CN115352522A

CN115352522A - Wire-controlled steering system, failure operation method and vehicle

Info

Publication number: CN115352522A
Application number: CN202211216744.8A
Authority: CN
Inventors: 袁忠诚; 蒋先平
Original assignee: Human Horizons Shandong Technology Co Ltd
Current assignee: Human Horizons Shandong Technology Co Ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-11-18

Abstract

The embodiment of the application provides a steer-by-wire system, a failure operation method and a vehicle, wherein the steer-by-wire system comprises: a line-control domain controller; the whole vehicle controller is electrically connected with the line control domain controller through the main network and the standby network respectively; the controlled device is electrically connected with the wire control domain controller through a private network and a standby network respectively, and is electrically connected with the whole vehicle controller through the standby network; the wire control domain controller is used for controlling the vehicle controller to execute a corresponding vehicle degradation strategy through an effective network in the main network or the standby network under the condition that a target object is monitored to be invalid, and controlling a controlled device to execute a corresponding first control operation through an effective network in the private network or the standby network, wherein the vehicle degradation strategy comprises speed limit control on the vehicle, and the target object is the main network, the standby network or the private network, so that the vehicle can keep safe running under the condition that a module of the wire control steering system fails.

Description

Wire-controlled steering system, failure operation method and vehicle

Technical Field

The application relates to the technical field of vehicles, in particular to a line control steering system, a failure operation method and a vehicle.

Background

The steering system of a vehicle is one of the main components that determine the safety of the vehicle. The occurrence of a steer-By-Wire (SWB) system is an important event in the development process of automatic driving, and the greatest difference between the steer-By-Wire system and the conventional Steering is that the physical connection between a Steering wheel and a Steering wheel is cancelled. However, in the case of an autonomous steer-by-wire system, if a module in the steer-by-wire system fails, there is a risk that the safety of the vehicle may be lowered.

Disclosure of Invention

The embodiment of the application provides a line control steering system, a failure operation method and a vehicle, which are used for solving or relieving one or more technical problems in the prior art.

As an aspect of an embodiment of the present application, an embodiment of the present application provides a steer-by-wire system, including:

a line-control domain controller;

the vehicle control unit is electrically connected with the line control domain controller through a main network and a standby network respectively; and

the controlled device is electrically connected with the wire control domain controller through a private network and a standby network respectively, and is electrically connected with the whole vehicle controller through the standby network;

the wire control domain controller is used for controlling the vehicle controller to execute a vehicle degradation strategy through an effective network in the main network or the standby network under the condition that a target object is monitored to be invalid, and controlling a controlled device to execute a first control operation through an effective network in the private network or the standby network, wherein the vehicle degradation strategy comprises speed limit control of the vehicle, the target object is the main network, the standby network or the private network, and the first control operation is that the controlled device controls a steering wheel and/or a steering gear according to a request of the wire control domain controller.

As another aspect of the embodiments of the present application, a method for failure operation of a steer-by-wire system is provided, including:

monitoring that the target object is invalid;

controlling the vehicle controller to execute a corresponding vehicle degradation strategy through an effective network in the main network or the standby network;

controlling the controlled device to execute corresponding first control operation through an effective network in a private network or a standby network;

the whole vehicle degradation strategy comprises speed limit control on the whole vehicle;

the first control operation is that the controlled device controls a steering wheel and/or a steering machine according to the request of the wire control domain controller;

the target object is a main network, a standby network or a private network;

the standby network is used for electrically connecting the line control domain controller with the vehicle controller and the controlled device;

the private network is used for electrically connecting the wire control domain controller with the controlled device,

and the main network is used for electrically connecting the line control domain controller with the whole vehicle controller.

monitoring the failure of the controller of the wire control domain;

the control center control module carries out vehicle alarm and executes a vehicle degradation strategy, and controls the controlled device to execute a first control operation through the standby network;

the standby network is used for electrically connecting the wire control domain controller with the vehicle control unit and the controlled device.

As another aspect of the embodiments of the present application, there is provided a vehicle including the steer-by-wire system as above.

As another aspect of the embodiments of the present application, there is provided a vehicle including a processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the method as described above.

By adopting the technical scheme, the embodiment of the application can realize the following beneficial effects.

In the embodiment, the condition that the target object fails can be effectively monitored through the line control domain controller, and under the condition that the target object fails, the vehicle controller can be timely controlled to execute a vehicle degradation strategy through an effective network in the main network or the standby network, so that the vehicle can reduce the current driving level, effective limit control is carried out, and the vehicle can be kept to safely and stably drive; the control of the controlled device can be continuously kept by the wire control domain controller through an effective network in the private network or the standby network control, and the controlled device can continuously execute the function of controlling a steering wheel and/or a steering machine according to the request of the wire control domain controller, so that the controlled device can be ensured to normally work, the problem of risk of reduction of the safety of a vehicle under the condition that a module of a framework of a wire control steering system fails is avoided, and the safety of continuous driving of the whole vehicle is ensured.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

Fig. 1 shows a first structural schematic diagram of a steer-by-wire system according to an embodiment of the present application.

Fig. 2 shows a second schematic configuration of the steer-by-wire system according to the embodiment of the present application.

Fig. 3 shows a schematic structural diagram of a steer-by-wire system in case of failure of the primary network according to an embodiment of the present application.

Fig. 4 shows a schematic structural diagram of a steer-by-wire system in case of a private network failure according to an embodiment of the present application.

Fig. 5 shows a schematic structural diagram of a steer-by-wire system in case of a backup network failure according to an embodiment of the present application.

Fig. 6 shows a schematic structural diagram of a steer-by-wire system in the event of failure of a steer-by-wire domain controller according to an embodiment of the present application.

Fig. 7 shows a schematic structural diagram of a steer-by-wire system in the event of a failure of a vehicle control unit according to an embodiment of the present application.

Fig. 8 shows a schematic structural diagram of a steer-by-wire system in case of failure of a first hand-feel simulation module according to an embodiment of the present application.

Fig. 9 shows a schematic structural diagram of the steer-by-wire system in the case where the second hand-feeling simulation module fails according to the embodiment of the present application.

Fig. 10 shows a schematic structural diagram of a steer-by-wire system in the event of failure of a first steering module according to an embodiment of the present application.

Fig. 11 shows a schematic structural diagram of a steer-by-wire system in the event of failure of a second steering module according to an embodiment of the present application.

Fig. 12 shows a schematic structural diagram of a steer-by-wire system in the event of a failure of the first power supply network according to an embodiment of the present application.

Fig. 13 shows a schematic structural diagram of a steer-by-wire system in the event of a failure of the second power supply network according to an embodiment of the present application.

Fig. 14 shows a schematic flow chart of a method for failure operation of a steer-by-wire system according to an embodiment of the present application.

Fig. 15 shows a flow chart of a method for fail operation of another steer-by-wire system according to an embodiment of the present application.

Description of reference numerals:

100. a line-control domain controller; 200. a vehicle control unit; 300. a controlled device; 310. a hand feeling simulator; 311. a first hand-feel simulation module; 312. a second hand-feeling simulation module; 320. a steering actuator; 321. a first steering module; 322. a second steering module; 400. a main network; 500. a standby network; 600. a private network; 700. a first power supply network; 800. a second power supply network; 900. and a central control module.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

Fig. 1 shows a schematic structural diagram of a steer-by-wire system according to an embodiment of the present application.

