Steering anomaly detection method and apparatus for steer-by-wire, device, medium and product

Abstract

A steering anomaly detection method for steer-by-wire, which can be applied to the technical field of vehicles, and comprises: acquiring operating data of a road feel simulator during vehicle driving; then calculating a driver-applied force; determining a steering wheel centering result on the basis of a steering wheel turning angle in the operating data; and finally, on the basis of the driver-applied force, the steering wheel centering result, and a steering wheel angular velocity, a current direction, and a rotation direction in the operating data, determining whether a rotation anomaly has occurred in a steering wheel, and on the basis of the driver-applied force, the steering wheel centering result, and the steering wheel turning angle and the steering wheel angular velocity in the operating data, determining whether a stuck anomaly has occurred in the steering wheel. Whether a rotation anomaly and a stuck anomaly have occurred in the steering wheel is determined on the basis of the operating data of the road feel simulator, without additionally installing a torque sensor, thereby effectively saving costs and reducing space occupation. Also provided are a steering anomaly detection apparatus for steer-by-wire, an electronic device, a vehicle, a readable storage medium, and a computer program product.

Description

Methods, devices, equipment, media, and products for detecting steering anomalies in steer-by-wire systems.

[0001] This application claims priority to Chinese Patent Application No. 202411941317.5, filed on December 26, 2024, entitled “Steering Abnormality Detection Method, Apparatus, Equipment, Medium and Product for Steer-by-Wire Control”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of vehicle technology, and particularly to a method, apparatus, device, medium, and product for detecting steering anomalies in steer-by-wire. Background Technology

[0003] With the development of technology, steer-by-wire has gained attention for its advantages of reducing component wear, improving space utilization, and enhancing vehicle intelligence. Steer-by-wire eliminates the mechanical connection between the steering column and the steering gear, allowing users to steer the vehicle via a steering wheel in a hand-feel simulator. To improve vehicle safety under steer-by-wire, numerous sensors are typically installed in the vehicle, and the steering is controlled based on the sensor data.

[0004] To improve vehicle safety and enable timely intervention in cases of steering wheel spin-out or jamming during driving, steering anomaly detection is necessary. This typically requires the installation of a torque sensor, which detects the steering wheel torque to determine if an abnormal steering configuration has occurred. Summary of the Invention

[0005] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0006] This application provides a method, device, equipment, medium, and product for detecting steering anomalies in steer-by-wire systems. It determines whether the steering wheel has abnormal rotation or jamming by using the working data of a hand-feel simulator. It eliminates the need for an additional torque sensor, effectively saving costs and reducing space occupation.

[0007] In a first aspect, embodiments of this application provide a method for detecting steering anomalies in steer-by-wire systems, including:

[0008] During vehicle operation, the working data of the hand-feel simulator is acquired; the working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor of the hand-feel simulator, and rotation direction of the motor;

[0009] Calculate the driver's hand strength based on the aforementioned work data;

[0010] Based on the steering wheel angle, the steering wheel centering result is determined, and the steering wheel centering result is used to indicate whether the steering wheel has returned to the center.

[0011] Based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction, determine whether the steering wheel has an abnormal self-rotation.

[0012] Based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result, determine whether the steering wheel is stuck.

[0013] In one specific embodiment, the working data further includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor, and the angular acceleration of the steering wheel.

[0014] The step of calculating the driver's hand strength based on the work data includes:

[0015] The hand force is calculated based on the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the motor speed, the motor efficiency, the line voltage, the line current, the motor power factor, the steering wheel angular acceleration, and a preset hand force calculation formula.

[0016] In one specific embodiment, determining whether the steering wheel has an abnormal rotation based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction includes:

[0017] Determine whether the hand force is less than a first preset hand force threshold;

[0018] If the hand force is less than the first preset hand force threshold, then determine whether the steering wheel angular velocity is zero;

[0019] If the steering wheel angular velocity is not zero, then based on the steering wheel centering result, determine whether there is an abnormality in the steering wheel rotation.

[0020] If the hand force is greater than or equal to the first preset hand force threshold, then it is determined whether the steering wheel has an abnormal self-rotation based on whether the rotation direction is the same as the current direction.

[0021] In one specific implementation, determining whether there is an abnormality in the self-rotation of the steering wheel based on the steering wheel centering result includes:

[0022] If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is an abnormality in the steering wheel rotation.

[0023] If the steering wheel centering result indicates that the steering wheel is centered, then it is determined that there is no abnormality in the steering wheel's rotation.

[0024] In one specific embodiment, determining whether the steering wheel has an abnormal rotation based on whether the rotation direction is the same as the current direction includes:

[0025] If the rotation direction is the same as the current direction, then it is determined that the steering wheel has an abnormal self-rotation.

[0026] If the rotation direction is not the same as the current direction, then it is determined that the steering wheel does not have any abnormal self-rotation.

[0027] In one specific embodiment, after determining whether the steering wheel angular velocity is zero, the method further includes:

[0028] If the steering wheel angular velocity is zero, then it is determined that the steering wheel does not have any abnormal rotation.

[0029] In one specific implementation, determining whether the steering wheel is stuck based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result includes:

[0030] If the hand force is greater than the second preset hand force threshold, then determine whether the steering wheel angular velocity is zero;

[0031] If the steering wheel angular velocity is zero, then determine whether the steering wheel angle is within a preset range;

[0032] If the steering wheel angle is within the preset range, then based on the steering wheel centering result, determine whether the steering wheel is stuck or not.

[0033] If the steering wheel angle is not within the preset range, it is determined that the steering wheel is stuck.

[0034] In one specific implementation, determining whether the steering wheel is stuck based on the steering wheel centering result includes:

[0035] If the steering wheel centering result indicates that the steering wheel has returned to center, then it is determined that the steering wheel is stuck.

