CN115352525A - Synchronous control method, device and equipment of steer-by-wire system and storage medium - Google Patents
Synchronous control method, device and equipment of steer-by-wire system and storage medium Download PDFInfo
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Abstract
The application provides a synchronous control method, a synchronous control device, synchronous control equipment and a storage medium of a steer-by-wire system, wherein the method comprises the steps of responding to a synchronous request, entering a synchronous mode and executing synchronous operation of a steering wheel and a steering engine, wherein the synchronous mode comprises that a steering actuator is in a non-enabling state and a steering wheel simulator is in an enabling state; under the condition that the intervention of the steering wheel is determined, the execution of synchronous operation is stopped, the takeover operation is executed, the takeover operation is used for controlling the steering wheel to output simulated hand force, and the problems that the safety of a steer-by-wire system is reduced and an alarm is given out due to the fact that the synchronous operation executed by the steer-by-wire system conflicts with the intervention of the steering wheel are avoided.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a device, and a storage medium for synchronous control of a steer-by-wire system.
Background
With the continuous development of automatic driving, people have higher and higher requirements on the intellectualization of automatic driving. A Steering-By-Wire (SWB) system is a key technology necessary for realizing path tracking and obstacle avoidance and risk avoidance By automatic driving, and the performance of the Steering-By-Wire system directly influences active safety and driving experience. In the process of power-on synchronization of the steer-by-wire system, if a user intervenes to control a steering wheel, synchronization failure of the steer-by-wire system can be caused, and a fault alarm is sent out, so that poor user experience is caused.
Disclosure of Invention
The embodiment of the application provides a synchronous control method, a synchronous control device, synchronous control equipment and a storage medium of a steer-by-wire system, which are used for solving the problems in the related art, and the technical scheme is as follows:
in a first aspect, an embodiment of the present application provides a method for synchronous control of a steer-by-wire system, including:
entering a synchronization mode and performing a synchronous operation of the steering wheel and the steering engine in response to the synchronization request, the synchronization mode including the steering actuator being in a non-enabled state and the steering wheel simulator being in an enabled state;
and under the condition that the steering wheel is determined to be involved, stopping executing synchronous operation and executing takeover operation, wherein the takeover operation is used for controlling the steering wheel to output simulated hand force.
In a second aspect, an embodiment of the present application provides an apparatus for synchronous control of a steer-by-wire system, including:
the first response module is used for responding to a synchronous request, entering a synchronous mode and executing synchronous operation of a steering wheel and a steering machine, wherein the synchronous mode comprises that a steering actuator is in a non-enabled state and a steering wheel simulator is in an enabled state;
a first execution module for suspending execution of the synchronization operation and executing a take-over operation for controlling the steering wheel to output the simulated hand power, in case that the steering wheel intervention is determined
In a third aspect, an embodiment of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of synchronous control of a steer-by-wire system described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when executed on a computer, perform a method in any one of the above-described aspects.
The advantages or benefits in the above technical solution at least include:
in the present embodiment, the synchronization mode is entered by responding to the synchronization request, and the synchronization operation is performed in the synchronization mode to rotate the position of the steering wheel to the position synchronized with the steering gear. Under the condition that the steering wheel is determined to be involved in the synchronous mode, namely under the condition that the steering wheel rotates, the synchronous operation is firstly stopped, so that the steering wheel of the steer-by-wire system cannot continuously execute the synchronous task, and the problems that the safety of the steer-by-wire system is reduced and the alarm is given out due to the fact that the synchronous operation executed by the steer-by-wire system conflicts with the intervention of the steering wheel are avoided. Meanwhile, the takeover operation is executed, and the simulated hand power is provided for the steering wheel by executing the takeover operation, so that a user can experience the same hand power of the steering wheel as that in the driving process when the steering wheel is rotated, and the entertainment and the driving experience are increased.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and the following detailed description.
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In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 is a schematic structural view showing a steer-by-wire system according to an embodiment of the present application;
fig. 2 is a flowchart illustrating a synchronous control method of a steer-by-wire system according to an embodiment of the present application;
fig. 3 is a schematic flowchart illustrating a process of switching to a driving mode in a synchronous control method of a steer-by-wire system according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating a process of receiving an entertainment request in a synchronous control method of a steer-by-wire system according to an embodiment of the present application;
fig. 5 is a schematic view of a synchronization control apparatus of a steer-by-wire system according to another embodiment of the present application;
fig. 6 is a block diagram of an electronic device for implementing a synchronous control method of a steer-by-wire system according to an embodiment of the present disclosure.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a schematic structural diagram of a steer-by-wire system according to an embodiment of the present application.
As shown in fig. 1, the steer-by-wire system includes a drive-by-wire Domain Controller (ADC), a Vehicle Controller (VDCM), a Steering wheel simulator (stering column Unit, SCU), a first Steering actuator (stering GearUnit, SGU), a main network (chasss Bus), a Private network (Private Bus), and a standby network (chasss Backup Bus);
the drive-by-wire domain controller is electrically connected with the whole vehicle controller through a main network so as to realize signal communication between the drive-by-wire domain controller and the whole vehicle controller;
the drive-by-wire domain controller is electrically connected with the steering wheel simulator and the steering actuator through a private network so as to realize signal communication among the drive-by-wire domain controller, the steering wheel simulator and the steering actuator, and the drive-by-wire domain controller can be communicated with other domain controllers of the vehicle or an Electronic Control Unit (ECU) of the vehicle and the like through a main network.