As shown in fig. 1, the steer-by-wire system includes a steer-by-wire Domain Controller 100 (Active Domain Controller, ADC), a Vehicle Controller 200 (VDCM), a first steer-by-wire Module 311 (Steering steer-by-a, SCU-a), a second steer-by-wire Module 312 (Steering-by-B, SCU-B), a first Steering Module 321 (Steering Gear Unit-a, SGU-a), a second Steering Module 322 (Steering Gear Unit-B, SGU-B), a main network 400 (tasks Bus), a Private network 600 (Private Bus), a Backup network 500 (tasks Bus), a first Power supply network 700 (Low Power supply1, power 1), and a second Power supply network 800 (Low Power supply2, power 2);

the drive-by-wire domain controller 100 and the vehicle controller 200 are electrically connected through the main network 400, so as to realize signal communication between the drive-by-wire domain controller 100 and the vehicle controller 200;

the wire-controlled domain controller 100 is electrically connected to the first hand-feeling simulation module 311, the second hand-feeling simulation module 312, the first steering module 321, and the second steering module 322 through the private network 600 to realize signal communication between the wire-controlled domain controller 100 and the first hand-feeling simulation module 311, the second hand-feeling simulation module 312, the first steering module 321, and the second steering module 322, and the wire-controlled domain controller 100 may communicate with another domain controller of the vehicle or an Electronic Control Unit (ECU) of the vehicle through the main network 400.

The drive-by-wire domain controller 100, the vehicle control unit 200, the first hand-feeling simulation module 311, the second hand-feeling simulation module 312, the first steering module 321, and the second steering module 322 are electrically connected through the standby network 500 to realize signal communication among the drive-by-wire domain controller 100, the vehicle control unit 200, the first hand-feeling simulation module 311, the second hand-feeling simulation module 312, the first steering module 321, and the second steering module 322, and the drive-by-wire domain controller 100 may also communicate with other domain controllers of the vehicle or an electronic control unit of the vehicle through the standby network 500.

The first power network 700 is electrically connected to the line-control domain controller 100, the vehicle control unit 200, the first hand-sensing simulation module 311, and the first steering module 321, and the first power network 700 is configured to supply power to the line-control domain controller 100, the vehicle control unit 200, the first hand-sensing simulation module 311, and the first steering module 321.

The second power network 800 is electrically connected to the vehicle control unit 200, the second hand feeling simulation module 312, and the second steering module 322, and the second power network 800 is configured to supply power to the vehicle control unit 200, the second hand feeling simulation module 312, and the second steering module 322.

The steer-by-wire system further includes a Vehicle network (Vehicle Bus), and the Vehicle controller 200 is electrically connected to the central control module 900 (Human Machine Interface, HMI/Seat) through the Vehicle network, so as to implement signal communication between the Vehicle controller 200 and the central control module 900.

The first hand feeling simulation module 311 and the second hand feeling simulation module 312 are configured in a mutually redundant manner, and form a hand feeling simulator 310 (Steering column Unit, SCU), where the hand feeling simulator may also be called a Steering wheel simulator or a Steering wheel hand feeling simulator, and in an enabled state, the hand feeling simulator responds to a request of a target torque of a target motor sent by the line control domain controller, converts the target torque into the target torque of the target motor through the hand feeling simulator, and controls the target motor to control the Steering wheel to rotate according to the target torque, and in a disabled state, when the line control domain controller sends the target torque request, the target torque request sent by the line control domain controller is not responded, and the hand feeling simulator 310 has two corresponding power supplies, that is, the first power supply network 700 and the second power supply network 800 provide electric energy for the Steering actuator 320.

The first Steering module 321 and the second Steering module 322 are configured in a mutually redundant manner, and form a Steering actuator 320 (Steering gear unit, SGU), where the Steering actuator is in an enabled state, responds to a request of a Steering ratio sent by the domain-by-wire controller, converts the Steering actuator into the Steering ratio of the Steering engine, and controls the Steering engine to rotate according to the Steering ratio, and in a disabled state, when the domain-by-wire controller sends the request of the Steering ratio, the Steering actuator 320 does not respond to the request of the Steering ratio sent by the domain-by-wire controller, and the Steering actuator 320 is correspondingly provided with dual power sources, that is, the first power network 700 and the second power network 800 provide power for the Steering actuator 320.

The vehicle control unit 200 is a redundant configuration of the domain-by-wire controller 100, and the domain-by-wire controller 100 has a function of a domain controller and a gateway routing function.

In the embodiment, in a general operating state, the domain-by-wire controller 100 performs signal communication with the vehicle controller 200 through the main network 400, the domain-by-wire controller 100 acquires a vehicle speed signal of another controller of the vehicle, such as an electronic control unit, through the main network 400, the domain-by-wire controller 100 performs information communication with the hand feeling simulator 310 and the steering actuator 320 through the private network 600, and performs corresponding control operations by controlling the hand feeling simulator 310 and the steering actuator 320, specifically, the hand feeling simulator 310 is configured to determine a target torque of a target motor of the domain-by-wire controller in response to a torque request of the target motor through the private network 600, and output the target torque to the target motor to drive a steering wheel to rotate. The steering actuator 320 is configured to determine a target steering ratio of the steering engine in response to a target steering ratio request from the domain-by-wire controller 100 through the private network 600, and control the steering engine to perform a steering operation according to the target steering ratio. To realize the steering operation of the steer-by-wire system and the like.

FIG. 2 illustrates a second schematic structural diagram of a steer-by-wire system according to an embodiment of the present application; FIG. 3 shows a schematic structural diagram of a steer-by-wire system in the event of a primary network failure according to an embodiment of the present application; FIG. 4 shows a schematic structural diagram of a steer-by-wire system in the event of a private network failure according to an embodiment of the present application; fig. 5 shows a schematic structural diagram of a steer-by-wire system in the event of a backup network failure according to an embodiment of the present application. As shown in fig. 2-5, in one embodiment, the by-wire system comprises:

a line-controlled domain controller 100;

the vehicle control unit 200 is electrically connected with the line control area controller 100 through the main network 400 and the standby network 500; and

the controlled device 300 is electrically connected with the wire control domain controller 100 through the private network 600 and the standby network 500 respectively, and is electrically connected with the vehicle controller 200 through the standby network 500;

the wire-controlled domain controller 100 is configured to, when it is monitored that a target object is invalid, control the vehicle controller 200 to execute a corresponding vehicle degradation policy through an effective network in the main network 400 or the standby network 500, and control the controlled device 300 to execute a first control operation through an effective network in the private network 600 or the standby network 500, where the vehicle degradation policy includes speed limit control on a vehicle, the target object is the main network 400, the standby network 500, or the private network 600, and the first control operation is that the controlled device 300 controls a steering wheel and/or a steering gear according to a request of the wire-controlled domain controller.

The controlled device 300 includes a hand feel simulator 310 and a steering actuator 320. The first control operation is that the controlled device 300 controls the steering wheel and/or the steering gear according to the request of the domain-by-wire controller, specifically: the hand feeling simulator 310 responds to the torque request of the target motor of the wire controlled domain controller through the private network 600, determines the target torque of the target motor, outputs the target torque of the target motor to the target motor, and controls the steering wheel to rotate through the target motor. The steering actuator 320 determines a target steering ratio of the steering gear in response to a target steering ratio request from the domain-by-wire controller 100 through the private network 600, and controls the steering gear to turn according to the target steering ratio.

The drive-by-wire domain controller 100 is connected with other devices through the main network 400, the private network 600 and the standby network 500, for example, the drive-by-wire domain controller 100 is connected with the vehicle control unit 200 through the main network 400, is connected with the controlled device 300 through the private network 600, and is connected with the controlled device 300 and the vehicle control unit 200 through the standby network 500, so that the failure condition of any one of the main network 400, the private network 600 and the standby network 500 can be quickly identified through the drive-by-wire domain controller 100, that is, the running state of the target object is monitored through the drive-by-wire domain controller 100, and the failed target object can be accurately and quickly determined, so that the problem of lag of monitoring the target failure can be quickly solved, the monitoring efficiency of the drive-by-wire steering system can be effectively improved, and the safety of the vehicle can be improved.