[0036] If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is no abnormality of the steering wheel being stuck.

[0037] In one specific embodiment, after determining whether the steering wheel angular velocity is zero, the method further includes:

[0038] If the steering wheel angular velocity is not zero, then it is determined that the steering wheel is not stuck.

[0039] In one specific implementation, the operating data also includes the line current of the motor. If it is determined that the steering wheel is stuck, the method further includes:

[0040] Based on the hand force, the line current, and the preset correspondence between the hand force range, the current range, and the cause of the abnormality, the cause of the jamming abnormality is determined.

[0041] Secondly, embodiments of this application provide a steering anomaly detection device for steer-by-wire systems, comprising:

[0042] The acquisition module is used to acquire the working data of the hand-feel simulator during vehicle operation; the working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor of the hand-feel simulator, and rotation direction of the motor;

[0043] Processing module, used for:

[0044] Calculate the driver's hand strength based on the aforementioned work data;

[0045] Based on the steering wheel angle, the steering wheel centering result is determined, and the steering wheel centering result is used to indicate whether the steering wheel has returned to the center.

[0046] The detection module is used for:

[0047] Based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction, determine whether the steering wheel has an abnormal self-rotation.

[0048] Based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result, determine whether the steering wheel is stuck.

[0049] Thirdly, embodiments of this application provide an electronic device, including:

[0050] Processor, memory, communication interface;

[0051] The memory is configured to store the executable instructions of the processor;

[0052] The processor is configured to execute the steering anomaly detection method for steer-by-wire as described in any of the first aspects by executing the executable instructions.

[0053] Fourthly, embodiments of this application provide a vehicle, including a controller;

[0054] The controller is configured to perform the steering anomaly detection method for steer-by-wire as described in any of the first aspects above.

[0055] Fifthly, embodiments of this application provide a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steering anomaly detection method for steer-by-wire as described in any of the first aspects.

[0056] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is configured to implement the steering anomaly detection method for steer-by-wire as described in any of the first aspects.

[0057] The steering anomaly detection method, apparatus, device, medium, and product for steer-by-wire provided in this application's embodiments calculate the driver's hand force after acquiring the working data of a hand-feel simulator during vehicle operation; based on the steering wheel angle in the working data, the steering wheel centering result is determined. Finally, based on the hand force, the steering wheel centering result, and the steering wheel angular velocity, current direction, and rotation direction in the working data, it is determined whether there is a steering wheel self-rotation anomaly; based on the hand force, the steering wheel centering result, and the steering wheel angle and angular velocity in the working data, it is determined whether there is a steering wheel jamming anomaly. This solution determines whether there is a steering wheel self-rotation anomaly or a jamming anomaly through the working data of the hand-feel simulator, eliminating the need for an additional torque sensor, effectively saving costs and reducing space occupation.

[0058] After reading and understanding the accompanying diagrams and detailed descriptions, the other aspects can be understood. Attached Figure Description

[0059] The accompanying drawings used in the embodiments of this application will be briefly described below. The drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0060] Figure 1 is a schematic diagram of the hand-feel simulator provided in this application;

[0061] Figure 2 is a flowchart illustrating an embodiment of the steering anomaly detection method for steer-by-wire provided in this application;

[0062] Figure 3 is a flowchart illustrating Embodiment 2 of the steering anomaly detection method for steer-by-wire provided in this application;

[0063] Figure 4 is a flowchart illustrating Embodiment 3 of the steering anomaly detection method for steer-by-wire provided in this application;

[0064] Figure 5 is a schematic diagram of an embodiment of the steering anomaly detection device for steer-by-wire provided in this application;

[0065] Figure 6 is a schematic diagram of the structure of an electronic device provided in this application.

[0066] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments made by those skilled in the art under the guidance of these embodiments are within the scope of protection of this application.

[0068] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It is understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0069] With the development of technology, steer-by-wire has attracted attention for its advantages of reducing component wear, improving space utilization, and enhancing vehicle intelligence. Steer-by-wire eliminates the mechanical connection between the steering column and the steering gear, allowing users to steer the vehicle via a steering wheel in a hand-feel simulator. To improve vehicle safety under steer-by-wire, numerous sensors are typically installed in the vehicle, and the steering is controlled based on the sensor data.

[0070] For example, Figure 1 is a schematic diagram of the hand-feel simulator provided in this application. As shown in Figure 1, the hand-feel simulator includes a steering wheel 11, a steering input shaft 12, a reducer 13, and a motor 14. When the driver turns the steering wheel 11, the motor 14 provides resistance, simulating the feel of operating a traditional steering wheel. The hand-feel simulator also has an automatic centering function.

[0071] In order to improve vehicle driving safety by promptly addressing abnormal situations such as steering wheel self-rotation or jamming during vehicle operation, it is necessary to perform steering abnormality detection during vehicle operation.

[0072] Steering wheel self-rotation refers to the steering wheel turning when the driver is not operating it and when it is not in automatic centering mode. Steering wheel lock-up means the driver cannot turn the steering wheel; centering, also known as returning to center, refers to the position where the steering wheel is turned to when the vehicle is moving straight.

[0073] Typically, an additional torque sensor needs to be installed. The torque sensor detects the steering wheel torque to determine if there is a steering abnormality. The need to install a torque sensor results in higher costs.

[0074] Building upon this foundation, the inventors, during their research on steering anomaly detection methods for steer-by-wire, discovered that vehicles already incorporate numerous sensors and controllers to achieve steer-by-wire, allowing them to determine the operational data of the hand-feel simulator. During vehicle operation, the accuracy of the hand-feel simulator's data is used to determine whether the steering wheel has jammed, eliminating the need for an additional torque sensor and saving on cost and space.

