State control method for steer-by-wire system, storage medium, and vehicle

Abstract

The present invention relates to the field of steer-by-wire control. Disclosed are a state control method for a steer-by-wire system, a storage medium, and a vehicle. The method comprises: after a vehicle is ignited and started, calibrating a steering angle of a first electronic control component of a steer-by-wire system and a steering angle of a second electronic control component thereof, wherein the first electronic control component is configured to simulate a road feel of when the vehicle steers, the second electronic control component is configured to control the vehicle to steer, and the first electronic control component interacts with the second electronic control component in real time; when the steering angle of the first electronic control component and the steering angle of the second electronic control component are both in a calibrated state, acquiring an initial state of the first electronic control component and an initial state of the second electronic control component; and on the basis of the initial states, controlling the first electronic control component and the second electronic control component to enter a target state. The present invention solves the technical problems of the flexibility being poor and the accuracy being low due to the fact that an existing steering system performs steering control on the basis of the state of a single electronic control component.

Description

State control method, storage medium and vehicle of steer-by-wire system Technical Field

[0001] The present invention relates to the field of steer-by-wire control, and in particular to a state control method, a storage medium, and a vehicle of a steer-by-wire system. Background Art

[0002] A vehicle's steering system is a crucial system for controlling vehicle steering. Currently, vehicles are typically equipped with electric power steering (EPS) or steer-by-wire (SBW) systems for steering control. However, these systems typically rely on the state of an electronically controlled component to control and execute steering actions. Errors in the state control of this electronically controlled component, or failures, can result in incorrect or inability to steer, compromising vehicle safety.

[0003] From the above analysis, it can be seen that there is currently no effective solution to the problem that the above-mentioned existing steering system performs steering control based on the state of a single electronically controlled component, resulting in poor flexibility and low accuracy.

[0004] Summary of the Invention

[0005] Embodiments of the present invention provide a state control method, storage medium, and vehicle for a steer-by-wire system, to at least address the technical problem that existing steering systems perform steering control based on the state of a single electronically controlled component, resulting in poor flexibility and low accuracy.

[0006] According to one aspect of an embodiment of the present invention, a state control method for a steer-by-wire system is provided, comprising:

[0007] After the vehicle is ignited and started, the steering angles of the first electronic control component and the second electronic control component of the steer-by-wire system are calibrated, wherein the first electronic control component is configured to simulate the road feel when the vehicle is steering, and the second electronic control component is configured to control the steering of the vehicle, and the first electronic control component and the second electronic control component interact with each other in real time; under the condition that the steering angles of the first electronic control component and the second electronic control component are both in a calibrated state, the initial states of the first electronic control component and the second electronic control component are obtained; based on the initial states, the first electronic control component and the second electronic control component are controlled to enter a target state.

[0008] Optionally, the status of the first electronic control component and the second electronic control component include: power-on synchronization status and working status, wherein the power-on synchronization status includes: power-on synchronization successful, power-on synchronization failed, and power-on synchronization in progress, and the working status includes: manual driving status and automatic driving status.

[0009] Optionally, under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, the initial states of the first electronically controlled component and the second electronically controlled component are obtained, including: under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, obtaining the initial state of the first electronically controlled component through a first query method, and obtaining the initial state of the second electronically controlled component through a second query method; wherein, the first query method is completed by the first electronically controlled component sending a first query instruction to the second electronically controlled component and the first electronically controlled component parsing the first response instruction returned by the second electronically controlled component, and the second query method is completed by the second electronically controlled component sending a second query instruction to the first electronically controlled component and the second electronically controlled component parsing the second response instruction returned by the first electronically controlled component.

[0010] Optionally, based on the initial state, the first electronically controlled component and the second electronically controlled component are controlled to enter a target state, including: controlling the first electronically controlled component to enter a power-on synchronization state under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are in a calibrated state; in response to the first electronically controlled component entering the power-on synchronization state, controlling the second electronically controlled component to enter a working state.

[0011] Optionally, the state control method of the steer-by-wire system further includes: acquiring a target steering angle position of the second electronically controlled component in response to the first electronically controlled component entering a power-on synchronization state; and performing power-on synchronization on the first electronically controlled component based on the target steering angle position.