The target objects are mainly the main network 400, the standby network 500 and the private network 600, and the target object fails to be expressed in the main form such as: bus off, bus message error frame or bus message loss and other errors; when the online control domain controller 100 monitors the failure, it is determined through the online control domain controller whether the specific failure object is the main network 400, the private network 600, or the standby network 500. The active network is an un-failed network, for example, when the primary network 400 fails, the private network 600 and the standby network 500 are active networks, which can still continue to transmit communication signals.

In the event of a failure of the target object, a local communication failure within the steer-by-wire system may result, for example: when the main network 400 fails, the control between the steer-by-wire domain controller 100 and the vehicle controller 200 is interrupted, which may cause a safety problem of the steer-by-wire system and a potential safety hazard of the vehicle. The same applies to other target objects, such as standby network 500 and private network 600, when they fail. In this embodiment, when monitoring that the target object is invalid, the domain-by-wire controller 100 continues to control the controlled device 300 through the active network in the standby network 500 or the private network 600, so as to ensure that the controlled device 300 continues to stably and effectively perform the steering operation of the steer-by-wire system, ensure that the steer-by-wire system can continuously and stably operate, and ensure that the vehicle can stably and safely continue to run. Meanwhile, the drive-by-wire domain controller 100 continues to communicate with the vehicle control unit 200 through the standby network 500 or the main network 400, controls the vehicle control unit 200 to execute a corresponding vehicle degradation strategy, controls the vehicle to run at a limited speed, and receives signals such as the speed of an electronic control unit of the vehicle through the standby network 500 or the main network 400. The steer-by-wire system of the embodiment has high control performance, and when the target object is monitored to be invalid by the steer-by-wire controller 100, the steer-by-wire system is quickly switched to other effective networks to continue communication with the controlled device 300 and the vehicle control unit 200, so that the steer-by-wire system can continue to work.

In one example, as shown in FIG. 3, this example is the case where primary network 400 fails; at this time, the domain-by-wire controller 100 can quickly detect that the main network 400 is failed, and the private network 600 and the standby network 500 are active networks.

The wire-controlled domain controller 100 switches the communication mode with the vehicle controller 200 to the standby network 500 for communication, that is, the wire-controlled domain controller 100 controls the vehicle controller 200 to execute a corresponding vehicle degradation strategy through the standby network 500, where the vehicle degradation strategy includes speed limit control of the vehicle. Thereby ensuring that communication between the domain-by-wire controller 100 and the hybrid controller 200 continues to be effective in the event of a failure of the primary network 400. The vehicle can continue to run stably, the degradation control of the whole vehicle can be carried out, the speed of the vehicle is limited, and the running safety of the vehicle is ensured.

Meanwhile, the controlled device 300 can be controlled by the wire-controlled domain controller 100 through the standby network 500 or the private network 600 to continue to work, and at this time, the controlled device 300 executes the first control operation by monitoring the control signal sent by the standby network 500 or the private network 600, so that the wire-controlled system can be ensured to keep stable work, and the vehicle can be ensured to continue to run safely.

In another example, in the case that the main network 400 fails, an alarm signal and a degradation signal may be sent to the vehicle control unit 200 through the standby network 500 by the line control domain controller 100, the vehicle control unit 200 receives the alarm signal and sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 sends an alarm to the vehicle control unit to prompt the user that the current steer-by-wire system is in a fault state. After receiving the degradation signal, the vehicle controller 200 degrades the entire vehicle, that is, executes a corresponding vehicle degradation strategy, for example, performs speed limit control on the vehicle speed of the entire vehicle, thereby ensuring the safety of vehicle driving. Meanwhile, the vehicle control unit 200 takes over control of the controlled device 300, and sends control information to the controlled device 300 through the standby network 500 to control the controlled device 300, and the controlled device 300 executes a first control operation by monitoring a control signal of the vehicle control unit 200 of the standby network 500, so that the wire control system can be ensured to continuously and stably work, and at the moment, the control logic of the wire control steering system is relatively simple and can be directly controlled through the standby controller.

In one example, as shown in fig. 4, this example is the case where the private network 600 fails; at this time, the domain-by-wire controller 100 can quickly detect that the private network 600 is failed, and the primary network 400 and the standby network 500 are active networks.

The communication mode between the wire-controlled domain controller 100 and the vehicle controller 200 is still communication through the main network 400, and the wire-controlled domain controller 100 controls the vehicle controller 200 to execute a corresponding vehicle degradation strategy through the main network 400, wherein the vehicle degradation strategy comprises speed limit control on the vehicle. Therefore, under the condition that the private network 600 fails, the drive-by-wire domain controller 100 controls the vehicle controller 200 to perform vehicle degradation control, limit the speed of the vehicle and ensure the driving safety of the vehicle.

Meanwhile, the domain-by-wire controller 100 can continue to control the controlled device 300 to continue to work through the standby network 500, and the controlled device 300 executes the first control operation by monitoring the control signal of the domain-by-wire controller 100 at the standby network 500, so that the stable working state of the domain-by-wire system can be ensured, and the vehicle can be ensured to continue to run safely.

In an example, in the case that the private network 600 fails, the line control domain controller 100 may further send an alarm signal and a degradation signal to the vehicle control unit 200 through the standby network 500 or the main network 400, the vehicle control unit 200 receives the alarm signal and sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 sends an alarm to the vehicle control unit to prompt the user that the current steer-by-wire system is in a failure state. After receiving the degradation signal, the vehicle controller 200 degrades the entire vehicle, that is, executes an entire vehicle degradation strategy, for example, performs speed limit control on the vehicle speed of the entire vehicle, thereby ensuring the safety of vehicle driving. Meanwhile, the vehicle control unit 200 takes over control of the controlled device 300, and sends control information to the controlled device 300 through the standby network 500 to control the controlled device 300, and the controlled device 300 executes a first control operation by monitoring a control signal of the vehicle control unit 200 of the standby network 500, so that the wire control system can be ensured to continuously and stably work, and at the moment, the control logic of the wire control steering system is relatively simple and can be directly controlled through the standby controller.

In one example, as shown in FIG. 5, this example is the case where standby network 500 fails; at this point, the standby network 500 can be quickly detected by the wire-controlled domain controller 100 as failing, when the primary network 400 and the private network 600 are active networks.

The communication mode between the wire-controlled domain controller 100 and the vehicle controller 200 is still communication through the main network 400, and the wire-controlled domain controller 100 controls the vehicle controller 200 to execute a corresponding vehicle degradation strategy through the main network 400, wherein the vehicle degradation strategy comprises speed limit control on the vehicle. Therefore, under the condition that the standby network 500 fails, the drive-by-wire domain controller 100 controls the vehicle controller 200 to perform vehicle degradation control, limit the speed of the vehicle and ensure the driving safety of the vehicle.

Meanwhile, the controlled device 300 can be controlled to continue to work by the wire-controlled domain controller 100 continuously through the private network 600, and at this time, the controlled device 300 executes the first control operation by monitoring the control signal sent by the private network 600, so that the wire-controlled system can be ensured to keep stable work, and the vehicle can be ensured to continue to run safely.

In the above embodiment, different levels of the entire vehicle degradation strategy may be set for the entire vehicle degradation strategy when different target objects fail, for example, when the main network 400 fails, the entire vehicle degradation strategy is the first entire vehicle degradation strategy, and the vehicle speed corresponding to the first entire vehicle degradation strategy is controlled to be within the first range. Similarly, for the private network 600, a second entire vehicle degradation strategy is corresponding, and the vehicle speed corresponding to a vehicle is controlled in a second range, and for the standby network 500, a third entire vehicle degradation strategy is corresponding, and the vehicle speed corresponding to a vehicle is controlled in a third range. The first, second and third ranges may be the same or different, although other vehicle degradation may be possible to ensure vehicle safety.

In one embodiment, the domain-by-wire controller is specifically configured to:

under the condition that the target object is monitored to be invalid and the standby network 500 is monitored to be effective, first alarm information is sent to the vehicle control unit 200 through the standby network 500, and the vehicle control unit 200 is triggered to control the controlled device 300 to execute a first control operation through the standby network 500.