The drive-by-wire domain controller, the vehicle Control Unit, the steering wheel simulator and the steering actuator are electrically connected through a standby network to realize signal communication among the drive-by-wire domain controller, the vehicle Control Unit, the steering wheel simulator and the steering actuator, and the drive-by-wire domain controller can also be communicated with other domain controllers of the vehicle or an Electronic Control Unit (ECU) of the vehicle and the like through the standby network.
And under the non-enabled state, the steering wheel simulator does not respond to the target torque request sent by the wire control domain controller when the wire control domain controller sends the target torque request.
And when the steering actuator is in an enabled state and responds to the request of the steering ratio sent by the wire controlled domain controller, the steering actuator is converted into the steering ratio of the steering machine and controls the steering machine to rotate according to the steering ratio, and when the wire controlled domain controller sends the request of the steering ratio, the steering actuator does not respond to the request of the steering ratio sent by the wire controlled domain controller in a non-enabled state.
The vehicle control unit is used as the redundant configuration of the drive-by-wire domain controller, and the drive-by-wire domain controller has the functions of the domain controller and the gateway routing function.
Fig. 2 is a flowchart illustrating a synchronization control method of a steer-by-wire system according to an embodiment of the present application. As shown in fig. 2, the synchronization control method of the steer-by-wire system may include:
s210: and entering a synchronous mode in response to the synchronous request and executing synchronous operation of the steering wheel and the steering engine, wherein the synchronous mode comprises that the steering actuator is in a non-enabled state, and the steering wheel simulator is in an enabled state.
S220: and under the condition that the steering wheel is determined to be involved, stopping executing synchronous operation and executing takeover operation, wherein the takeover operation is used for controlling the steering wheel to output simulated hand force.
The synchronous control method of the steer-by-wire system can be executed by the steer-by-wire system, can be executed by a drive-by-wire domain controller, or can be executed by a vehicle controller. In this embodiment and the following embodiments, the synchronous control method for executing the steer-by-wire system by using the domain-by-wire controller as the execution subject can be obtained by the same principle for the execution by using the remaining execution subjects, and is not described again.
In the present embodiment, the synchronization mode is entered by responding to the synchronization request, and the synchronization operation is performed in the synchronization mode to rotate the position of the steering wheel to the position synchronized with the steering gear. Under the condition that the steering wheel is determined to be involved in the synchronous mode, namely under the condition that the steering wheel rotates, the synchronous operation is firstly stopped, so that the steering wheel of the steer-by-wire system cannot continuously execute the synchronous task, and the problems that the safety of the steer-by-wire system is reduced and the alarm is given out due to the fact that the synchronous operation executed by the steer-by-wire system conflicts with the intervention of the steering wheel are avoided. Meanwhile, the takeover operation is executed, and the simulated hand power is provided for the steering wheel by executing the takeover operation, so that a user can experience the same hand power of the steering wheel as that in the driving process when the steering wheel is rotated, and the entertainment and the driving experience are increased.
In step S210, the domain-by-wire controller enters a synchronization mode in response to the synchronization request and performs a synchronous operation of the steering wheel with the steering gear, the synchronization mode including the steering actuator being in a non-enabled state and the steering wheel simulator being in an enabled state.
After the vehicle is powered on and started, the wire control domain controller finishes an initialization process and enters a waiting mode or enters a waiting mode before power-off post-processing execution, wherein the waiting mode comprises that a steering actuator is in an disabled state, and a steering wheel simulator is in an disabled state.
The steer-by-wire domain controller detects, in the case of the standby mode, whether the steering wheel is synchronized with the steering, i.e. whether the position of the steering wheel corresponds to the position of the rack of the steering gear. Under the condition that the steering wheel and the steering gear are synchronous, entering a synchronous mode and not executing synchronous operation; in the case where the steering wheel is not synchronized with the steering, a synchronization mode is entered and a synchronization operation is performed.
The steering wheel simulator is not enabled, namely the steering wheel simulator does not respond to a control request sent by the wire control domain controller; the steering wheel simulator enabling means that the steering wheel simulator responds to a control request sent by the wire control domain controller, determines the torque of a target motor according to the control request, and controls the target motor to drive a steering wheel to rotate according to the torque of the target motor.
The steering actuator is not enabled, namely the steering actuator does not respond to a control request sent by the wire control domain controller; the steering actuator is enabled, namely the steering actuator responds to a control request sent by the wire control domain controller, determines the steering ratio of the steering machine according to the control request and controls the steering machine to rotate according to the steering ratio.
