CN-122009319-A - Temporary control method, controller and vehicle for steer-by-wire system in case of missing corner calibration

CN122009319ACN 122009319 ACN122009319 ACN 122009319ACN-122009319-A

Abstract

The invention discloses a temporary control method, a controller and a vehicle for a steer-by-wire system when a steering angle calibration is missing, comprising the following steps of S1, enabling the steer-by-wire system controller to enter a temporary control mode if effective neutral calibration data are not detected, S2, controlling the steering wheel to rotate leftwards and rightwards to a left limit position and a right limit position respectively, recording original values of corresponding steering wheel angle sensors, calculating a temporary steering wheel zero position, S3, setting a temporary transmission ratio, S4, reading the original values of the wheel angle sensors at the moment, and establishing a temporary mapping relation between the steering wheel angle and a target wheel angle according to the temporary steering wheel zero position, the temporary transmission ratio and the original values of the wheel angle.

Inventors

YAO KUNPENG
ZHAO DI
WANG YANCHAO
LI MINGPENG

Assignees

豫北转向系统(新乡)股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260312

Claims (9)

1. The temporary control method for the steer-by-wire system when the corner standard is missing is characterized by comprising the following steps of: step S1, system state detection and mode triggering, namely powering on a vehicle, starting a steer-by-wire system controller, detecting whether valid steering wheel and wheel median calibration data are stored in the steer-by-wire system controller, and entering a temporary control mode if valid median calibration data are not detected; S2, steering wheel learning and temporary steering wheel zero position determination, namely after entering a temporary control mode, controlling the steering wheel to rotate leftwards and rightwards to a left limit position and a right limit position respectively, and recording corresponding steering wheel angle sensor original values which are respectively And Calculating the temporary steering wheel zero position based on the original values of the steering wheel angle sensors corresponding to the two limit positions ; Step S3, setting a temporary transmission ratio, namely defining the total mechanical travel of the steering wheel as Defining the total design angle of the wheel from the left limit to the right limit as The temporary transmission ratio between the steering wheel and the wheels is The set temporary transmission ratio meets the condition that the steering wheel can establish a one-to-one correspondence with the whole turning angle travel of the wheel by at most half of the travel; s4, establishing a temporary mapping relation, namely keeping the wheel position unchanged, and reading the original value of the wheel rotation angle sensor at the moment According to temporary steering wheel zero position Temporary gear ratio And the original value of the wheel rotation angle Establishing a temporary mapping relation between steering wheel turning angles and target wheel turning angles; And S5, steering control, namely controlling the steering of the vehicle according to the established temporary mapping relation.
2. The method for temporarily controlling the steer-by-wire system in the absence of the steering angle calibration of claim 1, wherein in the step S2, the calculation formula of the temporary steering wheel zero position is: 。
3. The method for temporarily controlling a steer-by-wire system in the absence of a target steering angle according to claim 1, wherein in said step S3, a temporary transmission ratio is calculated The following relationship is satisfied: the steering wheel can control the whole wheel angle stroke under the condition that the initial position of the wheel is unknown.
4. A temporary control method for a steer-by-wire system in the absence of a corner criterion as defined in claim 3, wherein in said step S3, a safety factor is introduced to prevent saturation of control commands due to sensor noise or calculation errors, leaving a certain safety margin And (2) and Less than 1, safety factor Substituting the temporary gear ratio yields the formula: 。
5. the method for temporarily controlling a steer-by-wire system in the absence of a steering angle criterion as claimed in claim 1, wherein in said step S4, an original value of a wheel rotation angle sensor is read Which is then defined as a temporary wheel zero In the steering control in the step S5, the sensor readings are read for any real-time steering wheel The steer-by-wire system controller calculates the delta of its turn relative to the temporary steering wheel zero position Further, the target wheel rotation angle is calculated And (2) and 。
6. The method for temporarily controlling a steer-by-wire system in the absence of a target steering angle according to claim 1, wherein in said step S2, the steering wheel is controlled to rotate by prompting the driver to operate the steering wheel or automatically by a driving motor of the steering wheel module.
7. A temporary control method for a steer-by-wire system in the absence of a corner criterion as defined in claim 1 wherein the temporary zero position is Temporary gear ratio In the current ignition period, if new median calibration data is obtained by an external calibration procedure, the new median calibration data is preferentially used to replace the temporary zero position Temporary gear ratio Steering control is performed.
8. A steer-by-wire system controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the temporary control method according to any one of claims 1-7 when executing the computer program.
9. A vehicle, characterized by comprising a vehicle body provided with the steer-by-wire system controller according to claim 8, for realizing basic steering movement capability during vehicle movement and garage movement.