In the case where the standby network 500 is active, that is, in the case where the main network 400 fails or the private network 600 fails, the functions of the main network 400 and the private network 600 may be taken over through the standby network 500, and the domain-by-wire controller 100 may directly control the controlled device 300 through the standby network 500 to perform a first control operation, for example, in response to a request to the domain-by-wire controller, the controlled device 300 controls a steering wheel according to a target torque of a target motor and controls a steering wheel to turn according to a steering ratio, and the like.

The drive-by-wire domain controller 100 may send the first alarm information to the vehicle controller 200 through the standby network 500, and after receiving the first alarm information, the vehicle controller 200 generates corresponding first control information, and the first control information controls the controlled device 300 to perform a first control operation, for example, in response to a request from the drive-by-wire domain controller, the controlled device 300 controls a steering wheel according to a target torque of a target motor and controls a steering wheel to turn according to a steering ratio, and the like.

In this embodiment, the controlled unit only needs to monitor the control signal sent from the vehicle controller 200 through the standby network 500, the monitoring logic of the controlled unit is relatively simple, and the control of the wire-controlled steering system can be completed through the standby network 500, so as to ensure the safety of the vehicle.

In one embodiment, the domain-by-wire controller 100 is further configured to:

when the target object is monitored to be invalid, the central control module 900 is controlled to alarm the whole vehicle through the effective network in the main network 400 or the standby network 500.

The method specifically comprises the following steps: when the main network 400 fails, the alarm information is sent to the vehicle control unit 200 through the standby network 500, the vehicle control unit 200 receives the alarm signal and sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 sends an alarm to the vehicle control unit to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

When the private fails, the alarm information is sent to the vehicle control unit 200 through the standby network 500 or the main network 400, the vehicle control unit 200 receives the alarm signal and then sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 gives an alarm to the vehicle to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

When the standby network 500 fails, the alarm information is sent to the vehicle control unit 200 through the main network 400, the vehicle control unit 200 receives the alarm signal and sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 sends an alarm to the vehicle control unit to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

Since only the vehicle controller 200 communicates with other controllers or modules through the vehicle network, when a target object fails, the line control domain controller needs to send an alarm signal to the vehicle controller 200 through the main network 400 or the standby network 500, and the vehicle controller 200 controls the central control module 900 to alarm.

It is possible to preset different alarm signals, and send different alarm signals for different target objects that fail, for example, when the main network 400 fails, the alarm signal sent by the main network 400 is different, and the corresponding alarm prompt of the central control module 900 is also different, so that the user can be effectively prompted that the main network 400 fails currently. Similarly, the same is true when standby network 500 and private network 600 fail.

In one implementation, fig. 6 shows a schematic structural diagram of a steer-by-wire system in the event of failure of a steer-by-wire domain controller 100 according to an embodiment of the present application; as shown in fig. 6, the vehicle control unit 200 is further configured to:

under the condition that the wire control domain controller 100 is monitored to be failed, the control central control module 900 gives an alarm to the whole vehicle, executes a corresponding vehicle degradation strategy, executes a first control operation to the controlled device 300 through the standby network 500,

since the line-control domain controller 100 fails, the monitoring function of the line-control domain controller 100 also fails, and the vehicle control unit 200 serving as the redundant function of the line-control domain controller 100 is adopted to realize the monitoring function. Types of failures of the line-to-wire domain controller 100 are for example: ADC hardware failures, software failures, monitoring logic failures, and redundant monitoring failures, E2E errors, etc.

When the vehicle control unit 200 monitors that the steer-by-wire controller 100 fails through the main network 400 or the standby network 500, the vehicle control unit 200 takes over the function of the steer-by-wire controller 100, and controls the controlled device 300 through the standby network 500, specifically, sends a control instruction to the controlled unit through the standby network 500, for example, continuously sends a torque request of a target motor to the hand feeling simulator 310, and the controlled unit executes a first control operation after receiving the control instruction, so as to ensure that the steer-by-wire system can stably operate, and ensure the safety of the vehicle.

Meanwhile, the vehicle control unit 200 sends alarm information to the central control module 900 through a vehicle network, the central control module 900 sends an alarm to the vehicle control unit to prompt a user that the current steer-by-wire system is in a fault state, so that the user can be prompted to maintain the steer-by-wire system in time, and the alarm information is set to be higher-level alarm information and used for prompting the user to maintain the steer-by-wire system as soon as possible.

Moreover, the vehicle control unit 200 also executes a corresponding vehicle degradation strategy, which includes controlling the driving speed of the vehicle by the vehicle control unit 200, and limiting the speed of the vehicle within a fourth range, thereby ensuring the safety of the vehicle.

In one embodiment, fig. 7 illustrates a schematic structural diagram of a steer-by-wire system in case of failure of the hybrid vehicle controller 200 according to an embodiment of the present application; as shown in fig. 7, the line-controlled domain controller 100 is further configured to:

and in the case that the failure of the vehicle control unit 200 is monitored, performing a first control operation on the controlled device 300 through the private network 600 or the standby network 500, and controlling the brake module to perform a brake degradation strategy through the main network 400 or the standby network 500.

The type of vehicle control unit 200 failure may be, for example, a VDCM hardware failure, a software failure, a monitoring logic failure, and a redundant monitoring failure, an E2E error, etc. When the drive-by-wire domain controller 100 monitors, when the failure of the vehicle controller 200 is monitored through the main network 400 or the standby network 500, the drive-by-wire domain controller 100 can still continue to communicate with other controllers of the vehicle through the main network to acquire signals such as vehicle speed and high voltage, and meanwhile, the standby network 500 or the private network 600 can continue to control the controlled unit to complete the steering operation of the drive-by-wire steering system, so that the vehicle can continue to perform the steering function, and the safety of the vehicle is ensured.

Meanwhile, the main network 400 or the standby network 500 can control the brake module to execute a brake degradation strategy, and the hydraulic brake device of the brake module executes the brake degradation strategy to decelerate or brake the vehicle, so that the speed of the vehicle is reduced, and the vehicle can be in a safe state.

Moreover, when the central control module 900 monitors that the vehicle control unit 200 loses communication through the vehicle control network, the central control module 900 gives an alarm through the highest priority to prompt a user that the current vehicle control unit 200 of the vehicle is failed and needs to be repaired as soon as possible.

In one embodiment, the controlled device 300 includes:

the hand feeling simulator 310 is electrically connected with the line control domain controller 100 through a private network 600, and is electrically connected with the line control domain controller 100 and the vehicle control unit 200 through a standby network 500; and

the steering actuator 320 is electrically connected to the line-by-wire domain controller 100 through a private network 600, and electrically connected to the line-by-wire domain controller 100 and the vehicle controller 200 through a backup network 500.

The hand feeling simulator 310 simulates the hand strength of the steering wheel in an enabled state, specifically, in response to a request of the drive-by-wire domain controller, obtains a steering angle of the steering wheel and converts the steering angle into corresponding data to control the steering wheel to rotate, and in a non-enabled state, does not respond to the request of the drive-by-wire domain controller.

The steering actuator 320 is capable of simulating a rack force in an enabled state, specifically, acquiring a rack force and converting the rack force into corresponding data to control the steering gear to rotate in response to a request of the drive-by-wire controller, and in a non-enabled state, not responding to the request of the drive-by-wire controller.

Feel simulator 310 corresponds to a steering wheel assembly and steering actuator 320 corresponds to a steering assembly.

In one embodiment, hand feel simulator 310 includes:

the first hand-feeling simulation module 311 is electrically connected with the line-control domain controller 100 through a private network 600, and is electrically connected with the line-control domain controller 100 and the vehicle controller 200 through a standby network 500; and

the second hand-feeling simulation module 312 and the first hand-feeling simulation module 311 are configured in a mutually redundant manner, and are electrically connected to the line-control domain controller 100 through the private network 600, and the line-control domain controller 100 and the vehicle controller 200 are electrically connected through the backup network 500.

