CN116022227A

CN116022227A - Emergency method and device for steer-by-wire fault, vehicle and storage medium

Info

Publication number: CN116022227A
Application number: CN202111248424.6A
Authority: CN
Inventors: 罗军
Original assignee: Shanghai Jidu Automobile Co Ltd
Current assignee: Shanghai Jidu Automobile Co Ltd
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2023-04-28
Anticipated expiration: 2041-10-26
Also published as: CN116022227B

Abstract

The invention discloses an emergency method and device for steering-by-wire faults, a vehicle and a storage medium. The method comprises the following steps: receiving a fault signal of a steer-by-wire system; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; and receiving a control signal of the preset control device, and controlling the steering of the vehicle according to the control signal. According to the technical scheme, the problem that the steering hand feeling feedback subsystem fails and the steering of the vehicle cannot be controlled is solved, the safe running of the vehicle is controlled through the preset control device when the steering hand feeling feedback subsystem fails, the potential safety hazard caused by the failure of the steering-by-wire system is reduced, and the effect of user safety is ensured.

Description

Emergency method and device for steer-by-wire fault, vehicle and storage medium

Technical Field

The embodiment of the invention relates to the technical field of steering control, in particular to an emergency method and device for steering-by-wire faults, a vehicle and a storage medium.

Background

With the development of modern industry, automobiles become important riding tools, and when a vehicle runs at a high speed, a steer-by-wire system fails and cannot automatically remove the failure, so that a large potential safety hazard can be caused.

The steer-by-wire system consists of two key subsystems: steering feel feedback subsystem and front wheel steering control subsystem. Because there is no mechanical connection between the steering wheel and the front wheels, when the steering hand feedback subsystem fails in special steering, the driver cannot control the steering of the front wheels due to the fact that the steering intention of the driver cannot be accurately perceived, and particularly, when the vehicle runs at a high speed, the vehicle cannot be controlled, so that huge potential safety hazards exist.

In the prior art, besides the steering wheel operated by a driver to control the steering of the vehicle, the steering of the vehicle can be controlled by a key or a central control screen, so that a user can park and pick up the vehicle in a narrow place conveniently. However, the method cannot be used as an emergency measure when the drive-by-wire system of the running vehicle fails, so that potential safety hazards caused by the failure of the drive-by-wire steering system in the running process of the vehicle are reduced.

Disclosure of Invention

The embodiment of the invention provides an emergency method, an emergency device, a vehicle and a storage medium for a steer-by-wire fault, which are used for realizing that when a steering feel feedback subsystem fails, the vehicle is controlled to safely run through a preset control device, so that the potential safety hazard of the vehicle caused by the fault of the steer-by-wire system is reduced, and the safety of a user is ensured.

In a first aspect, an embodiment of the present invention provides a method for emergency of steer-by-wire faults, including:

receiving a fault signal of a steer-by-wire system;

determining a fault state of the steer-by-wire system according to the fault signal;

if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy;

and receiving a control signal of a preset control device, and controlling the steering of the vehicle according to the control signal.

In a second aspect, an embodiment of the present invention further provides an emergency device for steer-by-wire faults, including:

the receiving module is used for receiving fault signals of the steer-by-wire system;

the determining module is used for determining the fault state of the steer-by-wire system according to the fault signal;

the display module is used for controlling the interaction system to display fault state prompts and preset device control strategies if the fault state is that the steering hand feeling feedback subsystem fails;

and the control module is used for receiving the control signal of the preset control device and controlling the steering of the vehicle according to the control signal.

In a third aspect, an embodiment of the present invention further provides a vehicle, including:

one or more processors;

A memory for storing one or more programs;

the preset control device is used for generating a control signal;

the steering-by-wire system comprises a front wheel steering control subsystem and a steering hand feedback subsystem, wherein the steering hand feedback subsystem is used for sensing steering signals of a steering wheel; the front wheel steering control subsystem is used for controlling the steering of the vehicle;

the interaction system is used for displaying fault state prompts and presetting device control strategies;

when the one or more programs are executed by the one or more processors, the one or more processors implement the steer-by-wire fault mitigation method of any of the embodiments of the present invention.

In a fourth aspect, embodiments of the present invention further provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a steer-by-wire fault mitigation method according to any of the embodiments of the present invention.

The embodiment of the invention receives the fault signal of the steer-by-wire system; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; and receiving a control signal of the preset control device, controlling the steering of the vehicle according to the control signal, solving the problem that the steering hand feeling feedback subsystem fails and the steering of the vehicle cannot be controlled, realizing the effect that when the steering hand feeling feedback subsystem fails, the preset control device controls the vehicle to safely run, reducing the potential safety hazard of the vehicle caused by the failure of the steering-by-wire system, and ensuring the safety of a user.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a vehicle according to an embodiment of the present invention;

FIG. 2 is a flow chart of an emergency method for steer-by-wire faults provided by an embodiment of the present invention;

FIG. 3 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 4 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 5 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 6 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 7 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 8 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

FIG. 9 is a flow chart of yet another method for emergency of steer-by-wire faults provided by an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an emergency device for steer-by-wire faults according to an embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

The steering-by-wire system cancels the mechanical connection between the steering wheels (front wheels) and the steering wheel, and mainly comprises a steering hand feedback subsystem and a front wheel steering control subsystem, wherein the steering hand feedback subsystem utilizes a road sensing motor to enable a driver to sense road surface resistance to control the steering wheel, determines a steering angle control signal according to the steering angle of the steering wheel generated by the rotation of the steering wheel by a user, and the front wheel steering control subsystem utilizes the steering motor to drive the front wheels of the steering wheels to rotate according to the steering angle control signal so as to steer the vehicle.

The emergency method for the steer-by-wire fault can realize that when the steering hand feedback subsystem fails, the vehicle is controlled to safely run through the preset control device, so that the potential safety hazard of the vehicle caused by the fault of the steer-by-wire system is reduced, and the safety of a user is ensured.