The synchronization request may be an operation for instructing or controlling the domain controller to perform synchronization of the steering wheel and the steering engine, which is sent to the line control domain controller by the electronic control unit ECU of the vehicle after the vehicle is powered on and started. After receiving a synchronization request sent by an Electronic Control Unit (ECU), the wire control domain controller switches from a waiting mode to a synchronization mode or enters the synchronization mode, and meanwhile, the wire control domain controller can judge whether a steering wheel and a steering gear are synchronous or not, namely whether the position of the steering wheel corresponds to the position of a rack of a steering gear or not. Under the condition that the steering wheel and the steering gear are synchronous, the steering wheel and the steering gear stay in the synchronous mode after entering the synchronous mode, and wait for entering the driving mode; in the case where the steering wheel is not synchronized with the steering gear, a synchronization operation is performed.
The synchronization mode includes the steering actuator being in an inactive state, the steering wheel simulator being in an active state, and the synchronization operating to control the steering wheel to rotate to a position synchronized with the steering gear. That is, the steering wheel simulator can respond to the control request of the drive-by-wire controller, and the steering machine does not respond to the control request of the drive-by-wire controller, that is, the steering wheel is rotated at the moment, so that the steering machine is not rotated.
And performing a synchronous operation in the synchronous mode, wherein the synchronous operation can be that the wire control domain controller controls the steering wheel to rotate to a position synchronous with the steering machine through the steering wheel simulator. For example, the steer-by-wire domain controller obtains the current position of the steering machine, sends a control request to the steering wheel simulator according to the current position of the steering machine, the control request is a request for controlling the steering wheel to rotate to a position synchronous with the current position of the steering machine, the steering wheel simulator responds to the control request, determines the target torque of the target motor for controlling the steering wheel to rotate to the position synchronous with the current position of the steering machine, and controls the target motor to output the target torque according to the target torque of the target motor to control the steering wheel to rotate, so that the steering wheel and the steering machine are synchronized.
By controlling the steering wheel and the steering engine to be synchronous, when the driver enters a driving mode subsequently, a user can directly rotate the steering wheel and can synchronously control the steering engine to rotate, so that the operation of manual driving is realized.
In step S220, in the synchronization mode, the domain-by-wire controller suspends the synchronization operation and performs a take-over operation for controlling the steering wheel to output a simulated hand force, which is a rack force simulated without the rack force, in a case where it is determined that the steering wheel is involved.
In the synchronous mode, the synchronous mode includes the steering actuator being in an disabled state and the steering wheel simulator being in an enabled state. And at the moment, under the condition that the steering wheel is determined to be involved, the wire control domain controller executes the takeover operation after stopping the synchronous operation.
Controlling the steering wheel to output a simulated hand force in a take-over operation to a rack force simulated without the rack force
The steering wheel intervention mode is determined by monitoring the rotation of the steering wheel through a torque sensor of the steering wheel, sending a result measured by the torque sensor of the steering wheel to a line control domain controller, and determining whether the steering wheel intervenes or not through the line control domain controller according to the result. The steering wheel may be turned intentionally by the user, may be turned unintentionally, or may be grasped by the user so that the steering wheel cannot be turned at the output of the target motor. The steering wheel can be determined whether to rotate or not or to be held by a user and cannot rotate through a torque sensor of the steering wheel, the steering wheel is monitored through the torque sensor of the steering wheel by the line control domain controller, the steering wheel is determined to be involved under the condition that the torque of the steering wheel measured by the torque sensor of the steering wheel is larger than a first threshold value or the rotating speed of the steering wheel is larger than a second threshold value, and an intervention request of the steering wheel is sent to the line control domain controller, and the line control domain controller responds to the intervention request of the steering wheel. Similarly, under the condition that the torque of the steering wheel measured by the wire control domain controller through the torque sensor of the steering wheel is smaller than a first threshold value and the rotating speed of the steering wheel is smaller than a second threshold value, the exit intervention of the steering wheel is determined. The first threshold and the second threshold may be calibrated according to an actual vehicle, and are not limited herein.
The steer-by-wire controller firstly stops synchronous operation after determining that the steering wheel is intervened, namely the steer-by-wire controller firstly stops controlling the steering wheel to rotate to a position synchronous with the steering machine, so that the problem that the steer-by-wire system generates fault alarm due to the fact that the torque output by the target motor conflicts with the action of the current steering wheel is solved.
And after the synchronous operation of the line control domain controller is stopped, the line control domain controller executes a take-over operation, the take-over operation is that the line control domain controller controls the steering wheel to output simulated hand force, wherein the simulated hand force is rack force simulated under the condition of no rack force. Since in the synchronous mode the steering actuator is in the disabled state, i.e. not responding to the control request of the domain-by-wire controller, i.e. no real rack force is generated. At the moment, the wire control domain controller sends a control request of virtual rack force to the steering wheel simulator, the steering wheel simulator responds to the control request of the virtual rack force to generate target motor torque corresponding to the virtual rack force, and the target motor is controlled to output simulated hand force to the steering wheel according to the torque of the target motor. The user can feel the simulated hand force on the steering wheel when gripping the steering wheel. When the steering wheel is rotated, the feeling of rotating the steering wheel can be consistent with that of a real driving mode, the driving experience of a user is improved, and meanwhile, safety accidents cannot occur. The safety operation of the steer-by-wire system can be ensured, and the stability and the reliability of the operation of the steer-by-wire system can be ensured.