The first hand-feeling simulation module 311 and the second hand-feeling simulation module 312 are redundantly arranged, and the first hand-feeling simulation module 311 and the second hand-feeling simulation module 312 may be arranged in parallel or may be arranged in a primary or secondary manner.

The first hand feeling simulator module 311 and the second hand feeling simulator module 312 can realize the function of the hand feeling simulator 310, and generally, the first hand feeling simulator module 311 executes the function of the hand feeling simulator 310, and the second hand feeling simulator 310 monitors the first hand feeling simulator 310.

In one implementation, fig. 8 illustrates a schematic structural diagram of a steer-by-wire system in case of failure of the first hand feel simulation module 311 according to an embodiment of the present application; fig. 9 shows a schematic structural diagram of the steer-by-wire system in the case where the second hand-feeling simulation module 312 fails according to the embodiment of the present application. As shown in fig. 8 and 9, the domain-by-wire controller 100 is further configured to:

under the condition that any one of the first hand feeling simulation module 311 and the second hand feeling simulation module 312 is monitored to be failed, controlling the other effective hand feeling simulation module to execute a second control operation and controlling the steering actuator 320 to execute a third control operation through the standby network 500; through the main network 400 or the standby network 500, the control center control module 900 performs vehicle alarm and controls the vehicle controller 200 to execute a vehicle degradation strategy.

The second control operation is to determine a target torque of the target motor and control the steering wheel to rotate according to the target torque of the target motor in response to a torque request of the target motor of the line control domain controller through the private network 600 at the effective hand feeling simulation module. The third control operation is that the steering actuator 320 determines a target steering ratio of the steering gear in response to a target steering ratio request of the domain-by-wire controller 100 through the private network 600, and controls the steering gear to turn according to the target steering ratio.

After the on-line wire domain controller 100 detects that any one of the first hand-feeling simulation module 311 and the second hand-feeling simulation module 312 in the hand-feeling simulator 310 is failed through the standby network 500. In case that one of the modules fails, the other hand feeling simulation module is still valid, and at this time, the wire control domain controller 100 may control the other hand feeling simulation module to continue to perform the function of the hand feeling simulator 310 through the standby network 500, so that the steer-by-wire system can continue to operate normally.

The first manual simulation module failure types include a first manual simulation module hardware failure, a software failure, a monitoring logic failure, a redundant monitoring failure, an E2E error and the like.

The second hand-feeling simulation module failure types comprise second hand-feeling simulation module hardware failure, software failure, monitoring logic failure and redundant monitoring failure, E2E errors and the like.

Meanwhile, corresponding alarm information and a degradation request are sent to the vehicle control unit 200 through the main network 400 or the standby network 500, the vehicle control unit 200 receives the alarm signal and sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 sends an alarm to the vehicle control unit to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

Moreover, after the vehicle control unit 200 receives the degradation request, the vehicle degradation strategy is executed, because the steer-by-wire system is in a risk state at this time, in order to ensure the safety of the vehicle, the vehicle degradation strategy may be to limit the vehicle speed of the vehicle.

When any one of the hand feeling simulation modules in the hand feeling simulator 310 fails, the fault state can be sent to the drive-by-wire domain controller 100 through the standby network 500 or the private network 600 by another effective hand feeling simulation module, and the fault state is sent to the vehicle controller 200 through the standby network 500, so that the drive-by-wire domain controller 100 and the vehicle controller 200 can know which is the failed hand feeling simulation module and which is the effective hand feeling simulation module, and the function of the hand feeling simulator 310 is continuously executed.

In one embodiment, the wire-controlled domain controller 100 is specifically configured to:

the vehicle control unit 200 is controlled to perform a first preset operation through the main network 400 or the standby network 500, the first preset operation is to control the second hand feeling simulation module 312 to perform a second control operation through the standby network 500, and the steering actuator 320 performs a third control operation.

After monitoring that the first hand-feeling simulation module 311 is failed through the standby network 500, the line control domain controller 100 controls the vehicle controller 200 to execute a first preset operation through the main network 400 or the standby network 500, wherein the first preset operation is that the vehicle controller 200 takes over control over the second hand-feeling simulation module 312 and the steering actuator 320; in this embodiment, the second hand-feeling simulation module 312 and the steering actuator 320 only need to monitor the control signal sent by the vehicle controller 200 from the standby network 500 to execute the second control operation and the third control operation, and the working logic is relatively simple.

In one embodiment, the steering actuator 320 includes:

a first steering module 321 electrically connected with the domain-by-wire controller 100 through the private network 600 and electrically connected with the domain-by-wire controller 100 and the vehicle controller 200 through the standby network 500; and

and the second steering module 322 is configured in a mutually redundant manner with the first steering module 321, and is used for electrically connecting the line-control domain controller 100 through the private network 600 and electrically connecting the line-control domain controller 100 and the vehicle control unit 200 through the standby network 500.

The first steering module 321 and the second steering module 322 are redundantly configured, and any one of the steering modules can realize the function of the steering actuator 320, and the configuration may be that the first steering module 321 and the second steering module 322 may be configured in a parallel manner, or may be configured in a primary manner or a secondary manner.

The first steering module 321 or the second steering module 322 can implement the function of the steering actuator 320, and in general, the first steering module 321 implements the function of the steering actuator 320, and the second hand-feeling simulator 310 monitors the first hand-feeling simulator 310.

In one implementation, fig. 10 shows a schematic structural diagram of a steer-by-wire system in the event of failure of the first steering module 321, according to an embodiment of the present application; fig. 11 shows a schematic structural diagram of a steer-by-wire system in the event of a failure of the second steering module 322 according to an embodiment of the present application. As shown in fig. 10 and 11, the wire-controlled domain controller 100 is further configured to:

in case of monitoring a failure of either one of the first steering module 321 and the second steering module 322, controlling the other active steering module to perform a fourth control operation and the hand feeling simulator 310 to perform a fifth control operation through the standby network 500; through the main network 400 or the standby network 500, the control center module 900 performs a vehicle alarm and the vehicle controller 200 executes a vehicle degradation strategy.

The first steering module failure type may include, for example, a first steering module hardware failure, a software failure, a monitoring logic failure, and a redundant monitoring failure, an E2E error, and the like.

The fourth control operation is that the effective steering execution module responds to the target steering ratio request of the domain-by-wire controller 100 through the private network 600, determines the target steering ratio of the steering gear, and controls the steering gear to rotate according to the target steering ratio.

The fifth control operation is to determine a target torque of a target motor according to which the steering wheel is controlled to turn or the hand force is simulated in response to a torque request of the target motor of the domain-by-wire controller at the hand feeling simulator 310 through the private network 600.

After the standby network 500 monitors that any one of the first steering module 321 and the second steering module 322 in the steering actuator 320 fails, because the first steering module 321 and the second steering module 322 are redundant with each other, after one of the first steering module 321 and the second steering module 322 fails, the other hand feeling simulation module still effectively continues to complete the operation of the steering actuator 320, and at this time, the domain-by-wire controller 100 can control the other steering module to continue to perform the function of the steering actuator 320 through the standby network 500, so that the steering-by-wire system can continue to normally operate.

Meanwhile, corresponding alarm information and a degradation request are sent to the vehicle control unit 200 through the main network 400 or the standby network 500, the vehicle control unit 200 receives the alarm signal and then sends the alarm signal to the central control module 900 through the vehicle network, and the central control module 900 gives an alarm to the vehicle control unit to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

When any one of the steering actuators 320 fails, the other steering module may send a failure state to the domain-by-wire controller 100 through the standby network 500 or the private network 600, and send the failure state to the vehicle controller 200 through the standby network 500, so that the domain-by-wire controller 100 and the vehicle controller 200 can know which is the failed steering module and which is the valid steering module, and can take over the valid steering module again, thereby continuing to execute the function of the steering actuator 320.

the vehicle control unit 200 is controlled to perform a second preset operation through the main network 400 or the standby network 500, the second preset operation is to control the second steering module 322 to perform a fourth control operation through the standby network 500 and to perform a fifth control operation through the hand feeling simulator 310.

