A method for processing steering wheel vibration

Abstract

An embodiment of the present invention relates to a method for handling steering wheel vibration, the method comprising: receiving a steering wheel control angle as a corresponding first angle; adding the first angle to a preset first angle sequence, and selecting the nearest specified number of first angles from the first angle sequence to form a corresponding second angle sequence; normalizing the second angle sequence to generate a corresponding normalized angle sequence; identifying a steering wheel vibration state based on the normalized angle sequence to generate a corresponding first state; identifying the first state; if the first state is a non-vibration state, performing non-vibration control processing; if the first state is a low-vibration state, performing low-vibration control processing; if the first state is a moderate-vibration state, performing moderate-vibration control processing; if the first state is a high-vibration state, performing high-vibration control processing. The present invention can improve vehicle driving safety.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method for processing steering wheel vibration. Background Art

[0002] The control module of a vehicle's automated driving system controls the steering wheel by outputting control commands to the steering wheel. These commands carry a steering wheel control angle. Under normal operating conditions, the control module's continuous output of control commands generally does not cause the steering wheel to continuously shift left and right, a phenomenon known as steering wheel jerk. However, in actual driving, it's difficult to guarantee that the control module is always functioning properly. If a control module anomaly causes steering wheel jerk and there's no timely identification and response, it poses a threat to safe driving. Summary of the Invention

[0003] The purpose of the present invention is to address the deficiencies of the prior art and provide a steering wheel vibration processing method, electronic device, and computer-readable storage medium, which continuously monitor the steering wheel control angle output by the control module, and convert the normalized angle sequence converted from the most recent multiple steering wheel control angles into a unilateral spectrum diagram, and perform quantitative statistics on the spectrum points in the specified data area on the unilateral spectrum diagram, and identify the steering wheel vibration state based on the statistical results, and perform corresponding control on the vehicle based on the identified steering wheel vibration state. Through the present invention, it is possible to continuously monitor whether the output of the control module generates steering wheel vibration, and to take different measures according to the strength of the steering wheel vibration state, thereby achieving effective supervision of the control module and improving the safety of vehicle driving.

[0004] To achieve the above-mentioned object, a first aspect of an embodiment of the present invention provides a method for processing steering wheel vibration, the method comprising:

[0005] receiving a steering wheel control angle as a corresponding first angle;

[0006] adding the first corners to a preset first corner sequence, and selecting a specified number of the nearest first corners from the first corner sequence to form a corresponding second corner sequence; and performing normalization processing on the second corner sequence to generate a corresponding normalized corner sequence;

[0007] Performing steering wheel vibration state identification according to the normalized turning angle sequence to generate a corresponding first state;

[0008] The first state is identified; if the first state is a no-jitter state, no-jitter control processing is performed; if the first state is a low-jitter state, low-jitter control processing is performed; if the first state is a medium-jitter state, medium-jitter control processing is performed; if the first state is a high-jitter state, high-jitter control processing is performed.

[0009] Preferably, the step of identifying the steering wheel vibration state according to the normalized turning angle sequence and generating the corresponding first state specifically includes:

[0010] Performing a fast Fourier transform on the normalized rotation angle sequence to generate a corresponding bilateral spectrum diagram, and converting the bilateral spectrum diagram into a corresponding unilateral spectrum diagram; the unilateral spectrum diagram is composed of a plurality of spectrum points, each of which includes a pair of frequency coordinate values ​​and amplitude coordinate values;

[0011] The spectrum points whose frequency coordinate value is greater than a preset frequency threshold and whose amplitude coordinate value is greater than a preset amplitude threshold are recorded as first-category spectrum points;

[0012] Counting the number of the first type of spectrum points to generate a corresponding first number;

[0013] Identify the first quantity; if the first quantity is 0, set the first state to a no-jitter state; if the first state is greater than 0 and less than or equal to a preset first quantity threshold, set the first state to a low-jitter state; if the first state is greater than the first quantity threshold and less than a preset second quantity threshold, set the first state to a moderate-jitter state; if the first state is greater than or equal to a preset third quantity threshold, set the first state to a high-jitter state; the first quantity threshold < the second quantity threshold ≤ the third quantity threshold.

[0014] Preferably, if the first state is a jitter-free state, performing jitter-free control processing specifically includes:

[0015] If the first state is a no-jitter state, the count value of the preset continuous jitter counter is reset to 0.