[0075] The subject executing the steering anomaly detection method for steer-by-wire in this application can be a controller in the vehicle, an on-board terminal, or a server, computer, or other equipment. This application does not limit it. The following explanation uses a controller as an example.

[0076] The following example illustrates the application scenarios of the steering anomaly detection method for steer-by-wire.

[0077] For example, in this application scenario, a driver drives a vehicle with steer-by-wire to its destination.

[0078] While the vehicle is in motion, the controller acquires the operating data of the steering simulator and then calculates the driver's hand force based on this data. The driver's hand force is the torque applied to the steering wheel by the driver. The controller is connected to the Electronic Control Unit (ECU) in the vehicle. The ECU is connected to the motor of the steering simulator and various sensors in the vehicle. The controller can obtain the operating data of the steering simulator through the ECU.

[0079] Then, based on the steering wheel angle in the working data, determine the steering wheel centering result for indicating whether the steering wheel has returned to center.

[0080] Finally, based on the hand force, the steering wheel centering result, and the steering wheel angular velocity, current direction, and rotation direction in the working data, determine whether the steering wheel has any self-rotation abnormality; based on the hand force, the steering wheel centering result, and the steering wheel angle and steering wheel angular velocity in the working data, determine whether the steering wheel has any jamming abnormality.

[0081] When the controller detects an abnormality in the steering wheel's rotation and / or jamming, it can output an alarm message to facilitate maintenance by personnel. The driver can also control the vehicle's steering through a backup control system.

[0082] It should be noted that the above scenario is only an example of an application scenario provided by the embodiments of this application. The embodiments of this application do not limit the actual form of each device included in the scenario, nor do they limit the interaction method between devices. In the specific application of the solution, it can be set according to actual needs.

[0083] The technical solution of this application will now be described in detail through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0084] Figure 2 is a flowchart illustrating an embodiment of the steering anomaly detection method for steer-by-wire provided in this application. This embodiment describes how the controller determines whether a steering wheel exhibits an anomaly during vehicle operation based on the working data of the hand-feel simulator. The method in this embodiment can be implemented through software, hardware, or a combination of both. As shown in Figure 2, the steering anomaly detection method for steer-by-wire specifically includes the following steps:

[0085] S201: Acquire working data from the hand-feel simulator while the vehicle is in motion.

[0086] In this step, in order to detect whether the steering wheel of the steer-by-wire system is malfunctioning, the controller acquires the working data of the feel simulator while the vehicle is in motion.

[0087] The working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor in the hand-feel simulator, and motor rotation direction.

[0088] The controller connects to the ECU in the vehicle, and the ECU connects to the motor, reducer, and various sensors in the vehicle, including an angle sensor configured to detect the steering wheel angle. The controller can obtain the operating data of the steering simulator through the ECU.

[0089] It should be noted that the controller determines that the vehicle is in motion as follows: the ECU is connected to the speed sensor, the controller obtains the vehicle speed from the ECU, and determines that the vehicle is in motion when the vehicle speed is greater than 0.

[0090] S202: Calculate the driver's hand strength based on work data.

[0091] In this step, after acquiring the working data, the controller calculates the driver's hand force based on the working data. The driver's hand force is the force applied by the driver to the steering wheel.

[0092] Specifically, the working data also includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the motor speed, the motor efficiency, the motor line voltage, the motor line current, the motor power factor, and the steering wheel angular acceleration.

[0093] The hand force is calculated based on the moment of inertia, steering wheel angular velocity, damping coefficient, reduction ratio, motor speed, motor efficiency, line voltage, line current, motor power factor, steering wheel angular acceleration, and a preset hand force calculation formula.

[0094] The preset formula for calculating hand strength is: Among them, T h U represents hand force. L I represents line voltage. L Represents the line current, cosφ represents the motor's power factor, and i s Indicates the reduction ratio, η represents the motor efficiency, and n m J represents the motor speed. s Indicates the moment of inertia. B represents the angular acceleration of the steering wheel. s Indicates the damping coefficient. This indicates the angular velocity of the steering wheel.

[0095] It should be noted that the moment of inertia, damping coefficient, and motor efficiency are all preset in the ECU by the operator, and the controller can obtain them from the ECU. The moment of inertia can be 0.0025 kg·m. 2 0.003 kg·m 2 0.01 kg·m 2 The damping coefficient can be 0.25 Nms / rad, 0.3 Nms / rad, 0.4 Nms / rad, etc., and the motor efficiency can be 90%, 93%, 95%, etc. The embodiments of this application do not limit the moment of inertia, damping coefficient and motor efficiency, which can be determined according to the actual situation.

[0096] S203: Determine the steering wheel centering result based on the steering wheel angle.

[0097] In this step, after acquiring the working data, the controller determines the steering wheel centering result based on the steering wheel angle. The steering wheel centering result is used to indicate whether the steering wheel has returned to center.

[0098] The controller acquires multiple steering wheel angles, and each steering wheel angle carries the acquisition time. The steering wheel angles are sorted according to the acquisition time from early to late to obtain an angle sequence. Then, it is determined whether the steering wheel angles in the angle sequence tend to a preset angle value, that is, whether the absolute value of the difference between the steering wheel angles in the angle sequence and the preset angle value decreases sequentially.

[0099] If the steering wheel angle in the angle sequence tends to the preset angle value, then the steering wheel centering result is determined.

[0100] If the steering wheel angle in the angle sequence does not tend to the preset angle value, then the result of the steering wheel returning to center is determined.

[0101] It should be noted that the preset angle value is the angle value corresponding to the steering wheel returning to center, which can be 0°, 540°, 720°, etc. This application embodiment does not limit the preset angle value, and it can be determined according to the actual situation.