After monitoring that the first steering module 321 is failed through the standby network 500, the line control domain controller 100 controls the vehicle controller 200 to execute a second preset operation through the main network 400 or the standby network 500, wherein the second preset operation is that the vehicle controller 200 takes over control over the second steering module 322 and the hand feeling simulator 310; in this embodiment, the second steering module 322 and the hand feeling simulator 310 only need to monitor the control signal sent by the vehicle control unit 200 from the standby network 500, and execute the fourth control operation and the fifth control operation, and the working logic is relatively simple.

In one embodiment, the method further comprises:

a first power network 700 for electrically connecting the line control domain controller 100, the vehicle controller 200, the first touch sensing simulation module 311 and the first steering module 321;

and a second power network 800 for electrically connecting the vehicle control unit 200, the second hand feeling simulation module 312 and the second steering module 322.

The first power network 700 is configured to provide power to the line-control domain controller 100, the vehicle control unit 200, the first hand-sensing simulation module 311, and the first steering module 321;

the second power network 800 is used for the vehicle control unit 200, the second hand feeling simulation module 312, and the second steering module 322.

The first power network 700 and the second power network 800 of the present embodiment are both low voltage power networks, and both enable the vehicle control unit 200, the steering actuator 320, and the hand feeling simulator 310 to have redundancy of dual power supplies.

In an embodiment, fig. 12 is a schematic structural diagram of a steer-by-wire system in case of failure of the first power supply network 700 according to an embodiment of the present application, and as shown in fig. 12, the vehicle control unit 200 is further configured to:

receiving prompt information, and determining that the first power supply network 700 fails according to the prompt information, wherein the prompt information is determined when the second hand feeling simulation module 312 monitors that the line control domain controller 100 fails;

when the first power supply network 700 fails, the control center control module 900 performs vehicle alarm and vehicle degradation operation;

controls the second hand-feeling simulation module 312 to perform the second control operation and controls the second steering module 322 to perform the fourth control operation.

After the first power supply network 700 fails, since the line control domain controller 100 is powered by a single power supply network and does not form redundant power supply of dual power supplies, which is equivalent to power failure of the line control domain controller 100, the hand feeling simulator 310 connected to the first power supply network 700 with the line control domain controller 100 is adopted to monitor, and the first hand feeling simulation module 311 is also connected through the first power supply network 700, so that the second hand feeling simulation module 312 really can identify that the first power supply network 700 fails, and at this time, the hand feeling simulator 310 executes a monitoring function. When the second hand-feeling simulation module 312 monitors that the by-wire domain controller 100 fails through the standby network 500 or the private network 600, the first hand-feeling simulation module 311 can be combined to determine that the first power supply network 700 fails. After determining that the first power network 700 is disabled, the second inductance simulation module 312 sends a prompt message to the vehicle controller 200.

After receiving the prompt message, the vehicle control unit 200 determines that the first power network 700 has failed, that is, determines that the line control domain controller 100, the first inductive simulation module 311, and the first steering module 321 have been powered off and failed at this time.

The alarm signal is sent to the central control module 900 through the whole vehicle network, and the central control module 900 gives an alarm to the whole vehicle to prompt a user that the current steer-by-wire system is in a fault state, so that the user is prompted to maintain the steer-by-wire system in time.

Moreover, the vehicle controller 200 executes a corresponding vehicle degradation strategy, because the steer-by-wire system is in a certain risk state at this time, in order to ensure the safety of the vehicle, the vehicle degradation strategy may be to limit the vehicle speed of the vehicle.

The vehicle control unit 200 directly sends corresponding control instructions to the second hand feeling simulation module 312 and the second steering module 322 through the standby network 500, and the second hand feeling simulation module 312 receives the corresponding control instructions to execute the work of the corresponding hand feeling simulator 310, so that the second hand feeling simulation module executes a second control operation; after receiving the corresponding control instruction, the second steering module 322 executes the operation of the corresponding steering actuator 320, so that the second steering module executes the fourth control operation, thereby ensuring that the steer-by-wire system can normally steer and ensure the driving safety of the whole vehicle.

In an implementation manner, fig. 13 shows a schematic structural diagram of the steer-by-wire system in case of failure of the second power supply network 800 according to an embodiment of the present application, and as shown in fig. 13, the domain-by-wire controller 100 is further configured to:

under the condition that the failure of the second power supply network 800 is monitored, the private network 600 controls the first sensing simulation module 311 to execute the second control operation, the private network 600 controls the first steering module 321 to execute the fourth control operation, and the main network 400 controls the vehicle controller 200 to execute the corresponding vehicle degradation strategy.

The line-by-wire domain control may determine that the second power network 800 is disabled by receiving the result of the second power failure monitored by the vehicle control unit 200 through the main network 400, the result of the second power failure monitored by the hand-feel controller through the private network 600, or the result of the second power failure monitored by the steering actuator 320 through the private network.

Under the condition that the first power network 700 can effectively supply power, the line control domain controller 100, the vehicle control unit 200, the first hand-sensing simulation module 311 and the first steering module 321 can all work normally. The wire-controlled domain controller 100 controls the first hand-feeling simulation module 311 to perform the function of the hand-feeling simulator 310 through the private network 600, and controls the first steering module 321 to perform the function of the steering actuator 320 through the private network 600, so that the wire-controlled steering machine can continue to maintain stable steering, and the safe driving of the vehicle can be ensured.

Since the second power network 800 is in a failure state, the steer-by-wire system has a certain risk, and the domain-by-wire controller 100 controls the vehicle controller 200 to execute a corresponding vehicle degradation strategy through the main network 400, so as to limit the speed of the vehicle within a certain range, thereby ensuring that the vehicle runs safely.

In one embodiment, the domain-by-wire controller 100 is specifically configured to monitor the failure of the second power supply network 800 by any one of the following methods:

receiving first failure information sent by the vehicle control unit 200 when the second power supply network 800 fails and monitoring, and determining that the second power supply network 800 fails according to the first failure information;

the vehicle controller 200 is electrically connected to the first power network 700 and the second power network 800, so that the vehicle controller 200 can still continue to operate through the first power network 700 after the second power network 800 fails and is powered off, and meanwhile, the problem of failure of the second power network 800 can be monitored, and first failure information is generated in time, the first failure information is sent to the line control domain controller 100 through the main network 400, after the line control domain controller 100 receives the first failure information, it is determined that the second power network 800 has failed, then the first steering module 321 is controlled to execute a corresponding control operation through the private network 600, the first steering module 321 is controlled to execute a fourth control operation through the private network 600, and the vehicle controller 200 is controlled to execute a vehicle degradation strategy through the main network 400.

Receiving second failure information sent by the first hand-feeling simulation module 311 under the condition that the second power supply network 800 fails and determining that the second power supply network 800 fails according to the second failure information;

the hand feeling simulator 310 is electrically connected with the second power network 800 through the first power network 700, and can still continue to operate through the first power network 700 and monitor that the second power network 800 fails when the second power network 800 fails, specifically, when the second power network 800 fails, the second hand feeling simulation module 312 fails, and the first hand feeling simulation module 311 can monitor that the second power network 800 fails and continue to execute the functions of the hand feeling simulator 310. The first sensing simulation module 311 generates second failure information and sends the second failure information to the line control domain controller 100 through the private network 600, and after the line control domain controller 100 receives the second failure information and determines that the second power supply network 800 has failed, the second control operation is executed by controlling the first sensing simulation module 311 through the private network 600, the fourth control operation is executed by controlling the first steering module 321 through the private network 600, and the vehicle degradation strategy is executed by controlling the vehicle controller 200 through the main network 400.