[0016] Preferably, if the first state is a low jitter state, performing low jitter control processing specifically includes:

[0017] If the first state is a low-vibration state, the count value of the preset continuous jitter counter is increased by 1; if the new count value exceeds the preset counter threshold, the preset driver and passenger driving state is identified; if the driver and passenger driving state is a manned driving state, the vehicle's driving mode is switched from automatic driving mode to manual driving mode; if the driver and passenger driving state is an unmanned driving state, the vehicle is controlled to stop.

[0018] Preferably, if the first state is a moderate jitter state, performing moderate jitter control processing specifically includes:

[0019] If the first state is a moderate shaking state, a steering wheel shaking alarm is processed; and the preset driver and passenger driving state is identified; if the driver and passenger driving state is a manned driving state, the vehicle's driving mode is switched from automatic driving mode to manual driving mode; if the driver and passenger driving state is an unmanned driving state, the vehicle is controlled to stop.

[0020] Preferably, if the first state is a high-jitter state, performing high-jitter control processing specifically includes:

[0021] If the first state is a high-vibration state, a steering wheel vibration alarm process is performed; and the vehicle is controlled to stop.

[0022] A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;

[0023] The processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps described in the first aspect above;

[0024] The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

[0025] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method described in the first aspect.

[0026] The embodiments of the present invention provide a steering wheel vibration processing method, an electronic device, and a computer-readable storage medium, which continuously monitor the steering wheel control angle output by the control module, convert the normalized angle sequence converted from the most recent multiple steering wheel control angles into a unilateral spectrum graph, and perform a quantitative count of the spectrum points in a specified data area on the unilateral spectrum graph. The steering wheel vibration state is identified based on the statistical results, and the vehicle is controlled accordingly based on the identified steering wheel vibration state. Through the present invention, it is possible to continuously monitor whether the output of the control module generates steering wheel vibration, and different responses can be taken according to the strength of the steering wheel vibration state, thereby completing effective supervision of the control module and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a steering wheel vibration processing method provided in the first embodiment of the present invention;

[0028] Figure 2 This is a structural diagram of an electronic device provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are merely some, rather than all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0030] The first embodiment of the present invention provides a method for processing steering wheel vibration, such as Figure 1 A schematic diagram of a steering wheel vibration processing method provided in the first embodiment of the present invention is shown. The method mainly includes the following steps:

[0031] Step 1: receiving a steering wheel control angle as a corresponding first angle.

[0032] Here, the steering wheel control angle refers to the steering wheel control angle information contained in the control command output by the control module of the vehicle's autonomous driving system to the steering wheel. In this embodiment of the present invention, the steering wheel control angle is acquired synchronously with each control command output by the control module, thereby achieving the effect of continuous monitoring.

[0033] Step 2: Add the first corners to a preset first corner sequence, and select the nearest specified number of first corners from the first corner sequence to form a corresponding second corner sequence; and normalize the second corner sequence to generate a corresponding normalized corner sequence.

[0034] Here, the first corner sequence is a fixed-length data sequence preset locally in the vehicle's automated driving system. This sequence manages the added first corners based on a first-in-first-out queue management principle. The sequence length is adjustable and can be configured based on the vehicle's local execution performance and storage capacity during implementation. If the specified number is n, the second corner sequence is a subsequence consisting of the last n first corners in the first corner sequence. The specified number n should be less than the sequence length of the first corner sequence. Embodiments of the present invention support multiple normalization implementations for normalizing the second corner sequence. One implementation is as follows: Normalizing the second corner sequence specifically includes calculating the sum of the absolute values ​​of all first corners in the second corner sequence to generate a corresponding first angle sum, calculating a normalized angle corresponding to each first corner based on the first angle sum: first angle / first angle sum, and forming a corresponding normalized angle sequence from all the obtained normalized angles.