[0102] It should be noted that the execution order of steps S202 and S203 can be: step S202 is executed first, then step S203; or step S203 is executed first, then step S202; or steps S202 and S203 are executed simultaneously. This embodiment does not limit the execution order of steps S202 and S203, and it can be determined according to the actual situation.

[0103] S204: Determine whether there is any abnormal self-rotation of the steering wheel based on the hand force, steering wheel angular velocity, steering wheel centering result, current direction, and rotation direction.

[0104] In this step, after the controller determines the hand force and the steering wheel centering result, it determines whether there is any abnormal self-rotation of the steering wheel based on the hand force, steering wheel angular velocity, steering wheel centering result, current direction, and rotation direction.

[0105] If the driver applies minimal hand force, the steering wheel angular velocity is not zero, and the steering wheel centering indicator shows that the steering wheel has not returned to center, then an abnormality in the steering wheel's rotation is confirmed. In other words, it is determined that the steering wheel is rotating even when the driver's hands are not operating the steering wheel and it is not in a centering state, thus confirming that the steering wheel is rotating on its own.

[0106] Furthermore, when significant hand force is applied and the direction of rotation is the same as the direction of the current, it confirms an abnormal self-rotation of the steering wheel. This means that while the driver is operating the steering wheel, the motor is providing power assist, causing the steering wheel to rotate on its own. Normally, when the driver operates the steering wheel, the motor provides resistance.

[0107] S205: Determine whether the steering wheel is stuck based on the hand force, steering wheel angle, steering wheel angular velocity, and steering wheel centering results.

[0108] In this step, after the controller determines the hand force and the steering wheel centering result, it determines whether there is a steering wheel jamming abnormality based on the hand force, steering wheel angle, steering wheel angular velocity, and steering wheel centering result.

[0109] When the driver applies significant force, the steering wheel angular velocity is zero, and the steering wheel angle is outside the preset range, a steering wheel jamming abnormality is confirmed. This means that the driver is operating the steering wheel, but the steering wheel is not turning, and the steering wheel angle is outside the preset range (the range of steering wheel angles corresponding to the extreme positions of the wheel steering). A steering wheel jamming abnormality is then confirmed.

[0110] Furthermore, if the driver applies significant hand force, the steering wheel angular velocity is zero, the steering wheel angle is within the preset range, and the steering wheel returns to center as indicated, a steering wheel jamming abnormality is confirmed. In other words, if the driver's hands are operating the steering wheel, but the steering wheel is not turning, even though the steering wheel angle is within the preset range, a steering wheel jamming abnormality is confirmed.

[0111] It should be noted that the preset range is [540°, 550°], [530°, 550°], [520°, 550°], etc. This application embodiment does not limit the preset range, and it can be determined according to the actual situation.

[0112] It should be noted that the execution order of steps S204 and S205 can be: step S204 is executed first, then step S205; or step S205 is executed first, then step S204; or steps S204 and S205 are executed simultaneously. This embodiment does not limit the execution order of steps S204 and S205, and it can be determined according to the actual situation.

[0113] The steering anomaly detection method for steer-by-wire provided in this embodiment calculates the driver's hand force after acquiring the working data of the hand-feel simulator while the vehicle is in motion; based on the steering wheel angle in the working data, the steering wheel centering result is determined. Finally, based on the hand force, the steering wheel centering result, and the steering wheel angular velocity, current direction, and rotation direction in the working data, it is determined whether there is an abnormality in the steering wheel's self-rotation; based on the hand force, the steering wheel centering result, and the steering wheel angle and angular velocity in the working data, it is determined whether there is an abnormality in the steering wheel's jamming. This solution determines whether there is an abnormality in the steering wheel's self-rotation or jamming by using the working data of the hand-feel simulator, without the need for an additional torque sensor. Working data can be obtained using only the existing sensors and devices in the vehicle, effectively saving costs and reducing space occupation.

[0114] Figure 3 is a flowchart illustrating a second embodiment of the steering anomaly detection method for steer-by-wire provided in this application. Based on the above embodiments, this application describes how the controller determines whether there is an abnormal self-rotation of the steering wheel based on hand force, steering wheel angular velocity, steering wheel centering result, current direction, and rotation direction. As shown in Figure 3, the steering anomaly detection method for steer-by-wire specifically includes the following steps:

[0115] S301: Determine whether the hand force is less than the first preset hand force threshold; if the hand force is less than the first preset hand force threshold, then execute step S302; if the hand force is greater than or equal to the first preset hand force threshold, then execute step S304.

[0116] In this step, after the controller determines the hand force and the steering wheel centering result, in order to detect whether there is an abnormality in the steering wheel rotation, it first determines whether the hand force is less than the first preset hand force threshold, so as to determine whether the driver's hands are operating the steering wheel.

[0117] It should be noted that the first preset hand force threshold can be 0.4Nm, 0.5Nm, 0.6Nm, etc. This application embodiment does not limit the first preset hand force threshold, and it can be determined according to the actual situation.

[0118] S302: Determine if the steering wheel angular velocity is zero; if the steering wheel angular velocity is not zero, proceed to step S303; if the steering wheel angular velocity is zero, proceed to step S306.

[0119] In this step, if the controller determines that the applied force is less than the first preset force threshold, it means that the driver's hand is not operating the steering wheel. The controller then continues to determine whether the steering wheel angular velocity is zero in order to determine whether the steering wheel is turning.

[0120] S303: Determine whether the steering wheel centering result indicates that the steering wheel is not centered; if the steering wheel centering result indicates that the steering wheel is not centered, then proceed to step S305; if the steering wheel centering result indicates that the steering wheel is centered, then proceed to step S306.