[0012] Optionally, the state control method of the wire-controlled steering system also includes: in response to the power-on synchronization state of the first electronically controlled component being power-on synchronization successful, triggering the second electronically controlled component to perform steering control according to the steering angle signal request of the first electronically controlled component; in response to the power-on synchronization state of the first electronically controlled component being power-on synchronization failed or power-on synchronization in progress, waiting for the first electronically controlled component and the second electronically controlled component to perform power-on synchronization.

[0013] Optionally, the state control method of the steer-by-wire system further includes: in response to the power-on synchronization state of the first electronically controlled component being a successful power-on synchronization, controlling the first electronically controlled component to enter a working state.

[0014] Optionally, the state control method of the steer-by-wire system further includes: controlling the first electronically controlled component and the second electronically controlled component to provide real-time feedback of the current turning angle position and the current state; and displaying the current turning angle position and the current state on a target display device.

[0015] According to another aspect of an embodiment of the present invention, a state control device for a steer-by-wire system is provided, comprising:

[0016] The calibration module is configured to calibrate the steering angles of the first electronic control component and the second electronic control component of the steer-by-wire system after the vehicle is ignited and started, wherein the first electronic control component is configured to simulate the road feel when the vehicle is steering, and the second electronic control component is configured to control the steering of the vehicle, and the first electronic control component and the second electronic control component interact in real time; the acquisition module is configured to acquire the initial states of the first electronic control component and the second electronic control component under the condition that the steering angles of the first electronic control component and the second electronic control component are both in a calibrated state; the control module is configured to control the first electronic control component and the second electronic control component to enter a target state based on the initial state.

[0017] Optionally, the above-mentioned device is also configured such that the states of the first electronic control component and the second electronic control component include: power-on synchronization state and working state, wherein the power-on synchronization state includes: power-on synchronization successful, power-on synchronization failed, and power-on synchronization in progress; and the working state includes: manual driving state and automatic driving state.

[0018] Optionally, the above-mentioned acquisition module is also configured to: under the condition that the rotation angles of the first electronic control component and the second electronic control component are both in a calibrated state, obtain the initial state of the first electronic control component through a first query method, and obtain the initial state of the second electronic control component through a second query method; wherein, the first query method is completed by the first electronic control component sending a first query instruction to the second electronic control component and the first electronic control component parsing the first response instruction returned by the second electronic control component, and the second query method is completed by the second electronic control component sending a second query instruction to the first electronic control component and the second electronic control component parsing the second response instruction returned by the first electronic control component.

[0019] Optionally, the above-mentioned control module is also configured to: control the first electronically controlled component to enter the power-on synchronization state under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are in a calibrated state; and control the second electronically controlled component to enter the working state in response to the first electronically controlled component entering the power-on synchronization state.

[0020] Optionally, the above device further includes: a synchronization module configured to obtain a target rotation angle position of the second electronically controlled component in response to the first electronically controlled component entering a power-on synchronization state; and perform power-on synchronization on the first electronically controlled component based on the target rotation angle position.

[0021] Optionally, the above-mentioned device also includes: a steering module, which is configured to trigger the second electronic control component to perform steering control according to the steering angle signal request of the first electronic control component in response to the power-on synchronization state of the first electronic control component being power-on synchronization successful; and wait for the first electronic control component and the second electronic control component to perform power-on synchronization in response to the power-on synchronization state of the first electronic control component being power-on synchronization failure or power-on synchronization in progress.

[0022] Optionally, the apparatus further comprises: a second control module configured to control the first electronically controlled component to enter a working state in response to the power-on synchronization state of the first electronically controlled component being a successful power-on synchronization.

[0023] Optionally, the apparatus further comprises: a display module configured to control the first electronically controlled component and the second electronically controlled component to provide real-time feedback of the current corner position and current state; and to display the current corner position and current state on a target display device.

[0024] According to another aspect of an embodiment of the present invention, a storage medium is provided, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any of the aforementioned state control methods for a wire-controlled steer system.

[0025] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned state control methods for a wire-controlled steering system.