Specific examples are as follows:

example 1

When the steering hand feeling feedback subsystem fails, a fault state prompt and a preset device control strategy can be displayed through the interaction system, and a control signal is generated by operating the preset device according to the preset device control strategy by a user, so that the front wheel steering control subsystem in the steer-by-wire system controls the vehicle according to the control signal. The method described above is applied to a vehicle provided in the embodiment shown in fig. 1, where the vehicle includes a processor 110, a memory 120, a preset control device 130, a steer-by-wire system 140, and an interaction system 150; the number of processors 110 in the vehicle may be one or more, one processor 110 being taken as an example in fig. 1; the processor 110, memory 120, preset controls 130, steer-by-wire system 140, and interactive system 150 in the vehicle may be connected via a bus or other means, for example via a bus connection in fig. 1.

The memory 120 is used as a computer readable storage medium for storing software programs, computer executable programs and modules, such as program instructions/modules corresponding to the method for emergency of steer-by-wire faults in the embodiments of the present invention. The processor 110 executes various functional applications of the vehicle and data processing, i.e., implements a steer-by-wire fault emergency method, by running software programs, instructions, and modules stored in the memory 120.

The memory 120 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, memory 120 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, memory 120 may further include memory remotely located with respect to processor 110, which may be connected to the vehicle 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.

The preset control device 130 is used for generating a control signal when the fault state is that the steering hand feeling feedback subsystem fails;

the steer-by-wire system 140 comprises a front wheel steering control subsystem and a steering feel feedback subsystem, wherein the steering feel feedback subsystem is used for sensing steering signals of a steering wheel; the front wheel steering control subsystem is used for controlling the steering of the vehicle;

the interaction system 150 is used for displaying fault status prompts and preset device control strategies.

The invention provides the vehicle applying the emergency method of the steer-by-wire fault, so that when the steering hand feel feedback subsystem of the vehicle fails and the steering intention of a user cannot be perceived, the user controls the vehicle to safely run by controlling the existing preset control device on the vehicle, the potential safety hazard of the vehicle caused by the fault of the steer-by-wire system is reduced, and the safety of the user is ensured.

Example two

Fig. 2 is a flowchart of an emergency method for steer-by-wire fault provided by an embodiment of the present invention, where the embodiment may be adapted to a situation where emergency control is performed when a steering feel feedback subsystem of a steer-by-wire system fails. The emergency device for steer-by-wire faults may be a processor executing an emergency method for steer-by-wire faults.

As shown in fig. 2, the method specifically includes the following steps:

s210, receiving a fault signal of the steer-by-wire system.

The steering-by-wire system mainly comprises a steering hand feeling feedback subsystem and a front wheel steering control subsystem. The failure of the steering-by-wire system refers to the failure of the steering feel feedback subsystem and/or the front-wheel steering control subsystem, and the failure signal of the steering-by-wire system can comprise the failure signal of the steering feel feedback subsystem and/or the failure signal of the front-wheel steering control subsystem.

Illustratively, the steer-by-wire system generates a fault signal upon a fault, and the emergency device for the steer-by-wire fault receives the fault signal of the steer-by-wire system via the CAN bus.

S220, determining the fault state of the steer-by-wire system according to the fault signal.

Wherein the fault condition is used to indicate the subsystem and the fault extent of the steer-by-wire system that is faulty. The fault state can be set according to the source of the fault signal, the emergency mode of the fault and other factors.

For example, the fault conditions of the steer-by-wire system may include: failure of the steering feel feedback subsystem, reduced performance of the steering feel feedback subsystem, failure of the front wheel steering control subsystem, and reduced performance of the front wheel steering control subsystem. Wherein, the system failure means that the system cannot work at all, and the system performance reduction means that the steer-by-wire system can work but the performance is restrained. For example, if the steering feel subsystem is in a failure state, the rotation angle of the steering wheel cannot be perceived, and steering feel feedback cannot be provided; in a state of reduced performance, the directional rotation angle can be perceived, but feedback on the steering feel is degraded or only a part of the steering feel can be fed back.

And S230, if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy.

The interactive system can be a system for realizing data communication of the vehicle by utilizing a modern wireless communication technology to enable the vehicle to have interactive cooperation, and the interactive system mainly transmits information to a user through a touch display screen and receives control operation of the user.

The fault status prompt is used for prompting the user of the fault of the steer-by-wire system. The preset device can be an existing control device on the vehicle and is used for replacing the steering hand feeling feedback subsystem to feed back the steering angle to the front steering control subsystem when the steering hand feeling feedback subsystem fails, so that the vehicle can normally steer. The preset device may be, for example, a turn signal lever, a shift lever, a window lift button, and may also include other devices on the vehicle, such as a volume adjusting device, an air conditioner wind direction adjusting device. The preset device can be determined by a system developer according to the condition of the existing device on the vehicle or can provide an optional preset device for the user to select by himself. The preset device control strategy is an operation step of controlling the vehicle steering by using the preset device and is used for prompting a user to operate the preset device according to the preset control strategy to control the vehicle steering. The preset device control policy may be user-defined or set according to user operation habits.

Specifically, if the fault state is determined to be failure of the steering handle subsystem according to the control signal of the steer-by-wire system, a prompt instruction is sent to the interactive system to control the interactive system to display fault state prompts, remind a user of failure of the steering handle subsystem, and meanwhile obtain a preset device control strategy corresponding to the fault state, and control the interactive system to display the preset device control strategy.

