Steer-by-wire system and its redundant backup method and device, storage medium, vehicle

Abstract

This disclosure discloses a steer-by-wire system and its redundant backup method and apparatus, memory, and vehicle, wherein the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the method includes determining that the steering feel simulation unit has not received a rotation angle output signal (S1), receiving a target rotation angle transmitted by a vehicle controller (S2), and controlling the steering execution unit to move laterally according to the target rotation angle (S3).

Description

Technical Field

[0001] This disclosure claims the priority of a Chinese patent application with an application number of 202310257419.4 and a title of "Steer-by-Wire System and Its Redundant Backup Method, Device, Storage Medium, Vehicle" filed on March 10, 2023, and all of its contents are incorporated herein by reference.

[0002] This disclosure relates to the technical field of vehicles, and particularly to a steer-by-wire system and its redundant backup method, device, storage medium, and vehicle.

Background Art

[0003] According to the ISO26262 functional safety development specification, the highest functional safety goal of an electronic and electrical system is ASIL D. For a steer-by-wire system, the mechanical connection between the steering wheel and the steering gear is abolished, and the information transmission and control of steering are completely realized by electrical signals. Since the mechanical connection does not exist as the final line of defense, simply meeting the ASIL D requirements within the steering system is not sufficient to achieve the functional safety scenario of the steer-by-wire system, and there is a possibility of a safety hazard where the vehicle loses its lateral movement ability and becomes uncontrollable.

Summary of the Invention

Problems to be Solved by the Invention

[0004] This disclosure aims to solve at least one of the technical problems in the related art to some extent. For this reason, the first objective of this disclosure is to propose a redundant backup method for a steer-by-wire system. When the rotation angle output signal of the steering feeling simulation unit is not obtained, the vehicle controller receives the target rotation angle transmitted, and the steering execution unit is controlled to move laterally according to the target rotation angle, so as to improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the vehicle's lateral control.

[0005] The second purpose of this disclosure is to provide redundant backup devices for steer-by-wire systems.

[0006] The third purpose of this disclosure is to provide computer-readable storage media.

[0007] The fourth purpose of this disclosure is to provide a steer-by-wire system.

[0008] The fifth purpose of this disclosure is to submit the vehicle. [Means for solving the problem]

[0009] To achieve the above objectives, a first embodiment of this disclosure provides a redundant backup method for a steer-by-wire system, the steer-by-wire system comprising a steering feel simulation unit and a steering execution unit, the method comprising determining that the steering feel simulation unit has not received a rotation angle output signal, receiving a target rotation angle transmitted by a vehicle controller, and controlling the steering execution unit to move laterally by the target rotation angle.

[0010] According to the redundant backup method for a steer-by-wire system of the embodiment of the present disclosure, first, it is determined that the rotation angle output signal of the steering feel simulation unit has not been acquired, then the target rotation angle transmitted by the vehicle controller is received, and finally, the steering execution unit is controlled to move laterally by the target rotation angle. This method can improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the vehicle's lateral control.

[0011] Furthermore, the redundant backup method for a steer-by-wire system according to the above embodiment of this disclosure has the following additional technical features.

[0012] According to one embodiment of the present disclosure, the steering feeling simulation unit includes at least one angle sensor, and the steering feeling simulation unit and the steering execution unit are communicated via a CAN bus, wherein determining that the steering feeling simulation unit has not received a rotation angle output signal includes determining that the steering feeling simulation unit has not received a rotation angle output signal when the angle sensor or the CAN bus fails.

[0013] According to one embodiment of the present disclosure, when there are multiple angle sensors, the multiple angle sensors back each other up.

[0014] According to one embodiment of the present disclosure, the target rotation angle is obtained by a vehicle steering angle sensor, where the steering angle sensor and the steer-by-wire system are communicated via a CAN bus.

[0015] According to one embodiment of the present disclosure, when the steer-by-wire system is operating normally, a redundant backup method for the steer-by-wire system further includes obtaining the functional safety level of the rotation angle signal that controls the steering execution unit, and decomposing the functional safety levels of the target rotation angle and the rotation angle output signal by the functional safety level.