[0121] In this step, if the controller determines that the steering wheel angular velocity is not zero, it means that the steering wheel is rotating. Based on the steering wheel centering result, it determines whether there is an abnormality in the steering wheel rotation; that is, it judges whether the steering wheel centering result indicates that the steering wheel is centering, so as to determine whether the current situation is a steering wheel centering scenario.

[0122] S304: Determine whether the rotation direction is the same as the current direction; if the rotation direction is the same as the current direction, proceed to step S305; if the rotation direction is not the same as the current direction, proceed to step S306.

[0123] In this step, if the controller determines that the hand force is greater than or equal to the first preset hand force threshold, it means that the driver's hand is operating the steering wheel. Then, based on whether the rotation direction is the same as the current direction, it determines whether the motor is providing power assist or power steering, and determines whether there is an abnormality in the self-rotation of the steering wheel.

[0124] It should be noted that the direction of rotation is divided into positive and negative, and the direction of current is also divided into positive and negative. When the external force applied to the motor is less than the force of the motor, if the direction of current is positive, the direction of rotation is positive, and if the direction of current is negative, the direction of rotation is negative.

[0125] A positive rotation direction indicates that the motor rotates clockwise; a negative rotation direction indicates that the motor rotates counterclockwise. Alternatively, a positive rotation direction indicates that the motor rotates counterclockwise; a negative rotation direction indicates that the motor rotates clockwise.

[0126] A positive current direction indicates that a positive current is applied to the motor; a negative current direction indicates that a negative current is applied to the motor.

[0127] S305: The steering wheel is found to be rotating abnormally.

[0128] In this step, if the controller determines that the steering wheel has not returned to center, it means that the current situation is not a steering wheel centering scenario, and it is determined that there is an abnormality in the steering wheel rotation.

[0129] If the controller determines that the direction of rotation is the same as the direction of current, since this direction of rotation is consistent with the direction of rotation of the steering wheel, it indicates that the motor is providing power assistance, and it is determined that there is an abnormality in the self-rotation of the steering wheel.

[0130] S306: Confirmed that there is no abnormal self-rotation of the steering wheel.

[0131] In this step, if the controller determines that the steering wheel angular velocity is zero, it means that the steering wheel is not rotating, and it is confirmed that there is no abnormality in the steering wheel's rotation.

[0132] If the controller determines that the steering wheel has returned to center, it indicates that the current situation is a steering wheel centering scenario, and confirms that there is no abnormal self-rotation of the steering wheel.

[0133] If the controller determines that the rotation direction is different from the current direction, and since this rotation direction is consistent with the rotation direction of the steering wheel, it indicates that the motor provides resistance, thus confirming that there is no abnormal self-rotation of the steering wheel.

[0134] The steering anomaly detection method for steer-by-wire provided in this embodiment determines that the steering wheel has a self-rotation anomaly when the hand force is less than a first preset hand force threshold, the steering wheel angular velocity is not zero, and the steering wheel centering result indicates that the steering wheel has not returned to center. In other words, it determines that the steering wheel is rotating even when the driver's hands are not operating the steering wheel and it is not in a centering scenario. It also determines that the steering wheel has a self-rotation anomaly when the hand force is greater than or equal to the first preset hand force threshold and the rotation direction is the same as the current direction. This means it determines that the driver's hands are operating the steering wheel, but the motor is providing power assist, thus determining that the steering wheel is rotating, effectively improving detection accuracy.

[0135] Figure 4 is a flowchart illustrating a third embodiment of the steer-by-wire anomaly detection method provided in this application. Based on the above embodiments, this application describes how the controller determines whether the steering wheel is stuck based on hand force, steering wheel angle, steering wheel angular velocity, and steering wheel centering result. As shown in Figure 4, the steer-by-wire anomaly detection method specifically includes the following steps:

[0136] S401: If the hand force is greater than the second preset hand force threshold, determine whether the steering wheel angular velocity is zero; if the steering wheel angular velocity is zero, proceed to step S402; if the steering wheel angular velocity is not zero, proceed to step S405.

[0137] After the controller determines the hand force and the steering wheel centering result, since steering wheel jamming can only be detected when the driver's hands are operating the steering wheel, it determines whether the hand force is greater than the second threshold, that is, whether the driver's hands are operating the steering wheel.

[0138] In this step, if the hand force is greater than the second preset hand force threshold, it means that the driver's hand is operating the steering wheel. Then, it continues to determine whether the steering wheel angular velocity is zero in order to determine whether the steering wheel can be turned.

[0139] It should be noted that the second preset hand force threshold can be 0.4Nm, 0.5Nm, 0.6Nm, etc. This application embodiment does not limit the second preset hand force threshold, and it can be determined according to the actual situation.

[0140] It should be noted that if the hand force is less than or equal to the second preset hand force threshold, it means that the driver's hands are not operating the steering wheel, and the detection of steering wheel jamming ends.

[0141] S402: Determine whether the steering wheel angle is within the preset range; if the steering wheel angle is within the preset range, proceed to step S403; if the steering wheel angle is not within the preset range, proceed to step S404.

[0142] In this step, if the controller determines that the steering wheel angular velocity is zero, it means that the steering wheel cannot turn. Then, it determines whether the reason why the steering wheel cannot turn is that after the wheel turns to the limit position, the driver wants the steering wheel to continue turning. First, it determines whether the steering wheel angle is within the preset range.

[0143] It should be noted that the controller acquires multiple steering wheel angles, and each steering wheel angle carries the acquisition time. The steering wheel angles are sorted according to the acquisition time from early to late to obtain an angle sequence. The last steering wheel angle in the angle sequence is selected to determine whether the steering wheel angle belongs to the preset range.