For example, the content of the fault state prompt may be "the steering system is faulty, please slow down, or" the steering feel feedback subsystem is disabled, the preset device is enabled ", which is not limited in this embodiment of the present invention. The preset device control strategy corresponding to the fault state can be stored in the memory in advance in the form of a configuration file, and when the fault state is that the steering handle subsystem fails, the corresponding configuration file is called to display the preset device control strategy on a display screen of the interactive system. The display mode of the preset device control strategy on the display screen of the interactive system can be animation, graphics or text description, and the embodiment of the invention is not limited in this way.

Optionally, the failure of the steering feel feedback subsystem includes one or more faults that fail to sense a steering wheel steering signal.

S240, receiving a control signal of a preset control device, and controlling the vehicle according to the control signal.

The control signal is a signal generated by operating a preset control device and is used for controlling the vehicle, and the control signal can comprise a steering angle and a vehicle speed.

Specifically, the user may select according to a preset device control policy displayed by the interactive system and operate the preset device to generate a control signal, and when the emergency device with the steer-by-wire fault receives the control signal of the preset device, the emergency device sends the control signal to the front wheel steering control subsystem, so that the front wheel steering control subsystem controls the front wheel to steer according to the control signal.

The control signal may also be sent to the brake system to cause the brake system to control the vehicle travel speed in accordance with the vehicle speed contained in the control signal.

According to the technical scheme, a fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; the control signal of the preset control device is received, the vehicle is controlled according to the control signal, the vehicle can be controlled to safely run through the preset control device when the steering feel feedback subsystem fails, the potential safety hazard of the vehicle caused by the fault of the steer-by-wire system is reduced, and the safety of a user is ensured.

Example III

Fig. 3 and fig. 4 are flowcharts of another method for emergency control-by-wire steering failure according to an embodiment of the present invention, where the method for determining a preset device control strategy includes: receiving a user selection of a preset device, wherein the preset device comprises at least one of the following: a steering lamp deflector rod, a gear shifting rod and a vehicle window lifting button; and determining a preset device control strategy according to the selection of the user.

As shown in fig. 3, in a specific embodiment, when it is determined that the fault state is that the steering feel feedback subsystem fails, the preset device may be displayed on a display screen of the interactive system for a user to select, and a preset device control policy corresponding to the preset device selected by the user may be displayed on the display screen, so as to prompt the user to control the vehicle according to the preset device control policy.

If the fault state is that the steering hand feedback subsystem fails, the control interaction system displays a fault prompt and executes a control strategy shown in fig. 3 to control the vehicle.

As shown in fig. 3, the method of this embodiment specifically includes the following steps:

steps S310 to S320 are the same as steps S210 to S220, and are not described here again;

S330, if the fault state is that the steering hand feedback subsystem fails, the interaction system is controlled to display a fault state prompt and a preset device, the selection of the preset device by a user is received, and the preset device comprises at least one of the following: steering lamp driving lever, gear level, window lift button.

Specifically, when the preset device is a steering lamp deflector rod, the steering of the vehicle can be controlled through the direction of the deflector rod and the stay time of the deflector rod at the mark position. When the preset device is a shift lever, the steering of the vehicle can be controlled through a button on the shift lever. When the preset device is a window lifting button, the vehicle steering can be controlled by setting the number, the poking direction or the operation time of the window lifting buttons.

S340, determining a preset device control strategy according to the selection of the user.

For example, a preset device that can be used to control the steering of the vehicle is displayed on a display screen of the interactive system for selection by a user, and a corresponding preset device control strategy is invoked based on the preset device selected by the user.

S350, controlling the interactive system to display a preset device control strategy.

S360, receiving a control signal of a preset control device, and controlling the vehicle according to the control signal.

In another specific embodiment, as shown in fig. 4, in the user setting of the vehicle interaction system, the preset device is displayed on the display screen of the interaction system for the user to select, and the preset device control policy corresponding to the preset device selected by the user is stored. When a fault signal of the steer-by-wire system is received, and the fault state is determined to be that the steering hand feedback subsystem fails according to the fault signal, a pre-stored preset device control strategy is directly displayed on a display screen so as to prompt a user to control the vehicle according to the preset device control strategy.

As shown in fig. 4, the method of this embodiment specifically includes the following steps:

s410, receiving a selection of a preset device by a user, wherein the preset device comprises at least one of the following: steering lamp driving lever, gear level, window lift button.

Specifically, before using an emergency device with a steer-by-wire fault, a user is required to select a preset device as a device for controlling the steering of the vehicle when the steering feel feedback subsystem fails.

S420, determining a preset device control strategy according to the selection of the user. Steps after determining the device control policy are the same as steps S210 to S240, and will not be described here again.

Optionally, in the foregoing embodiment, the preset device control policy is customized by a user or set according to a user operation habit.

In a specific example, the preset device control strategy is user-defined. For example, when the preset device is a turn signal light deflector rod, the user can customize the stepping angle of the turn signal light deflector rod and the turning direction corresponding to the deflector rod pulling direction. When the preset device is a window lifting button, the vehicle steering can be controlled by setting the stirring direction or the operation time of one window lifting button. Two window lift buttons may also be provided to control the steering direction and stepping angle of the vehicle.

In another specific example, the preset device control policy may be determined for adjustment or confirmation by the user according to the user's operating habits.

According to the technical scheme of the embodiment, through receiving the selection of the preset device by the user, the preset device comprises at least one of the following: the control interaction system is used for displaying fault state prompts and preset device control strategies when the fault state is that the steering handle feedback subsystem fails, receiving control signals of the preset control device, controlling the vehicle according to the control signals, and displaying the preset device control strategies when the steering handle feedback subsystem fails, so that a user can control the vehicle to turn according to the preset device control strategies in the running process of the vehicle, potential safety hazards caused by the fault of the drive-by-wire steering system are reduced, and the safety of the user is ensured. Meanwhile, the preset device can be set by a user, and the control strategy of the preset device can also be customized by the user, so that the emergency method of the drive-by-wire steering fault is more suitable for the actual demands and behavior habits of the user.