[0016] According to one embodiment of the present disclosure, a redundant backup method for a steer-by-wire system further includes, when a rotation angle output signal from a steering feel simulation unit is acquired, controlling the steering execution unit to move laterally according to the rotation angle output signal, acquiring the angular position of the steering execution unit, and synchronizing the rotation angle output signal and the target rotation angle according to the angular position of the steering execution unit.

[0017] To achieve the above objectives, a second embodiment of the present disclosure provides a redundant backup device for a steer-by-wire system, the steer-by-wire system comprising a steering feel simulation unit and a steering execution unit, the device comprising a determination module used to determine that the steering feel simulation unit has not received a rotation angle output signal, a receiving module used to receive a target rotation angle transmitted by a vehicle controller, and a control module used to control the steering execution unit to move laterally by the target rotation angle.

[0018] According to the redundant backup device for the steer-by-wire system of the embodiment of the present disclosure, a determination module is used to determine that the rotation angle output signal of the steering feel simulation unit will not be acquired; a receiving module is used to receive the target rotation angle transmitted by the vehicle controller; and a control module is used to control the steering execution unit to move laterally according to the target rotation angle. As a result, the device can improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the vehicle's lateral control.

[0019] To achieve the above objectives, a third embodiment of this disclosure provides a computer-readable storage medium on which a redundant backup program for a steer-by-wire system is stored, and when the redundant backup program for the steer-by-wire system is executed by a processor, it realizes the redundant backup method for the steer-by-wire system described above.

[0020] According to the computer-readable storage medium of the embodiments of this disclosure, when implemented, it is possible to improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the lateral control of the vehicle by realizing a redundant backup method for the steer-by-wire system described above.

[0021] To achieve the above object, the steer-by-wire system provided in the embodiment of the fourth aspect of the present disclosure includes a steering feeling simulation unit, a steering execution unit, a memory, a processor, and a redundant backup program of the steer-by-wire system stored in the memory and executable on the processor. When the processor executes the redundant backup program of the steer-by-wire system, the redundant backup method of the above-mentioned steer-by-wire system is realized.

[0022] According to the steer-by-wire system of the embodiment of the present disclosure, by executing the redundant backup method of the above-mentioned steer-by-wire system, the fault tolerance performance of the steer-by-wire system can be improved, and the accuracy of the lateral control of the vehicle can be guaranteed.

[0023] To achieve the above object, the vehicle provided in the embodiment of the fifth aspect of the present disclosure includes the above-mentioned steer-by-wire system.

[0024] According to the vehicle of the embodiment of the present disclosure, by including the above-mentioned steer-by-wire system, the fault tolerance performance of the steer-by-wire system can be improved, and the accuracy of the lateral control of the vehicle can be guaranteed.

[0025] Additional aspects and advantages of the present disclosure are shown in part in the following description, become apparent in part from the following description, or are understood by practice of the present disclosure.

[0026] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the description of the embodiments in combination with the following drawings.

Brief Description of the Drawings

[0027] [Figure 1] It is a flowchart of the redundant backup method of the steer-by-wire system according to the embodiment of the present disclosure. [Figure 2] It is a system diagram of the redundant backup of the steer-by-wire system according to the embodiment of the present disclosure. [Figure 3] It is a flowchart of a redundant backup method for a steer-by-wire system according to one specific example of the present disclosure. [Figure 4] It is a block schematic diagram of a redundant backup device for a steer-by-wire system according to an embodiment of the present disclosure. [Figure 5] It is a block schematic diagram of a steer-by-wire system according to an embodiment of the present disclosure. [Figure 6] It is a block schematic diagram of a vehicle in an embodiment of the present disclosure.

Modes for Carrying Out the Invention

[0028] The following will describe the embodiments of the present disclosure in detail. The examples of the embodiments are shown in the drawings. Here, the same or similar markings throughout indicate the same or similar elements or elements having the same or similar functions. The embodiments described with reference to the following drawings are exemplary and are used for the purpose of explaining the present disclosure and should not be construed as limiting the present disclosure.