In one embodiment, the synchronization control method of a steer-by-wire system further includes:
in the case where it is determined that the steering wheel is out of intervention, execution of the takeover operation is suspended and the synchronization operation is performed.
And in the case of determining that the steering wheel is involved and withdrawn, the wire control domain controller suspends the re-execution of the synchronous operation, namely, the takeover operation is suspended and the synchronous operation is re-executed in the synchronous mode. And the wire control domain controller switches from controlling the steering wheel to outputting virtual hand force to controlling the steering wheel to rotate until the steering wheel rotates to a position synchronous with the steering engine. Therefore, after the intervention of the steering wheel is finished, the synchronization can be carried out again, so that the subsequent switching to the driving mode can be realized.
Under the condition that the steering wheel is determined to be quit and intervene, namely the steering wheel is not rotated, the execution of the takeover operation is stopped, the synchronous operation is re-executed, namely the position of the steering wheel is adjusted to the position synchronous with the steering engine again, so that the subsequent driving mode is entered, and the safe operation of the steer-by-wire system is ensured, and meanwhile, the stability and the reliability of the operation of the steer-by-wire system can also be ensured.
In one embodiment, determining the manner of steering wheel intervention comprises:
an intervention request of the steering wheel is generated in case the torque of the steering wheel is larger than a first threshold value and/or the rotational speed of the steering wheel is larger than a second threshold value.
The manner in which steering wheel intervention is determined by a torque sensor of the steering wheel. Wherein, the torque sensor of the steering wheel is electrically connected with the wire control domain controller. The torque sensor of the steering wheel is used for detecting the torque of the rotation of the steering wheel and the rotating speed of the steering wheel and sending the torque and the rotating speed to the wire control domain controller. The wire control domain controller determines whether the torque at the steering wheel is greater than a first threshold, or whether the rotational speed of the steering wheel is greater than a second threshold. When the torque of the steering wheel is greater than a first threshold, then it may be determined that the steering wheel is gripped by a user or otherwise caused to be locked, or that steering wheel intervention has occurred upon user intervention to turn the steering wheel. When the rotation speed of the steering wheel is greater than the second threshold value, it may be determined that the steering wheel is turned by the user. In general, during synchronous operation, the target motor drives the steering wheel to rotate, so that the steering wheel is rotated to a position synchronous with the steering machine, a certain rotation speed exists, and the rotation speed measured by the torque sensor of the steering wheel is at least greater than the rotation speed of the steering wheel in the process of rotating to the position synchronous with the steering machine, namely, the setting of the second threshold value is at least the rotation speed of the steering wheel in the position synchronous with the steering machine.
In this embodiment, through the moment of torsion of steering wheel and the rotational speed of steering wheel, can accurately judge whether there is the user at present to intervene the steering wheel or the problem that the steering wheel was locked etc to can promote steer-by-wire system's security and stability effectively.
In one embodiment, determining the manner in which the steering wheel exits the intervention comprises:
in the case where the torque of the steering wheel is not greater than the first threshold value and the rotational speed of the steering wheel is not greater than the second threshold value, it is determined that the steering wheel is out of the intervention.
Therefore, the torque of the steering wheel and the rotating speed of the steering wheel are measured by the torque sensor of the steering wheel and then are sent to the drive-by-wire domain controller, and the drive-by-wire domain controller determines that the steering wheel exits intervention when the torque of the steering wheel is not greater than the first threshold value and the rotating speed of the steering wheel is not greater than the second threshold value. Therefore, the situation that the user quits the intervention of the steering wheel can be effectively determined, so that the synchronous operation is executed again, the follow-up switching from the synchronous mode to the driving mode is realized, and the method is convenient and fast and has high efficiency.
In one embodiment, controlling the steering wheel to rotate to a position synchronized with the rack in the synchronizing operation includes:
and sending a target torque request to the steering wheel simulator, wherein the target torque request is used for triggering the steering wheel simulator to generate a target torque and controlling the steering wheel to rotate to a position synchronous with the steering engine according to the target torque.
In the synchronous mode, the steering wheel simulator is disabled and the steering engine actuator is enabled. The method comprises the steps that position information of a rack of a steering engine actuator is obtained through a drive-by-wire domain controller and sent to a steering wheel simulator, the steering wheel simulator determines a target torque of a target motor, the target motor is controlled to output the target torque according to the target torque, and a steering wheel is driven to rotate to the position of the steering engine. Therefore, the effect of synchronizing the steering wheel and the steering engine is realized by effectively controlling the rotation of the steering wheel in a mode that the steering wheel rotates and the steering engine is not moved in a synchronous mode.
In one embodiment, in the takeover operation, controlling the steering wheel to output the simulated hand force comprises:
and sending a simulated torque request to the steering wheel simulator, wherein the simulated torque request is used for triggering the steering wheel simulator to generate simulated torque and controlling the steering wheel to output simulated hand force according to the simulated torque.