On the basis of the above-described embodiments, the present embodiment further refines the process of determining the control signal by the user operating the preset device.

In a specific embodiment, when the preset device is a turn signal deflector rod, setting a stepping angle of a deflector rod signal, and stirring the deflector rod leftwards to be a left turn signal and stirring the deflector rod rightwards to be a right turn signal;

the steering angle control signal is determined based on the dwell time of the lever in either the left or right flag.

The steering deflector rod can be used for controlling a steering lamp, a super lamp, a fog lamp, a wiper, a constant-speed cruise and the like in the normal running process of the vehicle, and can be used for controlling the steering of the vehicle if the selected preset device is the steering lamp deflector rod when the steering hand feeling feedback subsystem fails. The left and right sides of the driving lever are respectively provided with a left marker bit and a right marker bit which are used for indicating the direction indicated by the driving lever.

Specifically, a left turn signal can be generated when the deflector rod is poked leftwards and used for driving the vehicle to turn leftwards; when the driver dials leftwards, a right turn signal is generated and is used for driving the vehicle to turn right. The steering angle is determined according to the stay time of the shift lever at the left marker bit or the right marker bit and the stepping angle of the shift lever signal. The stepping angle of the deflector rod represents the angle rotated by the front wheel in the unit time of the deflector rod in the identification position, and the stepping angle can be set by a user or can be determined according to the behavior data of the steering of the vehicle and the safety test. The steering angle control signal may be determined based on the steering angle and the steering direction.

Illustratively, the step angle of the lever signal is 10 degrees per second, and if the dwell time of the lever in the left flag is 3S, the steering angle control signal indicates steering to the left for 3S at a steering angle speed of 10 degrees per second; if the stay time of the deflector rod at the right marker bit is 4S, the steering angle control signal indicates that the deflector rod is steered to the right at a steering angle speed of 10 degrees per second for 4S; if the deflector rod is in the middle position, the vehicle is indicated to move straight.

In another specific embodiment, when the preset device is a window lift button, the step angle of the window lift button is set,

setting a selected window lifting button as a steering control button, wherein the dial-up is a left-turn signal, and the dial-down is a right-turn signal;

the steering angle control signal is determined based on the time the window lifter button is operated upward or downward.

The vehicle window lifting button can be used for controlling the lifting of the vehicle window in the normal running process of the vehicle, the upward-shifting button is used for lifting the vehicle window, and the downward-shifting button is used for descending the vehicle window. The window lift button may be used to control the steering of the vehicle in the event of failure of the steering feel feedback subsystem.

Specifically, each window will typically be provided with an independent window lifter button, and a vehicle will have a plurality of window lifter buttons, and the user may select one of the window lifter buttons as the steering control button. For the steering control button, the steering direction can be determined by the direction of the toggle button, for example, the dial-up button is arranged to generate a left turn signal, and the dial-down button is arranged to generate a right turn signal; the steering angle control signal can be determined by the upward or downward operation time of the toggle button and the stepping angle of the window lift button. The step angle of the window lift button represents the angle by which the front wheel rotates in a unit time of the up or down movement of the toggle button, and can be set by a user or determined according to behavior data of the steering of the vehicle and a safety test.

Illustratively, the window lift button has a step angle of 10 degrees per second, and if the button is toggled up 3S, the steering angle control signal indicates steering to the left for 3S at a steering angle speed of 10 degrees per second; if the button 4S is toggled down, the steering angle control signal indicates steering to the right at a steering angle speed of 10 degrees per second for 4S; if the button is in the middle position, the vehicle is indicated to run straight.

In another specific embodiment, when the preset device is a window lifting button, two window lifting buttons are set as steering control buttons;

one of the buttons is set as a left steering control button, and the other is set as a right steering control button;

or two window lifting buttons are arranged to be used as a step angle doubling left turning control signal at the same time, and two buttons are arranged to be used as a step angle doubling right turning control signal at the same time.

Specifically, the user can select two window lifting buttons as steering control buttons by himself, set the steering direction indicated by the toggle operation of the two steering control buttons, and determine the steering angle control signal through the operation time and the stepping angle of the toggle buttons.

In a specific example, two window lift buttons are provided as the steering control buttons, one of which is a left steering control button and the other of which is a right steering control button, and toggling the left steering control button up or down generates a left steering signal and toggling the right steering control button up or down generates a right steering signal. For example, if the preset step angle of the window lifter button is 10 degrees per second, if the left steering control button 3S is dialed up, the steering angle control signal indicates steering to the left at a steering angle speed of 10 degrees per second for 3S; if the right steering control button 3S is toggled down, the steering angle control signal indicates steering to the right at a steering angle speed of 10 degrees per second for 3S.

In another specific example, two window lift buttons are provided, and the step angle of the window lift buttons is a preset multiple of the preset step angle, and toggling up generates a left turn signal, and toggling down generates a left turn signal. Setting two window lifting buttons to serve as a step angle doubling left turning control signal upwards at the same time, and controlling the vehicle to control the vehicle to turn left at a preset step angle of a preset multiple; the two buttons are simultaneously used as a step angle doubling right-turning control signal for controlling the vehicle to control the vehicle to turn right at a preset step angle which is a preset multiple.

By way of example, the preset step angle of the window lift buttons is 10 degrees per second, and if two window lift buttons are set to dial up for 2S simultaneously, the steering angle control signal indicates steering to the left for 2S at a steering angle speed of 20 degrees per second; if two window lift buttons are set and simultaneously dial downwards for 2S, the steering angle control signal indicates that the vehicle is steered to the right for 2S at a steering angle speed of 20 degrees per second; if the button is in the middle position, the vehicle is indicated to run straight.

When the steering hand feeling feedback subsystem fails, the vehicle window lifting button or the steering lamp deflector rod can be operated to replace the steering hand feeling feedback subsystem to generate a steering angle control signal, so that the vehicle can continue to run safely, potential safety hazards caused by incapability of steering of the vehicle are reduced, and the safety of a user is ensured.