[0029] Hereinafter, a redundant backup method for a steer-by-wire system, a redundant backup device for a steer-by-wire system, a computer-readable storage medium, a steer-by-wire system, and a vehicle submitted in the embodiments of the present disclosure will be described with reference to the drawings.

[0030] In one embodiment of the present disclosure, the steer-by-wire system may include two electrical systems, namely a steering feel simulation unit (HWA) and a steering execution unit (RWA). The steering feel simulation unit (HWA) may be equipped with a torque and angle sensor (TAS), and the steering execution unit (RWA) may be equipped with an absolute angle sensor (AAS). The purpose of the TAS is to detect the driver's target steering angle, and the RWA executes according to the target angle to control the lateral movement of the vehicle. At the same time, the AAS is used to feed back the angular position of the RWA, thereby achieving closed-loop angle control.

[0031] Figure 1 is a flowchart of a redundant backup method for a steer-by-wire system according to an embodiment of the present disclosure.

[0032] As shown in Figure 1, the redundant backup method for a steer-by-wire system according to an embodiment of the present disclosure may include the following steps:

[0033] S1. Confirm that the rotation angle output signal from the steering feel simulation unit has not been acquired.

[0034] S2 receives the target rotation angle transmitted by the vehicle controller.

[0035] S3 controls the steering execution unit to move laterally according to the target rotation angle.

[0036] Specifically, the mechanical decoupling design from the steering wheel to the wheels in the steer-by-wire system allows the steering feel simulation unit to generate the driver's target rotation angle in steering control mode, and the steering execution unit to execute the target steering to achieve lateral movement of the vehicle. If the angle sensor in the steering feel simulation unit fails, or if the system is unable to transmit signals properly, it is determined that the rotation angle output signal from the steering feel simulation unit has not been acquired. At this time, the steering execution unit cannot receive the target rotation angle that reflects the driver's intention, the vehicle loses its ability to move laterally, and a safety hazard arises where the vehicle becomes uncontrollable. Therefore, to improve the fault tolerance performance of the steer-by-wire system, as shown in Figure 2, an external sensor (SAS) can be provided to the steer-by-wire system. When the rotation angle output signal from the steering feel simulation unit has not been acquired, the SAS can acquire the driver's target rotation angle and receive the target rotation angle transmitted by the vehicle controller. The steering execution unit can then control the vehicle to move laterally according to the target rotation angle transmitted by the vehicle controller. This improves the fault tolerance performance of the vehicle's lateral control and avoids the safety hazard when the vehicle becomes uncontrollable.

[0037] The following details the specific workflow of the redundant backup method for the steer-by-wire system described in this disclosure.

[0038] According to one embodiment of the present disclosure, the steering feeling simulation unit includes at least one angle sensor, and the steering feeling simulation unit and the steering execution unit are communicated via a CAN bus, wherein determining that the steering feeling simulation unit has not received a rotation angle output signal includes determining that the steering feeling simulation unit has not received a rotation angle output signal when the angle sensor or the CAN bus fails.

[0039] Furthermore, according to one embodiment of this disclosure, when there are multiple angle sensors, the multiple angle sensors back each other up.

[0040] Specifically, the steering feel simulation unit includes at least one angle sensor, for example, the steering feel simulation unit may include a torque and angle sensor (TAS), and the steering feel simulation unit may have one or more angle sensors, and if there are multiple angle sensors, the multiple angle sensors back each other up, for example, if the steering feel simulation unit includes two torque and angle sensor TAS, and when one torque and angle sensor fails, the other torque and angle sensor TAS continues to operate so that the steering angle can be obtained, and the steering execution unit moves the vehicle laterally according to the steering angle. The steering feel simulation unit communicates with the steering execution unit via the CAN bus. When determining whether the steering feel simulation unit has acquired the rotation angle output signal, the determination can be made based on whether the angle sensor has failed or whether the CAN bus has failed. Specifically, if the current angle sensor fails, it can be determined that the steering execution unit has not acquired the rotation angle output signal from the steering feel simulation unit. Alternatively, if the CAN bus fails, it can be determined that the steering feel simulation unit and the steering execution unit cannot communicate properly via the CAN bus, and the steering execution unit has not acquired the rotation angle output signal from the steering feel simulation unit. According to one embodiment of the present disclosure, the target rotation angle is obtained by a vehicle steering angle sensor, where the steering angle sensor and the steer-by-wire system are communicated via a CAN bus.