[0026] In an embodiment of the present invention, after the vehicle is ignited and started, the steering angles of the first electronic control component and the second electronic control component of the wire-controlled steering system are first calibrated, wherein the first electronic control component is configured to simulate the road feel when the vehicle is turning, and the second electronic control component is configured to control the steering of the vehicle, and the first electronic control component and the second electronic control component interact in real time. Then, under the condition that the steering angles of the first electronic control component and the second electronic control component are both in a calibrated state, the initial states of the first electronic control component and the second electronic control component are obtained. Finally, based on the initial state, the first electronic control component and the second electronic control component are controlled to enter a target state. By establishing a state control mechanism for the first electronic control component and the second electronic control component that interact in real time in the wire-controlled steering system, the purpose of controlling the steering of the vehicle based on the states of the dual electronic control components is achieved, thereby achieving the technical effect of improving the flexibility of the state control of the electronic control components and thereby improving the steering control accuracy, thereby solving the technical problem that the existing steering system performs steering control based on the state of a single electronic control component, resulting in poor flexibility and low accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] 1 is a hardware structure block diagram of a vehicle terminal according to an optional state control method for a steer-by-wire system according to an embodiment of the present invention;

[0029] 2 is a flow chart of a state control method for a steer-by-wire system according to an embodiment of the present invention;

[0030] 3 is a schematic diagram of a state control process of a steer-by-wire system according to an embodiment of the present invention;

[0031] 4 is a structural block diagram of a state control device for a steer-by-wire system according to an embodiment of the present invention;

[0032] 5 is a structural block diagram of another optional state control device for a steer-by-wire system according to an embodiment of the present invention;

[0033] 6 is a structural block diagram of another optional state control device for a steer-by-wire system according to an embodiment of the present invention;

[0034] 7 is a structural block diagram of another optional state control device for a steer-by-wire system according to an embodiment of the present invention;

[0035] FIG8 is a structural block diagram of yet another optional state control device for a steer-by-wire system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] According to an embodiment of the present invention, a method embodiment of a state control method for a wire-controlled steering system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] FIG1 is a block diagram of the hardware structure of a vehicle terminal for an optional state control method of a steer-by-wire system according to an embodiment of the present invention. As shown in FIG1 , the vehicle terminal (or a mobile device having a communication association with the vehicle) may include one or more processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microcontroller unit (MCU) or a programmable logic device (FPGA)), a memory 104 configured to store data, and a transmission device 106 configured to implement a communication function. In addition, the vehicle terminal may also include: a display device 110, an input / output device 108 (i.e., an IO device), a universal serial bus (USB) port (which may be included as one of the ports of a computer bus, not shown in the figure), a network interface (not shown in the figure), a power supply (not shown in the figure), and / or a camera (not shown in the figure). It will be understood by those skilled in the art that the structure shown in FIG1 is merely illustrative and does not limit the structure of the vehicle terminal 1 described above. For example, the vehicle terminal may also include more or fewer components than those shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0040] It should be noted that the one or more processors 102 and / or other data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuit may be a single independent processing module, or may be fully or partially integrated into any of the other components in the vehicle terminal (or mobile device).

[0041] Memory 104 can be configured to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the state control method for a steer-by-wire system in an embodiment of the present invention. Processor 102 executes the software programs and modules stored in memory 104 to perform various functional applications and data processing, thereby implementing the state control method for a steer-by-wire system. Memory 104 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 can further include memory remotely located relative to processor 102, which can be connected to the vehicle terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0042] The transmission device 106 is configured to receive or transmit data via a network. A specific example of such a network may include a wireless network provided by a communications provider of the vehicle terminal. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0043] Under the above-mentioned operating environment, an embodiment of the present invention provides a state control method for a wire-controlled steering system as shown in Figure 2. Figure 2 is a flow chart of a state control method for a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 2, the embodiment shown in Figure 2 may include at least the following implementation steps, that is, it may be a technical solution implemented by steps S201 to S203.

[0044] Step S201: After the vehicle is ignited, calibrate the steering angles of a first electronic control component and a second electronic control component of a steer-by-wire system, wherein the first electronic control component is configured to simulate road feel during vehicle steering, and the second electronic control component is configured to control vehicle steering, with the first and second electronic control components interacting in real time.

[0045] Step S202: acquiring initial states of the first electronically controlled component and the second electronically controlled component under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in calibrated states;

[0046] Step S203: Based on the initial state, control the first electronically controlled component and the second electronically controlled component to enter a target state.