In the synchronous mode, the steering wheel simulator is disabled and the steering gear actuator is enabled. The drive-by-wire domain controller obtains the gear power of a steering gear, the request of simulating hand power is sent to the steering wheel simulator according to the gear power, the steering wheel simulator generates a simulation torque according to the request of simulating hand power, and the target motor is controlled to drive the steering wheel based on the simulation torque, so that the steering wheel can keep virtual hand power, when a user grasps or rotates the steering wheel, the same hand power as that in a driving mode can be experienced, the entertainment of a vehicle is increased, meanwhile, the simulated driving can be experienced, meanwhile, because the current steering wheel is in a synchronous state, the steering gear can not be driven by the steering gear synchronously to rotate, and the safety and the stability of the vehicle are ensured.
In one embodiment, as shown in fig. 3, the synchronization control method of the steer-by-wire system further includes:
s310: monitoring that the steering wheel rotates to a position synchronous with the steering engine and the speed of the vehicle is less than a first speed;
s320: switching from the synchronous mode to a driving mode, and controlling the steering wheel to output a simulated hand force based on a rack force; wherein the steering mode is when both the steering actuator and the steering wheel simulator are enabled, and the rack force-based simulated hand force is used for the steering actuator to act with the steering wheel simulator.
The domain-by-wire controller switches from the synchronous mode to the drive mode when the steering wheel is rotated to a position where the steering is synchronized by the synchronous operation performed in the synchronous mode. Of course, if the vehicle is already started, for example, switched from the automatic driving mode to the synchronous driving mode and then switched to the driving mode while the vehicle is already running, the switching operation from the synchronous mode to the driving mode can be performed only if the steering wheel is turned to a position synchronized with the steering gear and the vehicle speed is less than the first vehicle speed, thereby ensuring the safety of the vehicle.
After the steering control system is switched to the driving mode, the steering actuator and the steering wheel simulator are both in enabling states, and the wire control domain controller can control the steering wheel and the steering gear through the steering actuator and the steering wheel simulator, so that when the steering wheel rotates, the steering gear can rotate along with the steering wheel, and wheels can rotate along with the steering wheel. The hand force on the steering wheel is simulated hand force based on rack force of a steering engine, the simulated hand force is real rack force of the steering engine is sent to a steering wheel simulator through a drive-by-wire domain controller, real torque is obtained through calculation of the steering wheel simulator, and the steering wheel simulator controls acting force output by a target motor to the steering wheel according to the real torque. The simulated hand force provided for the steering wheel on the basis of the real rack force in the driving mode can improve the driving experience of a user.
In one embodiment, as shown in fig. 4, the synchronization control method of the steer-by-wire system further includes:
s410: monitoring that the entertainment request is initiated and the vehicle speed is less than a second vehicle speed;
s420: entering the synchronous mode from the driving mode, and performing the takeover operation in the synchronous mode.
In the driving mode, the steering wheel simulator is enabled, the steering actuator is also in an enabled state, and a user can drive the steering engine to rotate through the steering wheel. If an entertainment button is input into the vehicle, the electronic control unit of the vehicle receives an entertainment signal of the entertainment button to generate an entertainment request and sends the entertainment request to the drive-by-wire domain controller, and the drive-by-wire domain controller simultaneously receives the speed of the vehicle from the electronic control unit of the vehicle. The drive-by-wire domain controller judges whether the vehicle speed of the vehicle is less than a second vehicle speed, executes a second switching operation under the condition that the vehicle speed of the vehicle is less than the second vehicle speed, and can reduce the speed or prompt a user according to the condition of the vehicle when the vehicle speed of the vehicle is not less than the second vehicle speed so as to ensure the safety of the vehicle.
The drive-by-wire domain controller is switched from a driving mode to a synchronous mode, namely, the drive-by-wire domain controller is enabled by a steering wheel simulator, a steering actuator is also switched from an enabled state to a steering wheel simulator enabled state, the steering actuator is in a non-enabled state, and at the moment, a steering wheel is rotated, and a steering machine does not rotate along with the steering wheel.
After entering the synchronous mode, the wire control domain controller executes the take-over operation in the synchronous mode, and the take-over operation can provide simulated hand power for the steering wheel, so that a vehicle user can still feel the hand power of the steering wheel when rotating the steering wheel, the entertainment of the vehicle is increased, and the rotation of the steering wheel can not bring any influence to the vehicle. At the moment, if the vehicle is in running, the steering machine of the steer-by-wire system can be automatically controlled to be taken over, so that the vehicle can continue to run safely, and the safety of the vehicle is ensured. If the vehicle is in the process of stopping, no automatic control over take-over is required.
In one embodiment, the synchronization control method of a steer-by-wire system further includes:
and executing synchronous operation under the condition that the exit entertainment request is initiated and the vehicle speed is less than the third vehicle speed.
In the event that the exit entertainment button is pressed again or otherwise provided, the electronic control unit of the vehicle generates an exit entertainment request and sends it to the line-by-wire domain controller. And when receiving the entertainment quitting request, the line control domain controller judges the speed of the vehicle, and executes synchronous operation under the condition that the speed of the vehicle is less than a third speed. Since the steering wheel and the steering gear of the steer-by-wire system may be in an unsynchronized state after exiting the entertainment request, the steering wheel and the steering gear are synchronized by performing a synchronization operation, thereby facilitating entry into a subsequent driving mode.