[0035] Step 3: Identify the steering wheel vibration state based on the normalized turning angle sequence to generate a corresponding first state;

[0036] Specifically, the method comprises: step 31, performing fast Fourier transform on the normalized rotation angle sequence to generate a corresponding bilateral spectrum graph, and converting the bilateral spectrum graph into a corresponding unilateral spectrum graph;

[0037] Among them, the single-sided spectrum graph is composed of multiple spectrum points, and the spectrum point includes a pair of frequency coordinate values ​​and amplitude coordinate values;

[0038] Here, a fast Fourier transform (FFT) is performed on the normalized rotation angle sequence as a continuous signal. From the well-known fast Fourier transform, it can be seen that a symmetrical bilateral spectrum diagram will be obtained. Then, a unilateral spectrum conversion is performed on the bilateral spectrum diagram. From the well-known bilateral-unilateral spectrum conversion mechanism, we know that the spectrum points with frequencies greater than 0 in the bilateral spectrum diagram are retained and their amplitudes are multiplied to obtain the corresponding unilateral spectrum diagram. The unilateral spectrum diagram is composed of multiple spectrum points. The coordinate system of the unilateral spectrum diagram uses frequency as the horizontal coordinate (the coordinate unit is Hertz Hz) and energy density amplitude as the vertical coordinate (the coordinate unit is decibel dB). Therefore, the coordinate of each spectrum point is composed of a pair of frequency coordinate values ​​and amplitude coordinate values.

[0039] Step 32: Record the spectrum points whose frequency coordinate values ​​are greater than a preset frequency threshold and whose amplitude coordinate values ​​are greater than a preset amplitude threshold as first-category spectrum points;

[0040] Here, the frequency threshold and amplitude threshold are pre-set, such as the frequency threshold is 1Hz and the amplitude threshold is 0.3dB; the first type of spectrum point is actually the high-frequency jitter point;

[0041] Step 33: Count the number of first-type spectrum points to generate a corresponding first number;

[0042] Step 34: Identify the first quantity; if the first quantity is 0, set the first state to a no-jitter state; if the first state is greater than 0 and less than or equal to a preset first quantity threshold, set the first state to a low-jitter state; if the first state is greater than the first quantity threshold and less than a preset second quantity threshold, set the first state to a moderate-jitter state; if the first state is greater than or equal to a preset third quantity threshold, set the first state to a high-jitter state;

[0043] Among them, the first quantity threshold < the second quantity threshold ≤ the third quantity threshold.

[0044] Here, when the first number = 0, it means that no high-frequency jitter points were found after measurement, so the first state indicating the steering wheel jitter state is set to a no-jitter state; the first number threshold of an embodiment of the present invention is a minimum value, and the purpose of setting it is to prevent the misidentification of high-frequency jitter points due to measurement or calculation errors. Therefore, when 0 < first number ≤ first number threshold, the embodiment of the present invention sets the first state to a low-jitter state, and responds in a continuous observation manner in subsequent response steps; when the first number threshold < first number ≤ second number threshold, or the second number threshold < first number ≤ third number threshold, the embodiment of the present invention confirms the presence of high-frequency jitter points, and divides them into two corresponding processing levels of medium and high according to the jitter density for subsequent steps; it should be noted that the second number threshold can also be equal to the third number threshold. If the two are equal, the high jitter state and the medium jitter state will remain consistent in the subsequent response processing process, and both adopt the processing process corresponding to the medium jitter state.

[0045] Step 4, identifying the first state; if the first state is a no-jitter state, performing no-jitter control processing; if the first state is a low-jitter state, performing low-jitter control processing; if the first state is a medium-jitter state, performing medium-jitter control processing; if the first state is a high-jitter state, performing high-jitter control processing;

[0046] Here, the current step performs corresponding processing operations according to the strength of the state of the steering wheel 1, that is, the state information of the first state;

[0047] Specifically, step 41 includes: if the first state is a non-jitter state, performing a non-jitter control process, specifically:

[0048] Reset the count value of the preset continuous jitter counter to 0;

[0049] Here, if the first state is the no-shake state, it means that no steering wheel shake is currently occurring. In this case, the embodiment of the present invention will not perform any control operation on the vehicle, but will only clear the local continuous shake counter of the vehicle.