Example IV

Fig. 5 is a flowchart of another method for emergency of steer-by-wire faults according to an embodiment of the present invention, which is optimized based on the above embodiment, wherein controlling the steering of the vehicle according to the control signal includes: acquiring the current vehicle speed and the allowed maximum yaw rate; calculating a front wheel steering angle, wherein the front wheel steering angle is calculated according to the control signal, the vehicle speed and the allowable maximum yaw rate; the front-wheel steering angle is sent to a front-wheel steering control subsystem.

As shown in fig. 5, the method of this embodiment specifically includes the following steps:

s510, receiving a fault signal of the steer-by-wire system.

S520, determining the fault state of the steer-by-wire system according to the fault signal.

And S530, if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy.

S540, receiving a control signal of a preset control device, and acquiring the current vehicle speed and the allowable maximum yaw rate.

When the steering hand feedback subsystem fails, a user can control the steering of the vehicle by adopting a preset device, but when the preset device is operated, the user is mainly dependent on experience of the user to judge the operation time of the button or the stay time of the deflector rod to control the steering angle of the vehicle. Therefore, the user's erroneous operation, irregular operation, or judgment deviation is likely to make the vehicle unable to stably steer, and thus the control signal also needs to be corrected in accordance with the current vehicle speed and the allowable maximum yaw rate.

Specifically, yaw rate refers to the deflection of the vehicle about a vertical axis, the magnitude of which represents the degree of stability of the vehicle. When the steering angle of the automobile is larger and the tire works in a nonlinear region, the steering intention cannot be realized by the steering system alone, and at the moment, the differential braking control is triggered to work, and the direct yaw moment control is realized by utilizing the differential braking, so that the driving intention of a driver is ensured, and the running stability control of the automobile is realized. The allowable maximum yaw rate may be set according to information such as the model number and performance of the vehicle.

S550, calculating a front wheel steering angle, wherein the front wheel steering angle is calculated according to the control signal, the vehicle speed and the allowable maximum yaw rate.

Specifically, the vehicle speed is v, and the maximum allowable front wheel rotation angle corresponding to the maximum allowable yaw rate is θ _max When the steering hand feedback subsystem fails, the vehicleThe angle of rotation of the front wheel of the vehicle is theta _fault The control signal includes: steering angle b, steering time t and steering direction a (a positive for left turn and a negative for right turn), and the calculated front wheel steering angle θ

θ＝min(θ _max ,θ _fault +b×t×a)；

S560, the front wheel steering angle is sent to the front wheel steering control subsystem to control the steering of the vehicle.

Specifically, the front wheel steering angle is sent to a front wheel steering control subsystem, and the front wheel steering control subsystem drives the front wheels of the steering wheel to rotate by using a steering motor according to the front wheel steering angle so as to steer the vehicle.

According to the embodiment of the invention, the fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; receiving a control signal of a preset control device, and acquiring the current vehicle speed and the allowed maximum yaw rate; calculating a front wheel steering angle, wherein the front wheel steering angle is calculated according to the control signal, the vehicle speed and the allowable maximum yaw rate; the front wheel steering angle is sent to the front wheel steering control subsystem, the steering angle contained in the control signal generated by the preset device can be corrected by user operation, and even if the user does not normally operate the preset device or judges that deviation exists, the front wheel steering angle suitable for the current vehicle speed can be generated, the vehicle is controlled to steer stably, and the safety of the user is further ensured.

Example five

Fig. 6 is a flowchart of another method for emergency of steer-by-wire failure according to an embodiment of the present invention, wherein the method is optimized based on the above embodiment, and after calculating the front wheel steering angle, the method further includes correcting the vehicle speed of the vehicle based on the preset vehicle speed, and correcting the steering angular velocity of the vehicle based on the preset angular velocity; determining a steering control signal based on the corrected vehicle speed and the corrected steering angular velocity; a steering control signal is sent to the front wheel steering control subsystem to control the steering of the vehicle.

As shown in fig. 6, the method of this embodiment specifically includes the following steps:

s610, a fault signal of the steer-by-wire system is received.

S620, determining the fault state of the steer-by-wire system according to the fault signal.

And S630, if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy.

S640, receiving a control signal of a preset control device.

S650, a front wheel steering angle is calculated, which is calculated based on the control signal, the vehicle speed, and the allowable maximum yaw rate.

Specifically, after the front wheel steering angle is calculated, the vehicle speed of the vehicle is corrected based on the preset vehicle speed, the steering angular velocity of the vehicle is corrected based on the preset angular velocity, and the steering control signal is determined based on the corrected vehicle speed and the corrected steering angular velocity.

The preset vehicle speed and the preset angular speed may be determined according to the model number, performance, and the like of the vehicle.

For example, the way to correct the vehicle speed based on the preset vehicle speed may be: if the speed of the vehicle is greater than the preset speed, a deceleration instruction containing the preset speed is sent to a braking system of the vehicle so as to decelerate the vehicle to the preset speed.

The manner of correcting the steering angular velocity of the vehicle based on the preset angular velocity may be: if the steering angular velocity of the vehicle is greater than the preset angular velocity, the steering angular velocity of the vehicle is reduced to the preset angular velocity.

And S660, transmitting a steering control signal to the front wheel steering control subsystem to control the steering of the vehicle.

According to the embodiment of the invention, the fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; the control signal of the preset control device is received, the speed of the vehicle is corrected based on the preset speed, the steering angular velocity of the vehicle is corrected based on the preset angular velocity, the steering control signal is determined based on the corrected speed and the corrected steering angular velocity, and the steering control signal is sent to the front wheel steering control subsystem to control the steering of the vehicle, so that the speed and the steering angular velocity are within preset thresholds, the stable advancing and steering of the vehicle are ensured, and the safety of a user is further ensured.