[0041] Specifically, when determining the target rotation angle of a vehicle, the magnitude of the rotation angle can be obtained using the vehicle's steering angle sensor. The steering angle sensor is connected to the steer-by-wire system via a CAN bus. For example, the Steering Angle Sensor (SAS) measures the rotation angle of the steering wheel when the vehicle is steering, communicates with the steer-by-wire system via the CAN bus, and transmits the acquired angle to the steer-by-wire system. This allows the target rotation angle of the vehicle to be obtained via the steering angle sensor SAS outside the steer-by-wire system when the steering feel simulation unit's rotation angle output signal is not being acquired.

[0042] According to one embodiment of the present disclosure, when the steer-by-wire system is operating normally, a redundant backup method for the steer-by-wire system further includes obtaining the functional safety level of the rotation angle signal that controls the steering execution unit, and decomposing the functional safety levels of the target rotation angle and the rotation angle output signal by the functional safety level.

[0043] Specifically, when the steer-by-wire system is functioning correctly, that is, when the angle sensor of the current steering feel simulation unit does not fail, the CAN bus does not fail, and the steering feel simulation unit and the steering execution unit communicate normally, a decomposition of safety levels is performed to meet the functional safety objectives of the steer-by-wire system and to reduce the difficulty of development during the implementation process. The definition of Automotive Safety Integrity Level (ASIL) is to achieve safety objectives by evaluating and quantifying the risks that result after a failure. ASIL is divided into four levels: ASILA, ASILB, ASILC, and ASILD, where ASILA is the lowest level, ASILD is the highest level, and QM indicates that safety design does not need to be considered. First, the functional safety level of the rotation angle signal that controls the steering execution unit is obtained, and after obtaining the functional safety level, a decomposition of the target rotation angle and the functional safety level of the rotation angle output signal can be performed based on the functional safety level. For example, when the functional safety level of the rotation angle signal that controls the acquired steering execution unit is ASILD, and the functional safety level of the rotation angle signal of the steering angle sensor SAS is ASILD, the output signal of the torque angle sensor TAS at QM level can satisfy the level requirement of the output rotation angle signal. When the functional safety level of the rotation angle signal of the steering angle sensor SAS is ASILC, the output signal of the torque angle sensor TAS at ASILA level can satisfy the ASILD level requirement of the rotation angle signal. When the functional safety level of the rotation angle signal of the steering angle sensor SAS is ASILB, the output signal of the torque angle sensor TAS at ASILB level can satisfy the ASILD level requirement of the rotation angle signal. This reduces the development complexity of the torque angle sensor TAS in the steering feel simulation unit, reduces development costs, and shortens the development period.

[0044] According to one embodiment of the present disclosure, a redundant backup method for a steer-by-wire system further includes, when a rotation angle output signal from a steering feel simulation unit is acquired, controlling the steering execution unit to move laterally based on the rotation angle output signal, acquiring the angular position of the steering execution unit, and synchronizing the rotation angle output signal with a target rotation angle based on the angular position of the steering execution unit.

[0045] Specifically, when the steering feel simulation unit acquires the rotation angle output signal, the steering execution unit performs lateral movement based on the rotation angle output signal, thereby realizing lateral movement of the vehicle. At this time, the angular position of the steering execution unit is acquired. For example, an absolute angle sensor (AAS) is placed on the steering execution unit, and the angular position of the steering execution unit is acquired via the AAS. After acquiring the angular position of the steering execution unit, the rotation angle output signal and the target rotation angle are synchronized based on the angular position of the steering execution unit, and the angles of the steering rotation angle sensor (SAS), torque angle sensor (TAS), and absolute angle sensor (AAS) can be matched. For example, when the SAS component is offline, zero-point calibration of the SAS is performed and recorded as S0. When the vehicle is offline, vehicle zero-point calibration is performed on the AAS in the steering execution unit and recorded as A0. Via the CAN bus, the steer-by-wire system synchronizes the zero points of both the TAS and the AAS and records it as T0. After the vehicle starts, the steering execution unit is equipped with a straight-line learning module. When the conditions for straight-line learning are met, if the zero point has changed compared to the current zero point, it is written to memory and becomes the AAS zero point for the next vehicle start. In addition, each time the AAS zero point is calibrated or straight-line learning is performed, the steer-by-wire system corrects the SAS angle signal received via the CAN bus so that the angles of SAS, TAS, and AAS match. This ensures that if the TAS or steering feel simulation unit fails, the SAS will be an immediate and accurate backup.