[0144] It should be noted that the preset range is the range of steering wheel angles corresponding to the extreme positions of wheel steering. The preset range can be [540°, 550°], [530°, 550°], [520°, 550°], etc. This application embodiment does not limit the preset range, and it can be determined according to the actual situation.

[0145] S403: Determine whether the steering wheel centering result indicates that the steering wheel is centered. If the steering wheel centering result indicates that the steering wheel is centered, then proceed to step S404; if the steering wheel centering result indicates that the steering wheel is not centered, then proceed to step S405.

[0146] In this step, if the controller determines that the steering wheel angle is within the preset range, it means that the wheel steering has not reached the limit position. Then it continues to determine whether the current driver has operated the steering wheel to return to center. Based on the steering wheel return result, it determines whether there is a steering wheel jamming abnormality, that is, whether the steering wheel return result indicates that the steering wheel has returned to center.

[0147] S404: Steering wheel jamming is confirmed.

[0148] In this step, if the controller determines that the steering wheel angle is not within the preset range, it means that the wheel has not turned and has not reached the limit position, but the steering wheel cannot turn, indicating that the steering wheel is stuck.

[0149] If the controller determines that the steering wheel has returned to center, it means that the driver is currently trying to return the steering wheel to center, but the steering wheel cannot be turned, indicating that there is a stuck abnormality in the steering wheel.

[0150] S405: Confirmed that the steering wheel is not stuck.

[0151] In this step, if the controller determines that the steering wheel angular velocity is not zero, it means that the steering wheel can rotate, confirming that there is no steering wheel jamming abnormality.

[0152] If the controller determines that the steering wheel has not returned to center, it means that the driver wants to continue operating the steering wheel to the extreme position, but the wheels cannot continue to turn. The steering wheel not turning is a normal reason, and it is determined that there is no abnormality of the steering wheel being stuck.

[0153] The steering anomaly detection method for steer-by-wire provided in this embodiment determines a steering wheel jamming anomaly when the hand force exceeds a second preset hand force threshold, the steering wheel angular velocity is zero, and the steering wheel angle is outside a preset range. In other words, it determines that the driver is operating the steering wheel, but the steering wheel is not turning, and the steering wheel angle is outside the angle range corresponding to the wheel's extreme steering position. It also determines a steering wheel jamming anomaly when the hand force exceeds the second preset hand force threshold, the steering wheel angular velocity is zero, the steering wheel angle is within a preset range, and the steering wheel centering result indicates the steering wheel is back to center. In other words, it determines a steering wheel jamming anomaly when the driver is operating the steering wheel, but the steering wheel is not turning, and although the steering wheel angle is within the preset range, the steering wheel is returning to center, thus effectively improving detection accuracy.

[0154] The following is an explanation of how to determine the cause of a stuck abnormality using the steering anomaly detection method provided in this application, in Example 4.

[0155] After determining that the steering wheel is stuck, the controller can further determine the cause of the stuck abnormality based on the hand force, line current, and the preset correspondence between the hand force range, current range, and abnormality cause. That is, it determines the hand force range, the line current range, and then, by combining the hand force range, current range, and abnormality cause, determines the corresponding cause of the stuck abnormality.

[0156] For example, Table 1 is a table showing the correspondence between the hand force range, current range and abnormal causes provided in this application.

[0157] Table 1

[0158] Wherein, T1 is greater than T2, I1 is greater than I2, T1 can be 25Nm, 30Nm, 35Nm, etc., T2 can be 0.2Nm, 0.3Nm, 0.4Nm, etc., I1 can be 75A, 80A, 85A, etc., I2 can be 2A, 3A, 4A, etc. The embodiments of this application do not limit T1, T2, I1, I2, etc., and can be determined according to the actual situation.

[0159] As shown in the preset formula for calculating hand force, hand force is directly proportional to line current. As shown in Table 1, when the line current is in the range [I1, +∞) and the hand force is in the range [T1, +∞), it indicates that the motor wants to provide greater force, but the actual force provided is smaller; this is caused by the motor stalling. When the motor stalls, the line current increases to increase the force provided by the motor.

[0160] When the online current is within (-∞, I2] and the hand force is within (-∞, T2], the steering wheel is currently stuck, but the phase current of the motor is very small, which means that the resistance provided is very small. This indicates that there is mechanical hardware stuck, providing additional resistance. Since the line current is very small, it indicates that the degree of stuck is relatively large.

[0161] When the online current is (I2, I1) and the hand force is (T2, T1), the steering wheel is currently stuck, but the phase current of the motor is small, which means that the resistance provided is small. This indicates that there is mechanical hardware stuck, providing additional resistance. Since the line current is small, it means that the degree of stuck is small.

[0162] It should be noted that if the hand force and line current do not match the conditions in Table 1, a message indicating that the cause of the jam is pending will be output.

[0163] It should be noted that the cause of the jamming anomaly can also be determined solely based on the line current and the correspondence between the line current range and the cause of the anomaly. That is, by determining the current range to which the line current belongs, and then identifying the correspondence between the current range and the cause of the anomaly, the corresponding cause of the jamming anomaly can be determined.

[0164] For example, based on Table 1, Table 2 is a table showing the correspondence between the current range and the cause of the abnormality provided in this application.

[0165] Table 2

[0166] As shown in Table 2, if the line current is in the range [I1, +∞), the cause of the jamming abnormality is determined to be motor stall. If the line current is in the range (I2, I1), the cause of the jamming abnormality is determined to be minor mechanical hardware jamming. If the line current is in the range (-∞, I2), the cause of the jamming abnormality is determined to be major mechanical hardware jamming.