Because the steering wheel and the steering gear of the steer-by-wire system can enter a driving mode at any time after synchronization, the current vehicle speed of the vehicle is judged before the synchronization operation, and the synchronization operation is executed under the condition that the vehicle speed is less than the third vehicle speed, so that the safety of the vehicle is ensured, and particularly the safety of the vehicle and the stability of the steer-by-wire system are ensured when the steering wheel and the steering gear are switched to the driving mode subsequently.
In one embodiment, the synchronization control method of a steer-by-wire system further comprises:
and under the condition that a first power-down request is initiated and the vehicle speed is less than a fourth vehicle speed, switching from a synchronous mode to a power-down mode, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
The online control domain controller is in a synchronization mode, no matter in the process of executing the synchronization operation or in the process of taking over the operation at the moment. When the whole vehicle is powered off, the electronic control unit of the whole vehicle sends a first power-off request to the wire control domain controller in the synchronous mode. When the drive-by-wire domain controller acquires the first power-off request, the speed of the vehicle is required to be acquired from the electronic control unit, whether the speed of the vehicle is smaller than the fourth speed of the vehicle is judged, namely whether the vehicle stops is judged, and the situation that the drive-by-wire steering system enters the power-off mode before the electronic control unit controls the speed of the vehicle to stop the vehicle completely is avoided, so that the vehicle has a large potential safety hazard.
And the wire control domain controller responds to the first power-down request, and under the condition that the vehicle speed is determined to be less than the fourth vehicle speed, the wire control domain controller is switched from the synchronous mode to the power-down mode, so that the wire control steering system enters a dormant state after entering a waiting state.
In one embodiment, the synchronization control method of a steer-by-wire system further includes:
and under the condition that a second power-down request is initiated and the vehicle speed is less than a fifth vehicle speed, switching from the driving mode to a power-down mode, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
When the online control domain controller is in a driving mode, the steering wheel simulator and the steering actuator are in an enabling state. When the whole vehicle is powered off at the moment, the electronic control unit of the whole vehicle sends a second power-off request to the drive-by-wire domain controller in the driving mode. When the second power-off request is acquired, the drive-by-wire domain controller also needs to acquire the vehicle speed from the electronic control unit and judge whether the vehicle speed is less than a fifth vehicle speed, namely, whether the vehicle stops or not, so that the situation that the drive-by-wire steering system enters a power-off mode before the electronic control unit controls the vehicle speed to stop the vehicle completely is avoided, and the vehicle has great potential safety hazards.
And the wire control domain controller responds to the second power-off request, and under the condition that the vehicle speed is determined to be less than the fifth vehicle speed, the wire control domain controller is switched from the driving mode to the power-off mode, so that the wire control steering system enters a dormant state after entering a waiting state.
It should be noted that, although the synchronous control method of the steer-by-wire system has been described above by taking the steer-by-wire actuator as an execution subject, it will be understood by those skilled in the art that the present application should not be limited thereto.
Fig. 5 is a schematic view of a synchronization control apparatus of a steer-by-wire system according to another embodiment of the present application; as shown in fig. 5, the apparatus may include:
a first response module 501, configured to enter a synchronization mode in response to a synchronization request and perform a synchronization operation, where the synchronization mode includes that a steering actuator is in a non-enabled state, a steering wheel simulator is in an enabled state, and the synchronization operation is to control a steering wheel to rotate to a position synchronized with a steering engine;
a first execution module 502 for entering a synchronization mode and executing a synchronous operation of a steering wheel and a steering gear in response to a synchronization request, the synchronization mode including a steering actuator being in a non-enabled state and a steering wheel simulator being in an enabled state;
and a second executing module 503, configured to, in a case that it is determined that the steering wheel is involved, suspend execution of the synchronization operation and execute a takeover operation, where the takeover operation is to control the steering wheel to output the simulated hand force.
In one embodiment, in the first execution module, the determining the steering wheel intervention mode specifically includes:
steering wheel intervention is determined in case the torque of the steering wheel is larger than a first threshold value and/or the rotational speed of the steering wheel is larger than a second threshold value.
In one embodiment, an apparatus comprises:
and the second execution module is used for stopping executing the takeover operation and executing the synchronous operation under the condition that the steering wheel is determined to be withdrawn from the intervention.
In one embodiment, in the second execution module, the determining the steering wheel exit intervention mode specifically includes:
in the case where the torque of the steering wheel is not greater than the first threshold value and the rotational speed of the steering wheel is not greater than the second threshold value, it is determined that the steering wheel is out of the intervention.
In one embodiment, the synchronous operation of the steering wheel and the steering engine performed by the first execution module specifically comprises:
acquiring a target torque sent by a steering wheel simulator;
and controlling the steering wheel to rotate to a position synchronous with the steering machine according to the target torque.
In one embodiment, in the takeover operation of the first execution module, the controlling of the steering wheel to output the simulated hand force specifically includes:
acquiring a simulated torque sent by a steering wheel simulator;
and controlling the steering wheel to output simulated hand force according to the simulated torque.