[0047] In the technical solution provided in steps S201 to S203 above, the steer-by-wire system uses electronic signals to control the steering force and angle of the steering wheel, providing assisted driving functions including, but not limited to, automated parking, lane keeping, and automatic cruise control. The first electronically controlled component may be a road feel simulator, and the second electronically controlled component may be a steer-by-wire device. It should be noted that the road feel simulator and the steer-by-wire device may each have a built-in steering angle sensor, and the two may interact via a steering angle interface.

[0048] In the technical solution provided in steps S201 to S203 above, the initial and target states of the first and second electronically controlled components may include, but are not limited to: a calibrated state of the steering angle of each electronically controlled component, a power-on synchronization state of the two electronically controlled components, and an operating state of each electronically controlled component. It should also be noted that calibrating the steering angle of each electronically controlled component (zero-point calibration) is used to ensure that the steering angle corresponds to the steering control signal, thereby enabling the steer-by-wire system to accurately control the vehicle's steering angle.

[0049] In an embodiment of the present invention, after the vehicle is ignited and started, the steering angles of the first electronic control component and the second electronic control component of the wire-controlled steering system are first calibrated, wherein the first electronic control component is configured to simulate the road feel when the vehicle is turning, and the second electronic control component is configured to control the steering of the vehicle, and the first electronic control component and the second electronic control component interact in real time. Then, under the condition that the steering angles of the first electronic control component and the second electronic control component are both in a calibrated state, the initial states of the first electronic control component and the second electronic control component are obtained. Finally, based on the initial state, the first electronic control component and the second electronic control component are controlled to enter a target state. By establishing a state control mechanism for the first electronic control component and the second electronic control component that interact in real time in the wire-controlled steering system, the purpose of controlling the steering of the vehicle based on the states of the dual electronic control components is achieved, thereby achieving the technical effect of improving the flexibility of the state control of the electronic control components and thereby improving the steering control accuracy, thereby solving the technical problem that the existing steering system performs steering control based on the state of a single electronic control component, resulting in poor flexibility and low accuracy.

[0050] The above method of the embodiment of the present invention is further introduced below.

[0051] In an optional embodiment, the states of the first electronic control component and the second electronic control component include: power-on synchronization state and working state, wherein the power-on synchronization state includes: power-on synchronization successful, power-on synchronization failed, and power-on synchronization in progress; the working state includes: manual driving state and automatic driving state.

[0052] In the technical solution provided by the present invention, the first electronic control component and the second electronic control component are electrically and synchronously aligned to ensure that the working states of the two electronic control components are consistent during the steering control process, thereby improving the accuracy, stability and reliability of the steering control signal and reducing errors and interference in the steering control.

[0053] In the technical solution provided by the present invention, it should be noted that the operating states of the first and second electronic control components may also include: a general fault state (e.g., failure of electronic control component power-on synchronization), a severe fault state (e.g., loss of steering control in a steer-by-wire system), and a no-fault state. It should also be understood that the states of the first and second electronic control components may include: a power assist delay state, which may refer to a state in which the vehicle's steering system experiences a delay after turning the steering wheel; and a power assist withdrawal state, which may refer to a state in which the power assist system reduces the assist force applied to the steering wheel when the steering wheel stops turning.

[0054] In an optional embodiment, in step S202, under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, obtaining the initial states of the first electronically controlled component and the second electronically controlled component includes:

[0055] Step S2021, under the condition that the turning angles of the first electronic control component and the second electronic control component are in a calibrated state, the initial state of the first electronic control component is obtained through a first query method, and the initial state of the second electronic control component is obtained through a second query method; wherein, the first query method is completed by the first electronic control component sending a first query instruction to the second electronic control component and the first electronic control component parsing the first response instruction returned by the second electronic control component, and the second query method is completed by the second electronic control component sending a second query instruction to the first electronic control component and the second electronic control component parsing the second response instruction returned by the first electronic control component.