[0046] The control method of this disclosure will be described below with reference to Figure 3.

[0047] As a specific example, the redundant backup method for a steer-by-wire system described herein may include the following steps:

[0048] S101, the steer-by-wire system is functioning correctly.

[0049] S102 determines whether the angle sensor in the steering feel simulation unit has failed or whether the CAN bus has failed. If yes, perform step 103; otherwise, perform step 107.

[0050] S103 confirms that the steering feel simulation unit has not acquired the rotation angle output signal.

[0051] S104 acquires the target rotation angle via the vehicle's steering wheel angle sensor.

[0052] S105 receives the target rotation angle transmitted by the vehicle controller.

[0053] S106 controls the steering execution unit to move laterally according to the target rotation angle.

[0054] S107 acquires the rotation angle output signal from the steering feel simulation unit and controls the steering execution unit to move laterally based on the rotation angle output signal.

[0055] S108, obtain the angle position of the steering execution unit.

[0056] S109 synchronizes the rotation angle output signal with the target rotation angle based on the angular position of the steering execution unit.

[0057] Based on the above, the redundant backup method for a steer-by-wire system of the embodiment of this disclosure first determines that the rotation angle output signal of the steering feeling simulation unit has not been acquired, then receives the target rotation angle transmitted by the vehicle controller, and finally controls the steering execution unit to move laterally according to the target rotation angle. As a result, this method can improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the vehicle's lateral control.

[0058] In accordance with the above embodiments, this disclosure further provides a redundant backup device for a steer-by-wire system.

[0059] As shown in Figure 4, the redundant backup device 100 of the steer-by-wire system in the embodiment of the present disclosure includes a confirmation module 110, a receiving module 120, and a control module 130.

[0060] Here, the confirmation module 110 is used to confirm that the steering feel simulation unit has not received the rotation angle output signal. The receiving module 120 is used to receive the target rotation angle transmitted by the vehicle controller. The control module 130 is used to control the steering execution unit so that it moves laterally according to the target rotation angle.

[0061] According to one embodiment of the present disclosure, the steering feeling simulation unit includes at least one angle sensor, and the steering feeling simulation unit and the steering execution unit are communicated via a CAN bus, where the confirmation module 110 is used to confirm that the steering feeling simulation unit has not received a rotation angle output signal, and specifically to confirm that the steering feeling simulation unit has not received a rotation angle output signal when the angle sensor or the CAN bus fails.

[0062] According to one embodiment of the present disclosure, when there are multiple angle sensors, the multiple angle sensors back each other up.

[0063] According to one embodiment of the present disclosure, the target rotation angle is obtained by a vehicle steering angle sensor, where the steering angle sensor and the steer-by-wire system are communicated via a CAN bus.

[0064] According to one embodiment of the present disclosure, when the steer-by-wire system is operating normally, the control module 130 is further used to acquire the functional safety level of the rotation angle signal that controls the steering execution unit, and to decompose the functional safety levels of the target rotation angle and the rotation angle output signal by the functional safety level.

[0065] According to one embodiment of the present disclosure, the control module 130 is further used to acquire the rotation angle output signal of the steering feeling simulation unit, control the steering execution unit to move laterally according to the rotation angle output signal, acquire the angular position of the steering execution unit, and synchronize the rotation angle output signal and the target rotation angle according to the angular position of the steering execution unit.

