. Providing steering control to each wheel of the vehicle in accordance with a desired wheel speed of each wheel includes: determining an inside wheel and an outside wheel when the vehicle is steering; Obtaining a first wheel speed corresponding to each outer wheel; determining a corresponding second wheel speed for each inner wheel according to the desired wheel speed for each wheel and the first wheel speed; adjusting a wheel speed of each inner wheel of the vehicle and a wheel speed of each outer wheel of the vehicle according to the first wheel speed and the second wheel speed.

5. Calculating a desired wheel speed for each wheel of the vehicle via a four-wheel wheel speed relationship equation; The formula is [Equation 1] and [Equation 2] where L is the wheelbase of the vehicle, J ｆ is the front wheel tread, J ｒ is rear wheel tread, V １ is the desired wheel speed of the left rear wheel, V ２ is the desired wheel speed of the right rear wheel, V ３ is the desired wheel speed of the left front wheel, V ４ is the desired wheel speed of the right front wheel, δ ０ The method according to any one of claims 1 to 4, wherein is the deflection angle of the left wheel.

6. 1. A steer-by-wire control device, comprising: an acquisition module for acquiring a steering parameter of a vehicle, where the steering parameter is a steering transmission ratio between a steering wheel and tires; a conversion module used for converting a steering signal of the steering wheel of the vehicle into a desired steering angle of the vehicle according to the steering parameters; a processing module used to calculate a desired wheel speed for each wheel of the vehicle based on the desired steering angle, and to perform wheel speed control for each wheel of the vehicle in accordance with the desired wheel speed.

7. The apparatus further includes a correction module, the correction module comprising: Obtaining a current speed of the vehicle; acquiring a slip angle of a tire of the vehicle in response to the current vehicle speed being greater than a vehicle speed threshold; 7. The apparatus of claim 6, specifically adapted for correcting the desired steering angle based on the tire slip angle.

8. The processing module includes: Obtaining a current yaw angular velocity of the vehicle; adjusting a deflection angle corresponding to the target wheel in response to the current yaw angular velocity of the vehicle not matching the theoretical yaw angular velocity of the current vehicle; 8. The apparatus of claim 6 or 7, further adapted to: calculating a desired wheel speed for each wheel of the vehicle based on the deflection angle.

9. 1. An electronic device comprising: a memory used to store computer programs; a processor adapted to implement the steps of the method according to any one of claims 1 to 5 when executing a computer program stored in said memory.

10. A computer-readable storage medium having a computer program stored therein, the computer program implementing the steps of the method of any one of claims 1 to 5 when executed by a processor.

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