[0056] In the technical solution provided by the present invention, after the vehicle ignition is started, the first electronic control component and the second electronic control component enter an initialization waiting state. During this process, the rotation angles of the two electronic control components are respectively calibrated at zero point. Under the condition that the rotation angles of the two components are in the calibrated state, the current states (initial states) of the two electronic control components are obtained. Specifically: the first electronic control component can send a first state query instruction to the second electronic control component, and the first state query instruction is used to obtain the current state of the second electronic control component. After the second electronic control component receives the first state query instruction, it returns a first response instruction to the first electronic control component. Further, the first electronic control component receives the first response instruction and parses it to obtain the current state of the second electronic control component; and the second electronic control component can send a second state query instruction to the first electronic control component, and the second state query instruction is used to obtain the current state of the first electronic control component. After the first electronic control component receives the second state query instruction, it returns a second response instruction to the second electronic control component. Further, the second electronic control component receives the second response instruction and parses it to obtain the current state of the first electronic control component.

[0057] In an optional embodiment, in step S203, based on the initial state, controlling the first electronically controlled component and the second electronically controlled component to enter the target state includes:

[0058] Step S2031: Under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, controlling the first electronically controlled component to enter a power-on synchronization state;

[0059] Step S2032: in response to the first electronically controlled component entering the power-on synchronization state, controlling the second electronically controlled component to enter the working state.

[0060] The above method is further described below with reference to FIG3 .

[0061] Figure 3 is a schematic diagram of the state control process of a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 3, after the vehicle is ignited and started, the first electronic control component (road feel simulator 301) and the second electronic control component (wire-controlled steering gear 302) first enter the initialization waiting state and perform zero point calibration on the steering angle. Under the condition that the steering angles of the two electronic control components are in the calibrated state, the first electronic control component is controlled to enter the power-on synchronization state, and under the condition that the first electronic control component is in the power-on synchronization state, the second electronic control component is controlled to enter the working state.

[0062] In the technical solution provided by the present invention, it is also necessary to explain that when the rotation angle of any one of the first electronically controlled component and the second electronically controlled component is in an uncalibrated state, the rotation angle of the electronically controlled component with the uncalibrated rotation angle is calibrated to zero point. At this time, the electronically controlled component with the calibrated rotation angle is in a waiting state. When it is detected that the rotation angle calibration of the electronically controlled component with the uncalibrated rotation angle is completed, the two electronically controlled components are controlled to enter the next state respectively.

[0063] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0064] Step S2041, in response to the first electronically controlled component entering a power-on synchronization state, obtaining a target rotation angle position of the second electronically controlled component;

[0065] Step S2042: Power on and synchronize the first electronically controlled component based on the target rotation angle position.

[0066] In the technical solution provided by the present invention, after the first electronically controlled component enters the power-on synchronization state, the first electronically controlled component and the second electronically controlled component are controlled to perform power-on synchronization alignment according to the target angle position feedback from the second electronically controlled component, so that the working states of the first electronically controlled component and the second electronically controlled component remain consistent.

[0067] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0068] Step S2051: in response to the power-on synchronization state of the first electronically controlled component being a power-on synchronization success, triggering the second electronically controlled component to perform steering control according to the steering angle signal request of the first electronically controlled component;

[0069] Step S2052: In response to the power-on synchronization state of the first electronic control component being power-on synchronization failure or power-on synchronization in progress, waiting for the first electronic control component to be powered on and synchronized with the second electronic control component.

[0070] Still as shown in FIG3 , after the road sense simulator 301 and the wire-controlled steering mechanism 302 are successfully aligned upon power-on synchronization, the road sense simulator 301 sends a turning angle signal request to the wire-controlled steering mechanism 302. After receiving the turning angle signal request, the wire-controlled steering mechanism 302 parses and obtains the required turning angle of the vehicle. The wire-controlled steering mechanism 302 controls the vehicle's steering according to the required turning angle. When the road sense simulator 301 and the wire-controlled steering mechanism 302 fail to be aligned upon power-on synchronization or when the road sense simulator 301 is in the process of being aligned upon power-on synchronization, the wire-controlled steering mechanism 302 is controlled to enter the working state. At this time, the wire-controlled steering mechanism 302 is in a state of waiting for steering control. When it is detected that the road sense simulator 301 and the wire-controlled steering mechanism 302 have successfully aligned upon power-on synchronization, the wire-controlled steering mechanism 302 controls the vehicle's steering based on the turning angle signal request sent by the road sense simulator 301.

[0071] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0072] Step S206 : In response to the power-on synchronization state of the first electronic control component being a successful power-on synchronization, controlling the first electronic control component to enter a working state.