Example six

Fig. 7 is a flowchart of another method for emergency of steer-by-wire faults according to an embodiment of the present invention, which is optimized based on the above embodiment, in which the steer-by-wire system includes: the steering feel feedback subsystem and the front wheel steering control subsystem determine the fault state of the steer-by-wire system according to the fault signal, and the method comprises the following steps: according to the fault signal of the steering hand feeling feedback subsystem, determining that a first fault state corresponding to the steering hand feeling feedback subsystem is system failure or system performance reduction; determining a second fault state corresponding to the front wheel steering control subsystem as system failure or system performance reduction according to the fault signal of the front wheel steering control subsystem; determining a fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; the failure grade corresponding to the system failure is a first-level failure, and the failure grade corresponding to the system performance reduction is a second-level failure.

As shown in fig. 7, the method of this embodiment specifically includes the following steps:

s710, receiving a fault signal of the steer-by-wire system.

Wherein, steer-by-wire system includes: the steering hand feeling feedback subsystem and the front wheel steering control subsystem; the fault signal includes: the fault signal of the steering hand feeling feedback subsystem and the fault signal of the front wheel steering control subsystem.

S720, determining that a first fault state corresponding to the steering hand feeling feedback subsystem is system failure or system performance reduction according to a fault signal of the steering hand feeling feedback subsystem; and determining that the second fault state corresponding to the front wheel steering control subsystem is system failure or system performance reduction according to the fault signal of the front wheel steering control subsystem.

Specifically, if the fault signal of the steering hand feeling feedback subsystem indicates that the steering hand feeling feedback subsystem can output the steering intention of the user, but cannot feedback the steering hand feeling or feedback part of the steering hand feeling to the user, determining that the first fault state corresponding to the steering hand feeling feedback subsystem is system performance reduction; if the fault signal of the steering hand feeling feedback subsystem indicates that the steering hand feeling feedback subsystem cannot output the steering intention of the user and cannot feed back the steering hand feeling to the user, determining that the first fault state corresponding to the steering hand feeling feedback subsystem is system failure.

If the fault signal of the front wheel steering control subsystem indicates that the front wheel steering control subsystem can control the front wheel steering, but the steering angular speed or the steering angle is limited, determining that a second fault state corresponding to the front wheel steering control subsystem is system performance reduction; and if the fault signal of the front wheel steering control subsystem indicates that the front wheel steering control subsystem cannot control the front wheel steering, determining that the second fault state corresponding to the front wheel steering control subsystem is a system failure.

S730, determining the fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; the failure grade corresponding to the system failure is a first-level failure, and the failure grade corresponding to the system performance reduction is a second-level failure.

The first fault state of the steering hand feeling feedback subsystem is a first-level fault corresponding to the failure of the system, and the first fault state of the steering hand feeling feedback subsystem is a second-level fault corresponding to the performance reduction of the system; the second fault state of the front wheel steering control subsystem is a first-level fault corresponding to the failure of the system, and the second fault state of the front wheel steering control subsystem is a second-level fault corresponding to the reduced system performance.

Specifically, the fault state of the steer-by-wire system is determined according to the priority and the fault level respectively corresponding to the steering feel feedback subsystem and the front wheel steering control subsystem.

For example, if the priority of the steering feel feedback subsystem is higher than the priority of the front-wheel steering control subsystem, determining the first fault state of the steering feel feedback subsystem as the fault state of the steer-by-wire system when the fault level of the steering feel feedback subsystem is the same as the fault level corresponding to the front-wheel steering control subsystem.

S740, if the fault state is that the steering hand feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy;

s750, receiving a control signal of a preset control device, and controlling the vehicle according to the control signal.

Optionally, on the basis of the foregoing embodiment, determining the fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state includes:

if the first fault state is a system failure and the fault level corresponding to the first fault state is higher than or equal to the fault level corresponding to the second fault state, the fault state of the steer-by-wire system is a steering hand feeling feedback subsystem failure;

If the first fault state is that the system performance is reduced and the fault level corresponding to the first fault state is equal to the fault level corresponding to the second fault state, the fault state of the steer-by-wire system is that the steering hand feel feedback subsystem performance is reduced;

if the second fault state is a system failure and the fault level corresponding to the first fault state is lower than the fault level corresponding to the second fault state, the fault state of the steer-by-wire system is a front wheel steering control subsystem failure.

According to the embodiment of the invention, the fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; and receiving a control signal of the preset control device, controlling the vehicle according to the control signal, and determining that the steering hand feeling feedback subsystem fails according to the fault signal of the steering-by-wire system, so that when the steering hand feeling feedback subsystem fails, the vehicle is controlled to safely run through the preset control device, the potential safety hazard of the vehicle caused by the fault of the steering-by-wire system is reduced, and the safety of a user is ensured.

Example seven

FIG. 8 is a flow chart of another method for emergency of steer-by-wire fault provided by an embodiment of the present invention, wherein the method is optimized based on the above embodiment, in this embodiment, if the fault state is that the performance of the steering feel feedback subsystem is reduced, the interaction system is controlled to display fault prompt information, and a first deceleration command is sent to the braking system to control the vehicle to run at a first vehicle speed;

as shown in fig. 8, the method of this embodiment specifically includes the following steps:

s810, receiving a fault signal of the steer-by-wire system.

S820, determining the fault state of the steer-by-wire system according to the fault signal.

And S830, if the fault state is that the performance of the steering hand feeling feedback subsystem is reduced, the control interaction system displays first fault prompt information.

Wherein, the first fault prompting information is used for prompting the user that the performance of the steering hand feeling feedback subsystem is reduced

Specifically, if the fault state is that the performance of the steering hand feedback subsystem is reduced, a prompt instruction is sent to the interactive system to control the interactive system to display first fault prompt information. For example, the first fault notification may be "steering feel feedback subsystem performance decreases, please slow down.