[0167] The steering malfunction detection method for steer-by-wire provided in this embodiment improves the accuracy of determining the cause of the jamming malfunction by determining the cause of the jamming malfunction based on hand force and line current. It eliminates the need for manual confirmation of the cause of the jamming malfunction, making it more convenient for staff to carry out maintenance and improving maintenance efficiency.

[0168] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0169] Figure 5 is a structural schematic diagram of an embodiment of the steering anomaly detection device for steer-by-wire provided in this application. As shown in Figure 5, the steering anomaly detection device 50 for steer-by-wire includes:

[0170] The acquisition module 51 is used to acquire the working data of the hand-feel simulator during vehicle operation; the working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor of the hand-feel simulator, and rotation direction of the motor.

[0171] Processing module 52 is used for:

[0172] Calculate the driver's hand strength based on the aforementioned work data;

[0173] Based on the steering wheel angle, the steering wheel centering result is determined, and the steering wheel centering result is used to indicate whether the steering wheel has returned to the center.

[0174] Detection module 53 is used for:

[0175] Based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction, determine whether the steering wheel has an abnormal self-rotation.

[0176] Based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result, determine whether the steering wheel is stuck.

[0177] Furthermore, the working data also includes: the moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor, and the angular acceleration of the steering wheel;

[0178] The processing module 52 is specifically used for:

[0179] The hand force is calculated based on the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the motor speed, the motor efficiency, the line voltage, the line current, the motor power factor, the steering wheel angular acceleration, and a preset hand force calculation formula.

[0180] Furthermore, the detection module 53 is specifically used for:

[0181] Determine whether the hand force is less than a first preset hand force threshold;

[0182] If the hand force is less than the first preset hand force threshold, then determine whether the steering wheel angular velocity is zero;

[0183] If the steering wheel angular velocity is not zero, then based on the steering wheel centering result, determine whether there is an abnormality in the steering wheel rotation.

[0184] If the hand force is greater than or equal to the first preset hand force threshold, then it is determined whether the steering wheel has an abnormal self-rotation based on whether the rotation direction is the same as the current direction.

[0185] Furthermore, the detection module 53 is also specifically used for:

[0186] If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is an abnormality in the steering wheel rotation.

[0187] If the steering wheel centering result indicates that the steering wheel is centered, then it is determined that there is no abnormality in the steering wheel's rotation.

[0188] Furthermore, the detection module 53 is also specifically used for:

[0189] If the rotation direction is the same as the current direction, then it is determined that the steering wheel has an abnormal self-rotation.

[0190] If the rotation direction is not the same as the current direction, then it is determined that the steering wheel does not have any abnormal self-rotation.

[0191] Furthermore, after determining whether the steering wheel angular velocity is zero, the detection module 53 is also used for:

[0192] If the steering wheel angular velocity is zero, then it is determined that the steering wheel does not have any abnormal rotation.

[0193] Furthermore, the detection module 53 is also specifically used for:

[0194] If the hand force is greater than the second preset hand force threshold, then determine whether the steering wheel angular velocity is zero;

[0195] If the steering wheel angular velocity is zero, then determine whether the steering wheel angle is within a preset range;

[0196] If the steering wheel angle is within the preset range, then based on the steering wheel centering result, determine whether the steering wheel is stuck or not.

[0197] If the steering wheel angle is not within the preset range, it is determined that the steering wheel is stuck.

[0198] Furthermore, the detection module 53 is also specifically used for:

[0199] If the steering wheel centering result indicates that the steering wheel has returned to center, then it is determined that the steering wheel is stuck.

[0200] If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is no abnormality of the steering wheel being stuck.

[0201] Furthermore, after determining whether the steering wheel angular velocity is zero, the detection module 53 is also used for:

[0202] If the steering wheel angular velocity is not zero, then it is determined that the steering wheel is not stuck.

[0203] Furthermore, the operating data also includes the line current of the motor. If a steering wheel jamming abnormality is determined, the detection module 53 is further used to:

[0204] Based on the hand force, the line current, and the preset correspondence between the hand force range, the current range, and the cause of the abnormality, the cause of the jamming abnormality is determined.

[0205] The steering anomaly detection device for steer-by-wire provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effect are similar, and will not be described again here.

[0206] Figure 6 is a schematic diagram of the structure of an electronic device provided in this application. As shown in Figure 6, the electronic device 60 includes:

[0207] Processor 61, memory 62, and communication interface 63;

[0208] The memory 62 is configured to store the executable instructions of the processor 61;

[0209] The processor 61 is configured to execute the technical solutions in any of the foregoing method embodiments by executing the executable instructions.

[0210] Optionally, the memory 62 can be either standalone or integrated with the processor 61.

[0211] Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include:

[0212] Bus 64, memory 62 and communication interface 63 are connected to processor 61 through bus 64 and complete mutual communication. Communication interface 63 is configured to communicate with other devices.

[0213] Optionally, the communication interface 63 can be implemented using a transceiver. The communication interface is configured to enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk drive.

[0214] Bus 64 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0215] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0216] The electronic device is configured to execute the technical solution in any of the foregoing method embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0217] This application also provides a vehicle, which includes a controller.

[0218] The controller is configured to execute the technical solution in any of the foregoing method embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0219] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the technical solutions provided in any of the foregoing method embodiments.

[0220] This application also provides a computer program product, including a computer program, which, when executed by a processor, is configured to implement the technical solutions provided in any of the foregoing method embodiments.

[0221] Those skilled in the art will understand that all or part of the steps in the above methods can be implemented by a program instructing related hardware (e.g., a processor), and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. Optionally, all or part of the steps in the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in hardware, such as by an integrated circuit to implement its corresponding function, or it can be implemented in the form of a software functional module, such as by a processor executing a program / instruction stored in memory to implement its corresponding function. This application is not limited to any particular combination of hardware and software.