[0073] Still as shown in FIG3 , after the road feel simulator 301 and the steer-by-wire device 302 are successfully aligned after power-on synchronization, the road feel simulator 301 is controlled to enter any working state. It should also be noted in the technical solution provided by the present invention that during the vehicle steering control process, after the vehicle ignition is turned on, in any state of the road feel simulator 301 and the steer-by-wire device 302 (including the calibration state of the steering angle, the power-on synchronization state, the working state, the power assist delay state, and the power assist exit state), the road feel simulator 301 and the steer-by-wire device 302 provide real-time feedback on their own states, and both track each other's states in real time, and both verify each other's detected states to accurately determine each other's states, and then enter the next state based on each other's states.

[0074] The technical solution provided by the present invention accurately determines the current states of the first electronic control component and the second electronic control component by real-time tracking and testing the current states of the first electronic control component and the second electronic control component, and then controls the first electronic control component and the second electronic control component to enter the accurate next state, thereby improving the accuracy of the state control of the first electronic control component and the second electronic control component, thereby improving the accuracy of the vehicle steering control, improving the reliability of the wire-controlled steering system, and improving the safety of the vehicle.

[0075] In an optional embodiment, the state control method of the steer-by-wire system further includes:

[0076] Step S2071, controlling the first electronically controlled component and the second electronically controlled component to provide real-time feedback of the current corner position and current state;

[0077] Step S2072: Display the current corner position and current status on the target display device.

[0078] In the technical solutions provided in the above steps S2071 to S2072, the above target display devices may include but are not limited to: vehicle-mounted display screens, instrument panels, and external display devices (mobile phones, tablet computers, smart wearable devices, etc.) that communicate with the vehicle.

[0079] Still as shown in Figure 3, in the technical solution provided by the present invention, during the state control process of the road feel simulator 301 and the wire-controlled steering gear 302, when the vehicle ignition is turned off, the road feel simulator 301 and the wire-controlled steering gear 302 are immediately turned off; when the power of any electronic control component (such as the road feel simulator 301) is turned off, the other electronic control component (wire-controlled steering gear 302) is controlled to enter a waiting state; after the vehicle ignition is started, in any state of the road feel simulator 301 and the wire-controlled steering gear 302, when any control instruction of high priority is detected in real time, the arbitrary control instruction is executed. Specifically, for example, when the steering angle of the road feel simulator 301 is in a calibrated state and a control instruction for recalibrating the steering angle is detected, the current steering angle calibration state of the road feel simulator 301 is released, and its steering angle is recalibrated to zero point. At this time, the wire-controlled steering gear 302 is in a waiting state.

[0080] It should also be noted that, under normal circumstances, after the first electronic control unit enters the power-on synchronous alignment state and the second electronic control unit enters the operating state, and after the vehicle ignition is turned off (the entire vehicle is powered off), the power assist delay state and power assist deactivation state of the first and second electronic control units can be activated. After the power assist of the electronic control units is deactivated, the operating data of the steer-by-wire system (such as the current state and current steering angle position of each electronic control unit) can be stored based on the user's needs.

[0081] The state control method of the wire-controlled steer system provided by the present invention can achieve the following technical effects:

[0082] (1) Two electronically controlled components capable of state interaction are provided in the steer-by-wire system. The two electronically controlled components are calibrated for angle and aligned synchronously with power-on, and the current states of the two electronically controlled components are checked in real time to accurately control the two electronically controlled components to enter the next state. This improves the accuracy of the state control method of the steer-by-wire system. Under this condition, the vehicle is precisely steered based on the angle request signal, thereby improving the reliability of the steer-by-wire system and the safety of the entire vehicle.

[0083] (2) During the vehicle steering control process, the status and steering angle position of the electronic control components of the steer-by-wire system are fed back to the user in real time through the display device, so that the user can understand the status control process of the electronic control components and the steering control process in real time, thereby improving the user experience;

[0084] (3) A fault handling mechanism is set up to detect and feedback the fault information of the electronic control components in real time during the state control process of the wire steering system, so as to facilitate timely handling of faults and improve the state control efficiency of the wire steering system and the steering control efficiency of the vehicle.