In one embodiment, the apparatus further comprises:
the first monitoring module is used for monitoring that the steering wheel rotates to a position synchronous with the steering engine and the vehicle speed is less than a first vehicle speed;
the first switching module is used for switching from the synchronous mode to a driving mode and controlling the steering wheel to output simulated hand force based on rack force; wherein the steering mode is such that both the steering actuator and the steering wheel simulator are in an enabled state, and the rack force-based simulated hand force is used for the steering actuator to act with the steering wheel simulator.
In one embodiment, the apparatus further comprises:
the second monitoring module is used for monitoring that the entertainment request is initiated and the vehicle speed is less than a second vehicle speed;
and the second switching module is used for entering the synchronous mode from the driving mode and executing the takeover operation in the synchronous mode.
In one embodiment, the apparatus further comprises:
and the third response module is used for executing synchronous operation under the condition that the exit entertainment request is initiated and the vehicle speed is less than the third vehicle speed.
In one embodiment, the apparatus further comprises:
and the third switching module is used for switching from the synchronous mode to the power-down mode under the condition that the first power-down request is initiated and the vehicle speed is less than the fourth vehicle speed, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
In one embodiment, the apparatus further comprises:
and the fourth switching module is used for switching from the driving mode to the power-down mode under the condition that a second power-down request is initiated and the vehicle speed is less than a fifth vehicle speed, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
The functions of each module in each apparatus in the embodiment of the present application may refer to corresponding descriptions in the above method, and are not described herein again.
Fig. 6 shows a block diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic apparatus includes: a memory 610 and a processor 620, the memory 610 having stored therein instructions executable on the processor 620. The processor 620, when executing the instructions, implements the synchronous control method of the steer-by-wire system in the above-described embodiment. The number of the memory 610 and the processor 620 may be one or more. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the applications described and/or claimed herein.
The electronic device may further include a communication interface 630 for communicating with an external device to perform data interactive transmission. The various devices are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor 620 may process instructions for execution within the electronic device, including instructions stored in or on a memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to an interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, if desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 6, but this is not intended to represent only one bus or type of bus.
Optionally, in an implementation, if the memory 610, the processor 620, and the communication interface 630 are integrated on a chip, the memory 610, the processor 620, and the communication interface 630 may complete communication with each other through an internal interface.
It should be understood that the processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting Advanced reduced instruction set machine (ARM) architecture.
Embodiments of the present application provide a computer-readable storage medium (such as the memory 610 described above) storing computer instructions, which when executed by a processor implement the methods provided in embodiments of the present application.
Optionally, the memory 610 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created by use of the electronic apparatus according to the above-described embodiments, and the like. Further, the memory 610 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 610 may optionally include memory located remotely from processor 620, which may be connected to the electronic devices of the above-described embodiments via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more (two or more) executable instructions for implementing specific logical functions or steps in the process. And the scope of the preferred embodiments of the present application includes other implementations in which functions may be performed out of the order shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the method of the above embodiments may be implemented by hardware that is configured to be instructed to perform the relevant steps by a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
While the present invention has been described with reference to the specific embodiments, the scope of the present invention should not be limited to the specific embodiments, and various changes and modifications can be easily made by those skilled in the art within the technical scope of the present invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (24)
1. A synchronous control method of a steer-by-wire system is characterized by comprising the following steps:
entering a synchronization mode and performing a synchronous operation of a steering wheel and a steering machine in response to a synchronization request, the synchronization mode including a steering actuator being in a non-enabled state and a steering wheel simulator being in an enabled state;
and in the case of determining that the steering wheel is involved, stopping executing the synchronous operation and executing a take-over operation, wherein the take-over operation is used for controlling the steering wheel to output simulated hand force.
2. The method of claim 1, wherein determining the manner of steering wheel intervention comprises:
the steering wheel intervention is determined in case the torque of the steering wheel is larger than a first threshold value and/or the rotational speed of the steering wheel is larger than a second threshold value.
3. The method of claim 1, further comprising:
in a case where it is determined that the steering wheel is out of intervention, the outputting of the simulated hand force is suspended and the synchronous operation is performed.
4. The method of claim 3, wherein determining the manner in which the steering wheel exits the intervention comprises:
determining that the steering wheel is out of engagement if the torque of the steering wheel is not greater than a first threshold and the rotational speed of the steering wheel is not greater than a second threshold.
5. The method of claim 1, wherein performing synchronous steering wheel and steering machine operation comprises:
and sending a target torque request to the steering wheel simulator, wherein the target torque request is used for triggering the steering wheel simulator to generate a target torque and controlling the steering wheel to rotate to a position synchronous with the steering engine according to the target torque.
6. The method of claim 1, wherein the controlling the steering wheel to output a simulated hand force comprises:
and sending a simulated torque request to the steering wheel simulator, wherein the simulated torque request is used for triggering the steering wheel simulator to generate simulated torque and controlling the steering wheel to output simulated hand force according to the simulated torque.