Or,

and receiving third failure information sent by the first steering module 321 under the condition that the second power supply network 800 is monitored to be failed, and determining that the second power supply network 800 is failed according to the third failure information.

The steering actuator 320 is electrically connected to the second power network 800 through the first power network 700, and can continue to operate through the first power network 700 even if the second power network 800 fails, and can monitor that the second power network 800 fails. Specifically, when the second power supply network 800 fails, the second steering module 322 fails, and the first steering module 321 can monitor that the second power supply network 800 fails and continue to perform the function of the steering actuator 320. The first steering module 321 generates third failure information and sends the third failure information to the line-control domain controller 100 through the private network 600, and after the line-control domain controller 100 receives the third failure information and determines that the second power supply network 800 has failed, the first steering module 321 is controlled to execute a second control operation through the private network 600, the first steering module 321 is controlled to execute a fourth control operation through the private network 600, and the vehicle controller 200 is controlled to execute a vehicle degradation strategy through the main network 400.

Fig. 14 shows a schematic flow chart of a method for failure operation of a steer-by-wire system according to an embodiment of the present application. As shown in fig. 14, as another aspect of the embodiment of the present application, an embodiment of the present application provides a failure operation method for a steer-by-wire system, where the embodiment is implemented by taking a steer-by-wire domain controller as an execution main body, and the method includes:

s1401: and monitoring that the target object is invalid.

S1402: and controlling the vehicle controller to execute a vehicle degradation strategy through the effective network in the main network or the standby network.

S1403: and controlling the controlled device to execute a first control operation through an effective network in the private network or the standby network.

the target object is a main network, a standby network or a private network;

In one embodiment, controlling the controlled device to perform the corresponding first control operation through the network available in the private network or the backup network includes:

and under the condition that the target object is monitored to be invalid and the standby network is monitored to be effective, first alarm information is sent to the vehicle control unit through the standby network, and the vehicle control unit is triggered to control the controlled device to execute a first control operation through the standby network.

In one embodiment, the method further comprises:

and under the condition that the target object is monitored to be invalid, controlling the central control module to alarm the whole vehicle through an effective network in the main network or the standby network.

In one embodiment, the method further comprises:

and under the condition that the failure of the vehicle control unit is monitored, the controlled device is controlled to execute a first control operation through the private network or the standby network, and the braking module is controlled to execute a braking degradation strategy through the main network or the standby network.

In one embodiment, the method further comprises:

under the condition that any one of the first hand feeling simulation module and the second hand feeling simulation module is monitored to be invalid, controlling the other effective hand feeling simulation module to execute a second control operation and controlling the steering actuator to execute a third control operation through a standby network; and controlling the central control module to give an alarm to the whole vehicle and controlling the whole vehicle controller to execute a whole vehicle degradation strategy through the main network or the standby network.

The controlled device includes:

the hand feeling simulator is electrically connected with the line control domain controller through a private network, and the line control domain controller and the whole vehicle controller are electrically connected through a standby network; and

and the steering actuator is electrically connected with the wire control domain controller through a private network and is electrically connected with the wire control domain controller and the whole vehicle controller through a standby network.

The hand feeling simulator comprises:

the first hand-feeling simulation module is electrically connected with the line control domain controller through a private network and electrically connected with the line control domain controller and the whole vehicle controller through a standby network; and

and the second hand-feeling simulation module is in mutual redundant configuration with the first hand-feeling simulation module, is electrically connected with the line control domain controller through a private network, and is electrically connected with the line control domain controller and the whole vehicle controller through a standby network.

In one embodiment, in the case that the first hand-feeling simulation module is monitored, the second hand-feeling simulation module is controlled to execute the corresponding control operation and the steering actuator is controlled to execute the corresponding control operation through a standby network, and the method comprises the following steps:

the vehicle control unit is controlled to execute a first preset operation through the main network or the standby network, and the first preset operation is to control the second hand feeling simulation module to execute a second control operation and control the steering actuator to execute a third control operation through the standby network.

The steering actuator includes:

the first steering module is electrically connected with the line control domain controller through a private network and electrically connected with the line control domain controller and the whole vehicle controller through a standby network; and

and the second steering module and the first steering module are in mutual redundant configuration and are used for being electrically connected with the line control domain controller through a private network and electrically connected with the line control domain controller and the vehicle control unit through a standby network.

In one embodiment, the method further comprises:

under the condition that any one of the first steering module and the second steering module is monitored to be failed, controlling the other effective steering module to execute a fourth control operation and the hand feeling simulator to execute a fifth control operation through a standby network; and controlling the central control module to alarm the whole vehicle and the whole vehicle controller to execute a whole vehicle degradation strategy through the main network or the standby network.

In one embodiment, in the case where it is monitored that the first steering module fails, the second steering module is controlled to perform a fourth control operation and the hand feeling simulator performs a fifth control operation through the standby network, including:

and controlling the vehicle control unit to execute a second preset operation through the main network or the standby network, wherein the second preset operation is to control the second steering module to execute a fourth control operation and control the hand feeling simulator to execute a fifth control operation through the standby network.

In one embodiment, the method further comprises:

and under the condition that the second power supply network is monitored to be invalid, the first hand-feeling simulation module is controlled to execute a second control operation through the private network, the first steering module is controlled to execute a fourth control operation through the private network, and the vehicle controller is controlled to execute a vehicle degradation strategy through the main network.

The first power supply network is used for electrically connecting the line control domain controller, the whole vehicle controller, the first hand-feeling simulation module and the first steering module;

and the second power supply network is used for electrically connecting the vehicle control unit, the second hand feeling simulation module and the second steering module.

In one embodiment, the failure of the second power network is monitored by any one of:

receiving first failure information sent by the vehicle control unit under the condition that the second power supply network fails, and determining that the second power supply network fails according to the first failure information;

receiving second failure information sent by the first hand-feeling simulation module under the condition that the second power supply network fails, and determining that the second power supply network fails according to the second failure information;

receiving third failure information sent by the first steering module under the condition of monitoring that the second power supply network fails, and determining that the second power supply network fails according to the third failure information

Other configurations of the steer-by-wire system of the above-described embodiments may be adopted by various technical solutions now known to those skilled in the art and in the future, and will not be described in detail herein.

Fig. 15 shows a schematic flow chart of a method for the fail-safe operation of a steer-by-wire system according to an embodiment of the present application. As shown in fig. 15, as another aspect of the embodiment of the present application, an embodiment of the present application provides a failure operation method of a steer-by-wire system, where the embodiment is implemented by using a vehicle control unit as an execution main body, and the method includes:

s1501: failure of the line control domain controller is monitored.

S1502: and the control central control module performs vehicle alarm and executes a vehicle degradation strategy, and controls the controlled device to execute a first control operation through the standby network.

The standby network is used for electrically connecting the line control domain controller with the whole vehicle controller and the controlled device.

In one implementation mode, receiving prompt information, and determining that the first power supply network fails according to the prompt information, wherein the prompt information is determined when the second hand feeling simulation module monitors that the wire control domain controller fails;

under the condition that the first power supply network fails, controlling the central control module to give an alarm to the whole vehicle and execute corresponding degradation operation of the whole vehicle;

and controlling the second hand feeling simulation module to execute a second control operation and controlling the second steering module to execute a fourth control operation.

Other configurations of the steer-by-wire system of the above-described embodiments may be adopted by various technical solutions known by those skilled in the art now and in the future, and will not be described in detail herein.

As another aspect of the embodiments of the present application, there is provided a vehicle including the steer-by-wire system according to any of the embodiments described above.

As another aspect of the embodiments of the present application, a vehicle is also provided in the embodiments of the present application. The vehicle includes a control device that may include a memory having stored therein instructions executable on a processor and a processor. When the processor executes the instruction, the failure operation method of the steer-by-wire system in the embodiment is realized. The number of memories and processors may be one or more.