[0085] In this embodiment, a state control device for a steer-by-wire system is also provided. This device is configured to implement the aforementioned embodiments and preferred implementations, and details already described will not be repeated. As used below, a "module" refers to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0086] FIG4 is a structural block diagram of a state control device for a steer-by-wire system according to an embodiment of the present invention. As shown in FIG4 , the device includes:

[0087] a calibration module 401 configured to calibrate the steering angles of a first electronic control component and a second electronic control component of a steer-by-wire system after the vehicle is ignited, wherein the first electronic control component is configured to simulate a road feel during vehicle steering, and the second electronic control component is configured to control vehicle steering, with the first and second electronic control components interacting in real time;

[0088] An acquisition module 402 is configured to acquire initial states of the first electronically controlled component and the second electronically controlled component under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in calibrated states;

[0089] The control module 403 is configured to control the first electronically controlled component and the second electronically controlled component to enter a target state based on the initial state.

[0090] Optionally, the above-mentioned device is also configured such that the states of the first electronic control component and the second electronic control component include: power-on synchronization state and working state, wherein the power-on synchronization state includes: power-on synchronization successful, power-on synchronization failed, and power-on synchronization in progress; and the working state includes: manual driving state and automatic driving state.

[0091] Optionally, the above-mentioned acquisition module 402 is also configured to: under the condition that the rotation angles of the first electronic control component and the second electronic control component are both in a calibrated state, obtain the initial state of the first electronic control component through a first query method, and obtain the initial state of the second electronic control component through a second query method; wherein, the first query method is completed by the first electronic control component sending a first query instruction to the second electronic control component and the first electronic control component parsing the first response instruction returned by the second electronic control component, and the second query method is completed by the second electronic control component sending a second query instruction to the first electronic control component and the second electronic control component parsing the second response instruction returned by the first electronic control component.

[0092] Optionally, the above-mentioned control module 403 is also configured to: control the first electronically controlled component to enter the power-on synchronization state under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are in a calibrated state; and control the second electronically controlled component to enter the working state in response to the first electronically controlled component entering the power-on synchronization state.

[0093] Optionally, Figure 5 is a structural block diagram of another optional state control device of a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 5, in addition to all the modules shown in Figure 4, the device also includes: a synchronization module 404, which is configured to obtain the target angular position of the second electronically controlled component in response to the first electronically controlled component entering the power-on synchronization state; and perform power-on synchronization on the first electronically controlled component based on the target angular position.

[0094] Optionally, Figure 6 is a structural block diagram of another optional state control device of a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 6, in addition to all the modules shown in Figure 5, the device also includes: a steering module 405, which is configured to trigger the second electronic control component to perform steering control according to the steering angle signal request of the first electronic control component in response to the power-on synchronization state of the first electronic control component being power-on synchronization successful; and wait for the first electronic control component and the second electronic control component to perform power-on synchronization in response to the power-on synchronization state of the first electronic control component being power-on synchronization failed or power-on synchronization in progress.

[0095] Optionally, Figure 7 is a structural block diagram of another optional state control device of a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 7, in addition to all the modules shown in Figure 6, the device also includes: a second control module 406, which is configured to control the first electronically controlled component to enter a working state in response to the power-on synchronization state of the first electronically controlled component being a successful power-on synchronization.

[0096] Optionally, Figure 8 is a structural block diagram of another optional state control device of a wire-controlled steering system according to an embodiment of the present invention. As shown in Figure 8, in addition to all the modules shown in Figure 7, the device also includes: a display module 407, which is configured to control the first electronic control component and the second electronic control component to provide real-time feedback on the current corner position and current state; and display the current corner position and current state on a target display device.

[0097] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0098] According to another aspect of an embodiment of the present invention, a storage medium is provided, which includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any of the aforementioned state control methods for a wire-controlled steer system.

[0099] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0100] Step S1: After the vehicle is ignited, calibrate the steering angles of a first electronic control component and a second electronic control component of a steer-by-wire system, wherein the first electronic control component is configured to simulate a road feel during vehicle steering, and the second electronic control component is configured to control vehicle steering, and the first and second electronic control components interact in real time.

[0101] Step S2, obtaining initial states of the first electronically controlled component and the second electronically controlled component under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in calibrated states;

[0102] Step S3: Based on the initial state, controlling the first electronically controlled component and the second electronically controlled component to enter a target state.

[0103] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0104] According to another aspect of an embodiment of the present invention, a vehicle is provided, comprising an on-board memory and an on-board processor, wherein a computer program is stored in the on-board memory, and the on-board processor is configured to run the computer program to execute any one of the aforementioned state control methods for a wire-controlled steering system.