[0222] Finally, it should be noted that each of the above embodiments is only used to illustrate the technical solutions of this application, and not to limit them; although this application has been described in detail with reference to each of the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in each of the foregoing embodiments, or make equivalent substitutions for some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of each embodiment of this application.

Claims

1. A method for detecting steering anomalies in steer-by-wire systems, comprising: During vehicle operation, acquire the working data of the hand-feel simulator; The working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor of the hand-feel simulator, and rotation direction of the motor. Calculate the driver's hand strength based on the aforementioned work data; Based on the steering wheel angle, the steering wheel centering result is determined, and the steering wheel centering result is used to indicate whether the steering wheel has returned to the center. Based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction, determine whether the steering wheel has an abnormal self-rotation. Based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result, determine whether the steering wheel is stuck.

2. The method according to claim 1, wherein the working data further includes: The moment of inertia of the steering input shaft, the damping coefficient between the steering wheel and the steering input shaft, the reduction ratio of the reducer, the speed of the motor, the efficiency of the motor, the line voltage of the motor, the line current of the motor, the power factor of the motor, and the angular acceleration of the steering wheel; The step of calculating the driver's hand strength based on the work data includes: The hand force is calculated based on the moment of inertia, the steering wheel angular velocity, the damping coefficient, the reduction ratio, the motor speed, the motor efficiency, the line voltage, the line current, the motor power factor, the steering wheel angular acceleration, and a preset hand force calculation formula.

3. The method according to claim 1, wherein, The step of determining whether the steering wheel has an abnormal self-rotation based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction includes: Determine whether the hand force is less than a first preset hand force threshold; If the hand force is less than the first preset hand force threshold, then determine whether the steering wheel angular velocity is zero; If the steering wheel angular velocity is not zero, then based on the steering wheel centering result, determine whether there is an abnormality in the steering wheel rotation. If the hand force is greater than or equal to the first preset hand force threshold, then it is determined whether the steering wheel has an abnormal self-rotation based on whether the rotation direction is the same as the current direction.

4. The method according to claim 3, wherein, The step of determining whether there is an abnormality in the self-rotation of the steering wheel based on the steering wheel centering result includes: If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is an abnormality in the steering wheel rotation. If the steering wheel centering result indicates that the steering wheel is centered, then it is determined that there is no abnormality in the steering wheel's rotation.

5. The method according to claim 3, wherein, The step of determining whether the steering wheel has an abnormal self-rotation based on whether the rotation direction is the same as the current direction includes: If the rotation direction is the same as the current direction, then it is determined that the steering wheel has an abnormal self-rotation. If the rotation direction is not the same as the current direction, then it is determined that the steering wheel does not have any abnormal self-rotation.

6. The method according to any one of claims 3 to 5, wherein after determining whether the steering wheel angular velocity is zero, it further comprises: If the steering wheel angular velocity is zero, then it is determined that the steering wheel does not have any abnormal rotation.

7. The method according to claim 1, wherein, The step of determining whether the steering wheel is stuck based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result includes: If the hand force is greater than the second preset hand force threshold, then determine whether the steering wheel angular velocity is zero; If the steering wheel angular velocity is zero, then determine whether the steering wheel angle is within a preset range; If the steering wheel angle is within the preset range, then based on the steering wheel centering result, determine whether the steering wheel is stuck or not. If the steering wheel angle is not within the preset range, it is determined that the steering wheel is stuck.

8. The method according to claim 7, wherein, The step of determining whether the steering wheel is stuck based on the steering wheel centering result includes: If the steering wheel centering result indicates that the steering wheel has returned to center, then it is determined that the steering wheel is stuck. If the steering wheel centering result indicates that the steering wheel has not returned to center, then it is determined that there is no abnormality of the steering wheel being stuck.

9. The method according to claim 7, further comprising, after determining whether the steering wheel angular velocity is zero: If the steering wheel angular velocity is not zero, then it is determined that the steering wheel is not stuck.

10. The method according to any one of claims 7 to 9, wherein the operating data further includes the line current of the motor, and if it is determined that the steering wheel is stuck, it further includes: Based on the hand force, the line current, and the preset correspondence between the hand force range, the current range, and the cause of the abnormality, the cause of the jamming abnormality is determined.

11. A steering malfunction detection device for steer-by-wire systems, comprising: The acquisition module is used to acquire the working data of the hand-feel simulator during vehicle operation; the working data includes steering wheel angle, steering wheel angular velocity, current direction of the motor of the hand-feel simulator, and rotation direction of the motor; Processing module, used for: Calculate the driver's hand strength based on the aforementioned work data; Based on the steering wheel angle, the steering wheel centering result is determined, and the steering wheel centering result is used to indicate whether the steering wheel has returned to the center. The detection module is used for: Based on the hand force, the steering wheel angular velocity, the steering wheel centering result, the current direction, and the rotation direction, determine whether the steering wheel has an abnormal self-rotation. Based on the hand force, the steering wheel angle, the steering wheel angular velocity, and the steering wheel centering result, determine whether the steering wheel is stuck.

12. An electronic device, comprising: Processor, memory, communication interface; The memory is configured to store the executable instructions of the processor; The processor is configured to execute the steering anomaly detection method for steer-by-wire as described in any one of claims 1 to 10 by executing the executable instructions.

13. A vehicle, including a controller; The controller is configured to perform the steering anomaly detection method for steer-by-wire as described in any one of claims 1 to 10.

14. A readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steering anomaly detection method for steer-by-wire as described in any one of claims 1 to 10.

15. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, is configured to implement the steering anomaly detection method for steer-by-wire as described in any one of claims 1 to 10.

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