7. The method of any one of claims 1-6, further comprising:
monitoring that the steering wheel rotates to a position synchronous with the steering engine and the speed of the vehicle is less than a first speed;
switching from the synchronous mode to a driving mode, and controlling the steering wheel to output a simulated hand force based on a rack force; wherein the steering mode is such that both the steering actuator and the steering wheel simulator are in an enabled state, and the rack force-based simulated hand force is used for the steering actuator to act with the steering wheel simulator.
8. The method of claim 7, further comprising:
monitoring that an entertainment request is initiated and the vehicle speed is less than a second vehicle speed;
entering the synchronous mode from the driving mode, and performing the takeover operation in the synchronous mode.
9. The method of claim 8, further comprising:
and executing the synchronous operation under the condition that the exit entertainment request is initiated and the vehicle speed is less than the third vehicle speed.
10. The method of claim 1, further comprising:
and under the condition that a first power-down request is initiated and the vehicle speed is less than a fourth vehicle speed, switching from the synchronous mode to a power-down mode, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
11. The method of claim 7, further comprising:
and under the condition that a second power-off request is initiated and the vehicle speed is less than a fifth vehicle speed, switching from the driving mode to a power-off mode, wherein the power-off mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
12. A synchronous control device of a steer-by-wire system, comprising:
a first response module, configured to enter a synchronization mode in response to a synchronization request and perform a synchronization operation of a steering wheel and a steering engine, where the synchronization mode includes a steering actuator being in an disabled state and a steering wheel simulator being in an enabled state;
and the first execution module is used for stopping executing the synchronous operation and executing a take-over operation under the condition that the intervention of the steering wheel is determined, wherein the take-over operation is used for controlling the steering wheel to output simulated hand force.
13. The apparatus according to claim 12, wherein in the first executing module, the determining a steering wheel intervention manner specifically comprises:
the steering wheel intervention is determined in case the torque of the steering wheel is greater than a first threshold value and/or the rotational speed of the steering wheel is greater than a second threshold value.
14. The apparatus of claim 12, further comprising:
and the second execution module is used for stopping executing the takeover operation and executing the synchronous operation under the condition that the steering wheel is determined to be withdrawn from the intervention.
15. The apparatus according to claim 14, wherein in the second executing module, the determining of the manner in which the steering wheel exits the intervention specifically comprises:
determining that the steering wheel is out of engagement if the torque of the steering wheel is not greater than a first threshold and the rotational speed of the steering wheel is not greater than a second threshold.
16. The device according to claim 12, characterized in that said performing of a synchronous steering wheel and steering machine operation of said first execution module comprises in particular:
and sending a target torque request to the steering wheel simulator, wherein the target torque request is used for triggering the steering wheel simulator to generate a target torque and controlling the steering wheel to rotate to a position synchronous with the steering engine according to the target torque.
17. The apparatus of claim 12, wherein, in the takeover operation of the first execution module, the controlling the steering wheel to output a simulated hand force specifically comprises:
and sending a simulated torque request to the steering wheel simulator, wherein the simulated torque request is used for triggering the steering wheel simulator to generate simulated torque and controlling the steering wheel to output simulated hand force according to the simulated torque.
18. The apparatus of any one of claims 12-17, further comprising:
the first monitoring module is used for monitoring that the steering wheel rotates to a position synchronous with the steering engine and the vehicle speed is less than a first vehicle speed;
the first switching module is used for switching from the synchronous mode to a driving mode and controlling the steering wheel to output simulated hand force based on rack force; wherein the steering mode is such that both the steering actuator and the steering wheel simulator are in an enabled state, and the rack force-based simulated hand force is used for the steering actuator to act with the steering wheel simulator.
19. The apparatus of claim 18, further comprising:
the second monitoring module is used for monitoring that the entertainment request is initiated and the vehicle speed is less than a second vehicle speed;
and the second switching module is used for entering the synchronous mode from the driving mode and executing the takeover operation in the synchronous mode.
20. The apparatus of claim 19, further comprising:
and the third response module is used for executing the synchronous operation under the condition that the exit entertainment request is initiated and the vehicle speed is less than the third vehicle speed.
21. The apparatus of claim 12, further comprising:
and the third switching module is used for switching from the synchronous mode to a power-down mode under the condition that a first power-down request is initiated and the vehicle speed is less than a fourth vehicle speed, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
22. The apparatus of claim 18, further comprising:
and the fourth switching module is used for switching from the driving mode to a power-down mode under the condition that a second power-down request is initiated and the vehicle speed is less than a fifth vehicle speed, wherein the power-down mode is that the steering actuator is in a non-enabled state and the steering wheel simulator is in a non-enabled state.
23. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-11.
24. A computer readable storage medium having stored therein computer instructions which, when executed by a processor, implement the method of any one of claims 1-11.
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| CN202211215290.2A CN115352525A (en) | 2022-09-30 | 2022-09-30 | Synchronous control method, device and equipment of steer-by-wire system and storage medium |
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| CN202211215290.2A CN115352525A (en) | 2022-09-30 | 2022-09-30 | Synchronous control method, device and equipment of steer-by-wire system and storage medium |
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