[0066] Details not disclosed in the redundant backup device for the steer-by-wire system of the embodiment of this disclosure should be referred to in the details disclosed in the redundant backup method for the steer-by-wire system of the embodiment of this disclosure, and a detailed explanation is omitted here. According to the redundant backup device for the steer-by-wire system of the embodiment of the present disclosure, a confirmation module is used to confirm that the rotation angle output signal of the steering feel simulation unit has not been acquired, a receiving module is used to receive the target rotation angle transmitted by the vehicle controller, and a control module is used to control the steering execution unit to move laterally according to the target rotation angle. As a result, the device can improve the fault tolerance performance of the steer-by-wire system and ensure the accuracy of the vehicle's lateral control.

[0067] In accordance with the embodiments described above, this disclosure further provides a computer-readable storage medium.

[0068] The computer-readable storage medium of the embodiments of this disclosure stores a redundant backup program for a steer-by-wire system thereon, and when the redundant backup program for the steer-by-wire system is executed by a processor, it realizes the redundant backup method for the steer-by-wire system described above.

[0069] According to the computer-readable storage medium of the embodiments of this disclosure, by performing the redundant backup method for the steer-by-wire system described above, the fault tolerance performance of the steer-by-wire system can be improved and the accuracy of the lateral control of the vehicle can be ensured.

[0070] In accordance with the above embodiments, this disclosure further provides a steer-by-wire system.

[0071] As shown in Figure 5, the steer-by-wire system 200 of the embodiment of the present disclosure includes a steering feeling simulation unit (not shown), a steering execution unit (not shown), a memory 210, a processor 220, and a redundant backup program for the steer-by-wire system stored in the memory 210 and executable on the processor 220, and when the processor 220 executes the redundant backup program for the steer-by-wire system, the redundant backup method for the steer-by-wire system described above is realized.

[0072] According to the steer-by-wire system of the embodiment of the present disclosure, by implementing the redundant backup method for the steer-by-wire system described above, the fault tolerance performance of the steer-by-wire system can be improved and the accuracy of the lateral control of the vehicle can be ensured.

[0073] In accordance with the above embodiments, this disclosure further provides a vehicle.

[0074] As shown in Figure 6, the vehicle 300 of this embodiment of disclosure may include a steer-by-wire system 200.

[0075] According to the vehicle of the embodiment of this disclosure, by including the above-described steer-by-wire system, the fault tolerance performance of the steer-by-wire system can be improved and the accuracy of the vehicle's lateral control can be ensured.

[0076] Furthermore, the logic and / or steps shown in the process chart or otherwise described herein may be considered, for example, a command-executable sequence list for realizing a logical function and may be concretely implemented in any computer-readable medium for use in a command-execution system, apparatus or device (including, for example, a computer-based system, a processor system or a system that takes and executes commands from other command-execution systems, apparatus or devices), or for use in combination with such command-execution systems, apparatus or devices. For the purposes of this specification, “computer-readable medium” may include any command-execution system, apparatus or device or apparatus for use in combination with such command-execution systems, apparatus or devices, on which any program can be contained, stored, communicated, propagated or transmitted. More specific examples of computer-readable mediums (a non-exclusive list) include electrical connections with one or more wires (electronic devices), portable computer disk enclosures (magnetic devices), random access memory (RAM), read-only memory (ROM), write-erase read-only memory (EPROM or flash memory), fiber optic devices, and portable CD-ROMs. Furthermore, the medium may be a computer-readable medium, or even paper or other suitable medium on which the program can be printed, because the program can be acquired electronically by, for example, optically scanning the paper or other medium, and then editing, interpreting, or processing it in any other suitable way as needed, and then stored in computer memory.

[0077] Each part of this application can be implemented in hardware, software, firmware, or a combination thereof. In the above implementation, multiple steps or methods can be implemented in software or firmware stored in memory and executed by an appropriate command execution system. For example, when implemented in hardware, it can be implemented in any one of the following, or a combination thereof, known in the domain, as in the other implementation: discrete logic circuits having logic circuits for realizing logical functions in data signals, application-specific integrated circuits having appropriate combinational logic circuits, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0078] In this specification, any reference to the terms “one embodiment,” “several embodiments,” “example,” “specific example,” or “several examples” means that the specific features, structures, materials, or properties described in the applicable embodiment or example are included in at least one embodiment or example of this disclosure. The exemplary expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or properties described may be combined in appropriate ways in any embodiment or example.