The processor may be a Central Processing Unit (CPU), other general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or any conventional processor or the like. It is noted that the processor may be a processor supporting an Advanced reduced instruction set machine (ARM) architecture.

Optionally, the memory may include a program storage area and a data storage area, where the program storage area may store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the control apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the control device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

In the description of the present specification, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

It should be noted that although the steps of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order or that all of the depicted steps must be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc. The above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the present application and are not intended to be limiting. It will be readily appreciated that the processes illustrated in the above figures are not intended to indicate or limit the temporal order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

The above disclosure provides many different embodiments, or examples, for implementing different features of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

While the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A steer-by-wire system, comprising:

a line-controlled domain controller;

the vehicle control unit is electrically connected with the wire control domain controller through a main network and a standby network respectively; and

the controlled device is electrically connected with the wire control domain controller through a private network and the standby network respectively, and is electrically connected with the whole vehicle controller through the standby network;

the wire control domain controller is used for controlling the vehicle controller to execute a vehicle degradation strategy through an effective network in the main network or the standby network under the condition that a target object is monitored to be invalid, and controlling the controlled device to execute a first control operation through an effective network in the private network or the standby network, wherein the vehicle degradation strategy comprises speed limit control on a vehicle, the target object is the main network, the standby network or the private network, and the first control operation is that the controlled device controls a steering wheel and/or a steering gear according to a request of the wire control domain controller.

2. The steer-by-wire system of claim 1, wherein the domain-by-wire controller is specifically configured to:

and under the condition that the target object is monitored to be invalid and the standby network is effective, sending first alarm information to the vehicle control unit through the standby network, and triggering the vehicle control unit to control the controlled device to execute the first control operation through the standby network.

3. The steer-by-wire system of claim 1, wherein the steer-by-wire domain controller is further configured to:

and under the condition that the target object is monitored to be invalid, controlling a central control module to alarm the whole vehicle through an effective network in the main network or the standby network.

4. The steer-by-wire system of claim 1, wherein the vehicle control unit is configured to:

and under the condition that the wire control domain controller is monitored to be invalid, controlling a central control module to give an alarm to the whole vehicle and execute the whole vehicle degradation strategy, and controlling the controlled device to execute the first control operation through the standby network.

5. The steer-by-wire system of claim 1, wherein the domain-by-wire controller is further configured to:

and under the condition that the failure of the vehicle control unit is monitored, the controlled device is controlled to execute the first control operation through the private network or the standby network, and a braking degradation strategy is controlled to be executed by a braking module through the main network or the standby network.

6. The steer-by-wire system of any one of claims 1-5, wherein the controlled device comprises:

the hand feeling simulator is electrically connected with the line control domain controller through the private network, and is electrically connected with the line control domain controller and the whole vehicle controller through the standby network; and

and the steering actuator is electrically connected with the wire control domain controller through the private network, and is electrically connected with the wire control domain controller and the vehicle control unit through the standby network.

7. The steer-by-wire system of claim 6, wherein the feel simulator comprises:

the first touch-control simulation module is electrically connected with the line control domain controller through the private network and electrically connected with the line control domain controller and the whole vehicle controller through the standby network; and

and the second hand-feeling simulation module is in mutual redundant configuration with the first hand-feeling simulation module, is electrically connected with the line control domain controller through the private network, and is electrically connected with the line control domain controller and the vehicle control unit through the standby network.

8. The steer-by-wire system of claim 7, wherein the steer-by-wire domain controller is further configured to:

under the condition that any one of the first hand feeling simulation module and the second hand feeling simulation module is monitored to be invalid, controlling the other effective hand feeling simulation module to execute a second control operation and controlling the steering actuator to execute a third control operation through the standby network; and controlling a central control module to give an alarm and control the whole vehicle controller to execute a whole vehicle degradation strategy through the main network or the standby network.

9. The steer-by-wire system of claim 8, wherein the domain-by-wire controller is specifically configured to:

and controlling the vehicle control unit to execute a first preset operation through the main network or the standby network, wherein the first preset operation is to control the second hand-feeling simulation module to execute the second control operation and the steering actuator to execute the third control operation through the standby network.

10. The steer-by-wire system of claim 7, wherein the steering actuator comprises:

the first steering module is electrically connected with the wire control domain controller through the private network and electrically connected with the wire control domain controller and the whole vehicle controller through the standby network; and

and the second steering module and the first steering module are in mutual redundant configuration, and are used for being electrically connected with the line control domain controller through the private network and electrically connected with the line control domain controller and the vehicle control unit through the standby network.

11. The steer-by-wire system of claim 10, wherein the domain-by-wire controller is further configured to:

under the condition that any one of the first steering module and the second steering module is monitored to be failed, controlling the other effective steering module to execute a fourth control operation and the hand feeling simulator to execute a fifth control operation through the standby network; and controlling a central control module to alarm the whole vehicle and a whole vehicle controller to execute the whole vehicle degradation strategy through the main network or the standby network.

12. The steer-by-wire system of claim 11, wherein the domain-by-wire controller is specifically configured to:

and controlling the vehicle control unit to execute a second preset operation through the main network or the standby network, wherein the second preset operation is to control the second steering module to execute a fourth control operation and the hand feeling simulator to execute a fifth control operation through the standby network.

13. The steer-by-wire system of claim 10, further comprising:

the first power supply network is used for electrically connecting the wire control domain controller, the vehicle control unit, the first hand-feeling simulation module and the first steering module;

14. The steer-by-wire system of claim 13, wherein the vehicle controller is further configured to:

receiving prompt information, and determining that the first power supply network is invalid according to the prompt information, wherein the prompt information is determined when the second gesture simulation module monitors that the line control domain controller is invalid;

under the condition that the first power supply network fails, controlling a central control module to give an alarm to the whole vehicle and execute the degradation operation of the whole vehicle;

15. The steer-by-wire system of claim 13, wherein the domain-by-wire controller is further configured to:

and under the condition that the second power supply network fails, the private network controls the first inductive simulation module to execute a second control operation, the private network controls the first steering module to execute a fourth control operation, and the main network controls the vehicle controller to execute the vehicle degradation strategy.

16. The steer-by-wire system of claim 15, wherein the domain-by-wire controller is specifically configured to monitor for failure of the second power supply network by any one of:

receiving first failure information sent by the vehicle control unit under the condition that the second power supply network is monitored to be failed, and determining that the second power supply network is failed according to the first failure information;

receiving second failure information sent by the first hand-feeling simulation module under the condition that the second power supply network is monitored to be failed, and determining that the second power supply network is failed according to the second failure information;

and receiving third failure information sent by the first steering module under the condition that the second power supply network is monitored to be failed, and determining that the second power supply network is failed according to the third failure information.

17. A method of failure operation of a steer-by-wire system, comprising:

monitoring that the target object is invalid;

controlling the vehicle controller to execute a vehicle degradation strategy through an effective network in the main network or the standby network;

controlling a controlled device to execute a first control operation through an effective network in a private network or the standby network;

the target object is the main network, the standby network or the private network;

the standby network is used for electrically connecting the line control domain controller with the whole vehicle controller and the controlled device;

the main network is used for electrically connecting the line control domain controller with the vehicle control unit.

18. A method of failure operation of a steer-by-wire system, comprising:

monitoring the failure of the controller of the wire control domain;

the control center control module gives an alarm to the whole vehicle and executes the degradation strategy of the whole vehicle, and controls the controlled device to execute a first control operation through a standby network;

the standby network is used for electrically connecting the wire control domain controller with the whole vehicle controller and the controlled device.

19. A vehicle characterized by comprising the steer-by-wire system according to any one of claims 1 to 16.

20. A vehicle comprising a processor and a memory, the memory having stored therein instructions that are loaded and executed by the processor to implement the method of claim 17 or 18.