S840, a first deceleration command is sent to the braking system to control the vehicle to run at a first vehicle speed.

Specifically, a first deceleration instruction is sent to a braking system, and the braking system controls the vehicle to run at a first vehicle speed, so that the vehicle can reduce the vehicle speed to ensure safe driving of the vehicle when the performance of the steering feel feedback subsystem is reduced.

According to the embodiment of the invention, the fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; if the fault state is that the performance of the steering hand feeling feedback subsystem is reduced, the control interaction system displays fault prompt information, and sends a first deceleration instruction to the braking system to control the vehicle to run at a first vehicle speed, so that when the performance of the steering hand feeling feedback subsystem is reduced, the interaction system can prompt the fault of a user, and the vehicle is automatically controlled to run in a decelerating mode, so that the safety of the vehicle and the user is ensured.

Example eight

FIG. 9 is a flow chart of another method for emergency of steer-by-wire fault provided by an embodiment of the present invention, wherein the method is optimized based on the above embodiment, in this embodiment, if the fault state is that the performance of the steering feel feedback subsystem is reduced, the interaction system is controlled to display fault prompt information, and a first deceleration command is sent to the braking system to control the vehicle to run at a first vehicle speed;

As shown in fig. 9, the method of this embodiment specifically includes the following steps:

s910, a fault signal of the steer-by-wire system is received.

S920, determining the fault state of the steer-by-wire system according to the fault signal.

And S930, if the fault state is that the front wheel steering control subsystem fails, controlling the vehicle to start a warning lamp and controlling the interaction system to display second fault prompt information.

The second fault prompt information is used for prompting a user that the front wheel steering control subsystem fails.

Specifically, if the fault state is that the front wheel steering control subsystem fails, the vehicle is controlled to turn on the warning lamp so as to remind the passing vehicle of paying attention to the passing vehicle, and a prompt instruction is sent to the interactive system so as to control the interactive system to display second fault prompt information. For example, the second fault notification may be "the front wheel steering control subsystem fails, please slow down.

S940, a second deceleration command is sent to the braking system to control the vehicle to operate at a second vehicle speed.

Wherein the second vehicle speed is less than the first vehicle speed.

Specifically, a second deceleration command is sent to a braking system, and the braking system controls the vehicle to run at a second vehicle speed, so that the vehicle can reduce the vehicle speed to ensure safe driving of the vehicle when the front wheel steering control subsystem fails.

According to the embodiment of the invention, the fault signal of the steer-by-wire system is received; determining a fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; if the fault state is that the front wheel steering control subsystem fails, the control interaction system displays fault prompt information, and sends a second deceleration instruction to the braking system to control the vehicle to run at a second vehicle speed.

Example nine

Fig. 10 is a schematic structural diagram of an emergency device for steer-by-wire faults according to an embodiment of the present invention. The embodiment can be suitable for the situation that emergency control is performed when the steering hand feedback subsystem of the steer-by-wire system fails, the device can be realized in a software and/or hardware mode, the device can be integrated in any equipment providing an emergency function of a steer-by-wire fault, as shown in fig. 10, and the emergency device of the steer-by-wire fault specifically comprises: a fault signal receiving module 1010, a fault status determining module 1020, a display module 1030, and a control module 1040.

Wherein, the fault signal receiving module 1010 is configured to receive a fault signal of the steer-by-wire system;

a fault state determination module 1020 configured to determine a fault state of the steer-by-wire system according to the fault signal;

the display module 1030 is configured to control the interaction system to display a fault state prompt and preset a device control policy if the fault state is that the steering feel feedback subsystem fails;

the control module 1040 is configured to receive a control signal of the preset control device, and control the vehicle according to the control signal.

Optionally, the method further comprises:

the device selection module is used for receiving the selection of a preset device by a user, and the preset device comprises at least one of the following: a steering lamp deflector rod, a gear shifting rod and a vehicle window lifting button;

and the control strategy determining module is used for determining a preset device control strategy according to the selection of the user.

Optionally, the preset device control policy is defined by a user, or set according to a user operation habit.

Optionally, the control module 1040 is specifically configured to:

acquiring the current vehicle speed and the allowed maximum yaw rate;

calculating a front wheel steering angle, wherein the front wheel steering angle is calculated according to the control signal, the vehicle speed and the allowable maximum yaw rate;

And sending the front wheel steering angle to a front wheel steering control subsystem to control the steering of the vehicle.

Optionally, when the preset device is a steering lamp deflector rod, setting a stepping angle of the deflector rod, and stirring the deflector rod leftwards to be a left-turning signal and stirring the deflector rod rightwards to be a right-turning signal;

Optionally, when the preset device is a window lifting button, setting a stepping angle of the window lifting button,

setting a selected window lifting button as a steering control button, wherein the upwards-poking is a left-turning button, and the downwards-poking is a right-turning button;

Optionally, when the preset device is a window lifting button,

setting two window lifting buttons as steering control buttons, wherein one of the window lifting buttons is used as a left steering control signal, and the other window lifting button is used as a right steering control signal;

alternatively, two window lift buttons are provided simultaneously as a step angle double left turn control signal upwards, and two buttons simultaneously as a step angle double right turn control signal downwards.

Optionally, the method further comprises the steps of,

a first correction module for correcting the speed of the vehicle based on a preset speed,

The second correction module is used for correcting the steering angular speed of the vehicle based on the preset angular speed;

the signal determining module is used for determining a steering control signal based on the corrected vehicle speed and the corrected steering angular speed;

and the transmitting module is used for transmitting the steering control signal to the front wheel steering control subsystem so as to control the steering of the vehicle.

