CN-121990046-A - Steer-by-wire system and vehicle

Abstract

The application provides a steer-by-wire system and a vehicle, which comprise a first domain control unit, a second domain control unit and a steering control execution unit, wherein the first domain control unit is used for generating a control instruction, the second domain control unit is connected with the first domain control unit and used for verifying the rationality of the control instruction, and the steering control execution unit is used for executing the steering control of the vehicle according to the control instruction when the control instruction is confirmed to be rational. The application adopts a first domain controller architecture and a second domain controller architecture which are asymmetric in function. Because the second domain control unit only needs to be safely checked, a complex algorithm is not required to be operated, the demands on the calculation power, the memory and the Flash storage of the chip are greatly reduced, a microcontroller with lower cost is allowed to be selected, and the first domain control unit only needs to be mainly calculated meets the requirements on functional safety, calculation power and the like, so that the total BOM cost of the system is optimized, and the cost of the redundant steer-by-wire system is reduced.

Inventors

• YANG ZHAO
• LIU ZIYU
• CHEN BIN
• LI JIAPING
• HU WANGLI

Assignees

• 比亚迪股份有限公司

Dates

Publication Date

20260508

Application Date

20260128

Claims (13)

1. 1.A steer-by-wire system, comprising: A first domain control unit for generating a control instruction; the second domain control unit is connected with the first domain control unit and is used for verifying the rationality of the control instruction; and the steering control execution unit is used for executing the steering control of the vehicle according to the control instruction when the control instruction is confirmed to be reasonable.
2. 2. The system of claim 1, wherein the first domain control unit has a greater operational capability than the second domain control unit.
3. 3. The system of claim 1, wherein the first domain control unit has a higher functional security level than the second domain control unit.
4. 4. The system of claim 1, wherein the first domain control unit and the second domain control unit are connected by separate communication links.
5. 5. The system of claim 1, wherein the control instructions comprise steering instructions, the system further comprising: The steering control execution unit is also used for collecting a steering input signal and sending the steering input signal to the first domain control unit and the second domain control unit; the first domain control unit generates the steering instruction according to the steering input signal and sends the steering instruction to the second domain control unit for rationality verification.
6. 6. The system of claim 5, wherein the rationality check policy of the second domain control unit for the steering instruction comprises one or more of: and verifying the steering instruction based on a steering instruction simplification algorithm, performing parameter verification on the steering instruction by an operation monitor, and verifying the steering instruction based on the steering input signal.
7. 7. The system of claim 1, wherein the system further comprises: And when the control instruction is confirmed to be unreasonable, the second domain control unit controls the steering control executing unit to execute vehicle steering control according to a preset fault processing strategy.
8. 8. The system of claim 7, wherein the preset fault handling policy comprises one or more of: and controlling the steering control execution unit to execute vehicle steering control and enter a degradation mode for the steer-by-wire system according to a preset bottom protection control instruction.
9. 9. The system according to any one of claims 1 to 8, wherein the steering control execution unit includes: the first steering control execution unit is respectively connected with the first domain control unit and the second domain control unit and is used for executing the steering control of the vehicle and also used for collecting steering input signals and providing feedback force sense of a steering wheel; And the second steering control execution unit is respectively connected with the first domain control unit and the second domain control unit and is used as a redundant execution unit of the first steering control execution unit.
10. 10. The system of claim 9, wherein the control command includes a steering command and a target torque command, and the first steering control execution unit includes: The upper steering control execution subunit is respectively connected with the first domain control unit and the second domain control unit and is used for acquiring the steering input signal and providing steering wheel feedback force sense according to the target torque instruction; And the lower steering control execution subunit is respectively connected with the first domain control unit and the second domain control unit and is used for executing vehicle steering control according to the steering instruction.
11. 11. The system of claim 10, wherein the upper steering control execution subunit comprises: The steering state sensing unit is used for acquiring the steering input signal; The hand feeling simulation unit is used for providing feedback force feeling of the steering wheel; The upper body controller is respectively connected with the first domain control unit, the second domain control unit, the steering state sensing unit and the hand feeling simulation unit and is used for controlling the steering state sensing unit to collect the steering input signal and controlling the hand feeling simulation unit to provide steering wheel feedback force sense.
12. 12. The system of claim 10, wherein the upper steering control execution subunit comprises: the steering state sensing unit is respectively connected with the first domain control unit and the second domain control unit and is used for acquiring the steering input signals; The hand feeling simulation unit is used for providing feedback force feeling of the steering wheel; And the upper body controller is respectively connected with the first domain control unit, the second domain control unit and the hand feeling simulation unit and is used for controlling the hand feeling simulation unit to provide steering wheel feedback force sense.
13. 13. A vehicle comprising a steer-by-wire system according to any one of claims 1-12.