Description

Temporary control method, controller and vehicle for steer-by-wire system in case of missing corner calibration Technical Field The invention relates to the technical field of steer-by-wire, in particular to a temporary control method, a controller and a vehicle of a steer-by-wire system when a corner standard is missing. Background Steer-by-wire systems are an important development of modern automotive steering technology that replaces the mechanical connection between the steering wheel and the wheels in conventional steering systems by electrical signals. The key working principle is that the steering wheel angle input signals are collected in real time, the target wheel angle is calculated by the controller in combination with the vehicle state information, and the steering is realized by driving the steering mechanism through the motor. To achieve accurate control, the steer-by-wire System (SBW) must know precisely the absolute angular zero of the steering wheel to the wheels (i.e., the center position when the vehicle is traveling straight). In engineering practice, this information is obtained by means of angle sensors mounted on the steering column and on the steering actuators. However, due to factors such as sensor installation tolerance and electrical characteristics, a fixed deviation value exists between the original signal output by the sensor and the physical zero position, and the deviation value is called as "neutral calibration data". Therefore, after the whole vehicle is assembled and disassembled or the steering related parts are replaced after sale, a special diagnosis device is required to execute a calibration program, the median data is written into the controller, and the system side can work normally. However, once the SBW system lacks effective median data due to uncalibrated, lost or invalid calibration data, the system cannot analyze the absolute rotation angle of the steering wheel, so that the core steering function is completely disabled, and the problems that the production efficiency is seriously affected (such as that the vehicles in the assembly workshop cannot move out of the production line), potential safety hazards are brought in maintenance and extreme cases, the reliability and application convenience of the SBW system are limited and the like exist. Disclosure of Invention The technical problem to be solved by the invention is to overcome the existing defects, and provide a temporary control method for a steer-by-wire system when the steering wheel-wheel median calibration data is lost, when the system lacks the steering wheel-wheel median calibration data, a temporary zero reference and steering mapping relation can be automatically and quickly established, so that a vehicle carrying the steer-by-wire system can recover basic steering and moving capability, support temporary operations such as the total assembly of the whole vehicle, the vehicle moving, the delivery after the maintenance and the like, improve the reliability and the application convenience of the steer-by-wire system, realize the safe short-distance movement of the vehicle at the tail end of the total assembly of the whole vehicle or in a maintenance workshop without waiting or preferentially carrying out calibration operation, simplify logistics scheduling, improve the overall operation efficiency, avoid the restriction of the left and right rotation of the wheels or steering racks of the vehicle when the temporary zero reference and steering mapping relation is established, enlarge the application range, ensure the control safety, have strong compatibility and can effectively solve the problems in the background technology. In order to achieve the above purpose, the invention provides a temporary control method for a steer-by-wire system when a corner standard is missing, comprising the following steps: step S1, system state detection and mode triggering, namely powering on a vehicle, starting a steer-by-wire system controller, detecting whether valid steering wheel and wheel median calibration data are stored in the steer-by-wire system controller, and entering a temporary control mode if valid median calibration data are not detected; S2, steering wheel learning and temporary steering wheel zero position determination, namely after entering a temporary control mode, controlling the steering wheel to rotate leftwards and rightwards to a left limit position and a right limit position respectively, and recording corresponding steering wheel angle sensor original values which are respectively AndCalculating the temporary steering wheel zero position based on the original values of the steering wheel angle sensors corresponding to the two limit positions; Step S3, setting a temporary transmission ratio, namely defining the total mechanical travel of the steering wheel asDefining the total design angle of the wheel from the left limit to the right limit asThe temporary transmission ratio between the