Optionally, the fault state determining module 920 includes:

the first determining unit is used for determining that a first fault state corresponding to the steering hand feeling feedback subsystem is system failure or system performance reduction according to the fault signal of the steering hand feeling feedback subsystem;

the second determining unit is used for determining that a second fault state corresponding to the front wheel steering control subsystem is system failure or system performance reduction according to the fault signal of the front wheel steering control subsystem;

a third determining unit, configured to determine a fault state of the steer-by-wire system according to a fault level corresponding to the first fault state and a fault level corresponding to the second fault state; the failure grade corresponding to the system failure is a first-level failure, and the failure grade corresponding to the system performance reduction is a second-level failure.

Optionally, the third determining unit is specifically configured to:

if the first fault state is that the system performance is reduced, and the fault level corresponding to the first fault state is equal to the fault level corresponding to the second fault state, the fault state of the steer-by-wire system is that the steering hand feel feedback subsystem performance is reduced;

and if the second fault state is a system failure and the fault level corresponding to the first fault state is lower than the fault level corresponding to the second fault state, the fault state of the steer-by-wire system is a front wheel steering control subsystem failure.

Optionally, the control module 1040 is further configured to

If the fault state is that the performance of the steering hand feeling feedback subsystem is reduced, the control interaction system displays first fault prompt information and sends a first deceleration instruction to the braking system so as to control the vehicle to run at a first vehicle speed;

if the fault state is that the front wheel steering control subsystem fails, controlling the vehicle to turn on a warning lamp, controlling the interaction system to display second fault prompt information, and sending a second deceleration instruction to the braking system so as to control the vehicle to run at a second vehicle speed; wherein the second vehicle speed is less than the first vehicle speed.

The product can execute the emergency method of the steer-by-wire fault provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Examples ten

A fifth embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a steer-by-wire fault mitigation method as provided in all the inventive embodiments of the present application: receiving a fault signal of a steer-by-wire system; determining a fault state of the steer-by-wire system according to the fault signal; if the fault state is that the steering hand feeling feedback subsystem fails, the control interaction system displays a fault state prompt and a preset device control strategy; and receiving a control signal of the preset control device, and controlling the vehicle according to the control signal.

Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. An emergency method for steer-by-wire faults, characterized by being applied to a vehicle, comprising:

receiving a fault signal of a steer-by-wire system;

and receiving a control signal of the preset control device, and controlling the vehicle according to the control signal.

2. The method of claim 1, wherein determining the preset device control strategy comprises:

Receiving a user selection of a preset device, the preset device comprising at least one of: a steering lamp deflector rod, a gear shifting rod and a vehicle window lifting button;

and determining a preset device control strategy according to the selection of the user.

3. The method of claim 1, wherein the preset device control policy is user-defined or set according to user operating habits.

4. The method of claim 1, wherein controlling vehicle steering in accordance with the control signal comprises:

acquiring the current vehicle speed and the allowed maximum yaw rate;

5. The method of claim 2, wherein the step of determining the position of the substrate comprises,

when the preset device is a steering lamp deflector rod,

setting a stepping angle of a deflector rod, wherein the left-shifting deflector rod is a left-turning signal, and the right-shifting deflector rod is a right-turning signal;

6. The method of claim 2, wherein the step of determining the position of the substrate comprises,

When the preset device is a vehicle window lifting button,

setting the stepping angle of the lifting button of the vehicle window,

7. The method of claim 2, wherein the step of determining the position of the substrate comprises,

when the preset device is a vehicle window lifting button,

8. The method of any one of claims 1-7, further comprising, after calculating the front wheel steering angle,

the vehicle speed of the vehicle is corrected based on a preset vehicle speed,

correcting the steering angular velocity of the vehicle based on a preset angular velocity;

determining a steering control signal based on the corrected vehicle speed and the corrected steering angular velocity;

the steering control signal is sent to a front wheel steering control subsystem to control steering of the vehicle.

9. The method of claim 1, wherein the steering feel feedback subsystem failure comprises one or more faults that fail to sense a steering wheel steering signal.

10. The method of claim 1, wherein the steer-by-wire system comprises: the steering feel feedback subsystem and the front wheel steering control subsystem determine the fault state of the steer-by-wire system according to the fault signal, and the method comprises the following steps:

determining that a first fault state corresponding to the steering hand feeling feedback subsystem is system failure or system performance reduction according to the fault signal of the steering hand feeling feedback subsystem;

determining that a second fault state corresponding to the front wheel steering control subsystem is system failure or system performance reduction according to the fault signal of the front wheel steering control subsystem;

determining a fault state of the steer-by-wire system according to the fault level corresponding to the first fault state and the fault level corresponding to the second fault state; the failure grade corresponding to the system failure is a first-level failure, and the failure grade corresponding to the system performance reduction is a second-level failure.

11. The method of claim 10, wherein determining the fault condition of the steer-by-wire system based on the fault level corresponding to the first fault condition and the fault level corresponding to the second fault condition comprises:

12. The method of claim 11, wherein the step of determining the position of the probe is performed,

if the fault state is that the front wheel steering control subsystem fails, controlling the vehicle to turn on a warning lamp, controlling the interaction system to display second fault prompt information, and sending a second deceleration instruction to the braking system so as to control the vehicle to run at a second vehicle speed;

Wherein the second vehicle speed is less than the first vehicle speed.

13. An emergency device for steer-by-wire faults, comprising:

the fault signal receiving module is used for receiving a fault signal of the steer-by-wire system;

the fault state determining module is used for determining the fault state of the steer-by-wire system according to the fault signal;

14. A vehicle, characterized by comprising:

one or more processors;

a memory for storing one or more programs;

the preset control device is used for generating a control signal when the fault state is that the steering hand feeling feedback subsystem fails;

when executed by the one or more processors, causes the one or more processors to implement the steer-by-wire fault notification method of any of claims 1-12.

15. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a steer-by-wire fault alerting method as claimed in any one of claims 1-12.