Description

Steer-by-wire system and vehicle Technical Field The application relates to the technical field of vehicles, in particular to a steer-by-wire system and a vehicle. Background The steer-by-wire system is used as a core executing mechanism of the automatic driving technology, and the reliability of the steer-by-wire system is directly related to the running safety and the function implementation of the vehicle. With the iterative upgrade of functional safety standards, steering control requirements for driving systems have been shifted from traditional mechanical redundancy architectures to more complex multi-channel safety mechanisms. However, in the related art, the redundant steer-by-wire system has a problem of high cost. Disclosure of Invention The embodiment of the application provides a steer-by-wire system and a vehicle. The cost of the redundant steer-by-wire system is reduced. In order to achieve the above object, according to a first aspect of the present application, there is provided a steer-by-wire system comprising: A first domain control unit for generating a control instruction; the second domain control unit is connected with the first domain control unit and is used for verifying the rationality of the control instruction; and the steering control execution unit is used for executing the steering control of the vehicle according to the control instruction when the control instruction is confirmed to be reasonable. Optionally, the computational capability of the first domain control unit is greater than the computational capability of the second domain control unit. Optionally, the functional security level of the first domain control unit is higher than the functional security level of the second domain control unit. Optionally, the first domain control unit and the second domain control unit are connected by an independent communication link. Optionally, the control instruction includes a steering instruction, and the system further includes: The steering control execution unit is also used for collecting a steering input signal and sending the steering input signal to the first domain control unit and the second domain control unit; the first domain control unit generates the steering instruction according to the steering input signal and sends the steering instruction to the second domain control unit for rationality verification. Optionally, the rationality check policy of the second domain control unit for the steering instruction includes one or more of: and verifying the steering instruction based on a steering instruction simplification algorithm, performing parameter verification on the steering instruction by an operation monitor, and verifying the steering instruction based on the steering input signal. Optionally, the system further comprises: And when the control instruction is confirmed to be unreasonable, the second domain control unit controls the steering control executing unit to execute vehicle steering control according to a preset fault processing strategy. Optionally, the preset fault handling policy includes one or more of: and controlling the steering control execution unit to execute vehicle steering control and enter a degradation mode for the steer-by-wire system according to a preset bottom protection control instruction. Optionally, the steering control execution unit includes: the first steering control execution unit is respectively connected with the first domain control unit and the second domain control unit and is used for executing the steering control of the vehicle and also used for collecting steering input signals and providing feedback force sense of a steering wheel; And the second steering control execution unit is respectively connected with the first domain control unit and the second domain control unit and is used as a redundant execution unit of the first steering control execution unit. Optionally, the control instruction includes a steering instruction and a target torque instruction, and the first steering control execution unit includes: The upper steering control execution subunit is respectively connected with the first domain control unit and the second domain control unit and is used for acquiring the steering input signal and providing steering wheel feedback force sense according to the target torque instruction; And the lower steering control execution subunit is respectively connected with the first domain control unit and the second domain control unit and is used for executing vehicle steering control according to the steering instruction. Optionally, the upper steering control execution subunit includes: The steering state sensing unit is used for acquiring the steering input signal; The hand feeling simulation unit is used for providing feedback force feeling of the steering wheel; The upper body controller is respectively connected with the first domain control unit, the second domain control unit, the steering state sensing u