[0079] Furthermore, the terms “first” and “second” are used solely for descriptive purposes and should not be understood as indicating or suggesting relative importance or specifying the number of technical features being referred to. Therefore, features designated as “first” or “second” may explicitly or implicitly include at least one such feature. In this disclosure, unless otherwise clearly and specifically defined, “multiple” means at least two, such as two, three, etc.

[0080] In this disclosure, unless otherwise explicitly stated or limited, terms such as “attached,” “connected,” “connected,” and “fixed” shall be interpreted broadly, and may include, for example, a fixed connection, a detachable connection, a joint, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or an internal communication or interaction between two elements. A person skilled in the art will understand the specific meaning of these terms in this disclosure depending on the specific circumstances.

[0081] Although embodiments of the present disclosure are shown and described above, these embodiments are illustrative and should not be understood as limiting the disclosure. Those skilled in the art can modify, alter, substitute, and transform these embodiments within the scope of the present disclosure.

Claims

1. A redundant backup method for a steer-by-wire system, wherein the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the method is: To confirm that the rotation angle output signal of the steering feel simulation unit has not been acquired, The vehicle controller receives the target rotation angle transmitted, A redundant backup method for a steer-by-wire system, comprising controlling the steering execution unit to move laterally according to the target rotation angle.

2. The steering feeling simulation unit includes at least one angle sensor, and the steering feeling simulation unit and the steering execution unit are communicated via a CAN bus. Here, determining that the rotation angle output signal of the steering feeling simulation unit has not been acquired is: A redundant backup method for a steer-by-wire system according to claim 1, comprising determining that the rotation angle output signal of the steering feeling simulation unit is not being acquired when the angle sensor or the CAN bus fails.

3. The redundant backup method for a steer-by-wire system according to claim 2, wherein when there are multiple angle sensors, the multiple angle sensors back each other up.

4. The target rotation angle is obtained by a steering angle sensor of the vehicle, and the steering angle sensor and the steer-by-wire system are communicated together via a CAN bus, the redundant backup method for a steer-by-wire system according to any one of claims 1 to 3.

5. When the steer-by-wire system is operating normally, the method is: To obtain the functional safety level of the rotation angle signal that controls the steering execution unit, A redundant backup method for a steer-by-wire system according to any one of claims 1-4, further comprising decomposing the functional safety levels of the target rotation angle and the rotation angle output signal according to the functional safety levels.

6. When the rotation angle output signal of the steering feel simulation unit is acquired, the steering execution unit is controlled to move laterally according to the rotation angle output signal, and the angular position of the steering execution unit is acquired. A redundant backup method for a steer-by-wire system according to any one of claims 1 to 5, further comprising synchronizing the rotation angle output signal with the target rotation angle based on the angular position of the steering execution unit.

7. A redundant backup device for a steer-by-wire system, wherein the steer-by-wire system includes a steering feel simulation unit and a steering execution unit, and the device is A confirmation module used to determine that the rotation angle output signal of the steering feel simulation unit has not been acquired, A receiving module used to receive the target rotation angle transmitted by the vehicle controller, A redundant backup device for a steer-by-wire system, comprising: a control module used to control the steering execution unit to move laterally by the target rotation angle; and a control module used to control the steering execution unit to move laterally by the target rotation angle.

8. A computer-readable storage medium that stores a redundant backup program for a steer-by-wire system thereon, and when the redundant backup program for the steer-by-wire system is executed by a processor, it realizes the redundant backup method for a steer-by-wire system described in any one of claims 1 to 6.

9. A steer-by-wire system comprising a steering feel simulation unit, a steering execution unit, memory, a processor, and a redundant backup program for the steer-by-wire system stored in memory and executable on the processor, wherein when the processor executes the redundant backup program for the steer-by-wire system, the redundant backup method for the steer-by-wire system described in any one of claims 1 to 6 is realized.

10. A vehicle comprising the steer-by-wire system described in claim 9.

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