[0105] Optionally, in this embodiment, the vehicle-mounted processor may be configured to execute the following steps via a computer program:

[0106] Step S1: After the vehicle is ignited, calibrate the steering angles of a first electronic control component and a second electronic control component of a steer-by-wire system, wherein the first electronic control component is configured to simulate a road feel during vehicle steering, and the second electronic control component is configured to control vehicle steering, and the first and second electronic control components interact in real time.

[0107] Step S2, obtaining initial states of the first electronically controlled component and the second electronically controlled component under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in calibrated states;

[0108] Step S3: Based on the initial state, controlling the first electronically controlled component and the second electronically controlled component to enter a target state.

[0109] Optionally, specific examples in this embodiment may refer to the examples described in the above embodiment and its optional implementation manners, and this embodiment will not be described in detail here.

[0110] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0111] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0112] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0113] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0114] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0115] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program code.

[0116] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A state control method for a steer-by-wire system, comprising: After the vehicle is started, the first electronic control component and the second electronic control component of the steer-by-wire system are calibrated for turning angles, wherein the first electronic control component is configured to simulate the road feel when the vehicle is turning, the second electronic control component is configured to control the steering of the vehicle, and the first electronic control component and the second electronic control component interact in real time; Under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, obtaining the initial states of the first electronically controlled component and the second electronically controlled component; Based on the initial state, the first electronically controlled component and the second electronically controlled component are controlled to enter a target state.

2. The state control method according to claim 1, wherein: The states of the first electronic control component and the second electronic control component include: power-on synchronization state and working state, wherein the power-on synchronization state includes: power-on synchronization success, power-on synchronization failure, and power-on synchronization in progress; the working state includes: manual driving state and automatic driving state.

3. The state control method according to claim 1, wherein: Under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, obtaining the initial states of the first electronically controlled component and the second electronically controlled component includes: Under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, obtaining the initial state of the first electronically controlled component by a first query method, and obtaining the initial state of the second electronically controlled component by a second query method; Among them, the first query method is completed by the first electronic control component sending a first query instruction to the second electronic control component and the first electronic control component parsing the first response instruction returned by the second electronic control component, and the second query method is completed by the second electronic control component sending a second query instruction to the first electronic control component and the second electronic control component parsing the second response instruction returned by the first electronic control component.

4. The state control method according to claim 1, wherein: Based on the initial state, controlling the first electronically controlled component and the second electronically controlled component to enter the target state includes: Under the condition that the rotation angles of the first electronically controlled component and the second electronically controlled component are both in a calibrated state, controlling the first electronically controlled component to enter a power-on synchronization state; In response to the first electric control component entering the power-on synchronization state, the second electric control component is controlled to enter a working state.

5. The state control method according to claim 4, wherein: The method further comprises: In response to the first electronically controlled component entering a power-on synchronization state, acquiring a target rotation angle position of the second electronically controlled component; Based on the target rotation angle position, the first electronically controlled component is powered on and synchronized.

6. The state control method according to claim 4, wherein: The method further comprises: In response to the power-on synchronization state of the first electronically controlled component being a power-on synchronization success, triggering the second electronically controlled component to perform steering control according to a turning angle signal request of the first electronically controlled component; In response to the power-on synchronization state of the first electric control component being power-on synchronization failure or power-on synchronization in progress, waiting for the first electric control component to be power-on synchronized with the second electric control component.

7. The state control method according to claim 1, wherein: The method further comprises: In response to the power-on synchronization state of the first electric control component being a power-on synchronization success, the first electric control component is controlled to enter a working state.

8. The state control method according to claim 1, wherein: The method further comprises: Control the first electronically controlled component and the second electronically controlled component to provide real-time feedback of the current corner position and current state; The current corner position and the current state are displayed on a target display device.

9. A storage medium comprising a stored program, wherein: When the program is running, the device where the storage medium is located is controlled to execute the state control method of the wire control system according to any one of claims 1 to 8.

10. A vehicle, comprising an on-board memory and an on-board processor, wherein the on-board memory stores a computer program, and the on-board processor is configured to run the computer program to execute the state control method of the steer-by-wire system according to any one of claims 1 to 8.

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