[0050] Step 42: If the first state is a low jitter state, a low jitter control process is performed, specifically including:

[0051] Step 421, adding 1 to the count value of the preset continuous jitter counter;

[0052] Step 422: If the new count value exceeds the preset counter threshold, the preset driver or passenger driving status is identified; if the driver or passenger driving status is a human driver, the vehicle driving mode is switched from the automatic driving mode to the manual driving mode; if the driver or passenger driving status is an unmanned driving mode, the vehicle is stopped;

[0053] Here, as described above, the embodiment of the present invention does not control the vehicle when the low-level jitter state is first obtained, but adopts a continuous observation method for response processing; the continuous observation method actually evaluates the number of low-level jitters that have occurred recently, and the count value of the continuous jitter counter is the number of low-level jitters that have occurred recently; if the count value of the continuous jitter counter exceeds the preset counter threshold (for example, 2 times), it means that the low-level jitter state is not caused by measurement or calculation errors, but is caused by actual steering wheel jitter. At this time, the embodiment of the present invention will immediately execute the relevant response processing flow; the response processing flow first determines whether there are drivers and passengers in the vehicle. If the driver and passengers driving state is a manned driving state, it means that there are drivers and passengers. Then, the vehicle driving control is returned to the manual mode by switching the vehicle driving mode from the automatic driving mode to the manual driving mode. If the driver and passengers driving state is an unmanned driving state, it means that there are no drivers and passengers. From the perspective of vehicle safety driving, the embodiment of the present invention will control the vehicle to stop.

[0054] Step 43: If the first state is a moderate jitter state, performing moderate jitter control processing, specifically including:

[0055] Step 431, performing steering wheel vibration alarm processing;

[0056] Specifically, the vehicle's center console triggers an audible and visual alarm based on a preset alarm device inside the vehicle. The alarm device includes at least three set parameters: alarm frequency, alarm sound intensity, and alarm signal light color. If the vehicle is also connected to a remote vehicle management platform, an alarm is also sent to the remote vehicle management platform. The alarm information sent to the remote vehicle management platform includes at least time information, vehicle identification information, vehicle location and motion status information, road traffic information of the vehicle's road, and image information of the vehicle's surrounding environment.

[0057] Step 432: Identify the preset driver and passenger driving status; if the driver and passenger driving status is a human-driven state, switch the vehicle's driving mode from the automatic driving mode back to the manual driving mode; if the driver and passenger driving status is an unmanned state, control the vehicle to stop;

[0058] Here, it can be seen from the above steps 431-432 that if the first state is a moderate shaking state, it means that it has been confirmed that the current vehicle has steering wheel shaking. In this embodiment of the present invention, the relevant response processing flow will be immediately executed; the response processing flow includes two aspects: on the one hand, an immediate alarm is issued; on the other hand, it is determined whether there are drivers or passengers in the vehicle. If there are drivers or passengers, the vehicle driving control is returned to manual control; if there are no drivers or passengers, the vehicle is controlled to stop;

[0059] Step 44, if the first state is a high-jitter state, then performing a high-jitter control process, specifically including:

[0060] Step 441, performing steering wheel vibration alarm processing;

[0061] Specifically, the vehicle's center console triggers an audible and visual alarm based on a preset alarm device inside the vehicle. If the vehicle is also connected to a remote vehicle management platform, an alarm is also sent to the remote vehicle management platform. The alarm information sent to the remote vehicle management platform includes at least time information, vehicle identification information, vehicle location and motion status information, road traffic information of the vehicle's road, and image information of the vehicle's surrounding environment.

[0062] Here, the alarm device used inside the vehicle when the first state is a high-shake state may be the same alarm device as the alarm device used when the first state is a moderate-shake state, or may be a different alarm device; if they are the same alarm device, then at least two of the three setting parameters (alarm frequency, alarm sound intensity, and alarm signal light color) of the alarm device when the first state is a high-shake state should be different from the settings when the first state is a moderate-shake state;

[0063] Step 442, and control the vehicle to stop.

[0064] Here, it can be seen from the above steps 441-442 that if the first state is a highly shaking state, it means that it has been confirmed that the current vehicle has a relatively serious steering wheel shaking situation. The embodiment of the present invention will immediately execute the relevant response processing process; the response processing process includes two aspects: on the one hand, immediately issue an alarm; on the other hand, directly control the vehicle to stop.

[0065] In summary, through the above steps 1-4, the embodiment of the present invention can continuously monitor whether the output of the control module generates steering wheel vibration during vehicle driving, and can perform different response processes according to the intensity of the steering wheel vibration state.

[0066] It should be noted that in addition to continuously monitoring and responding to steering wheel vibration during vehicle operation, the embodiment of the present invention also backs up real-time monitoring data. That is, before identifying the first state in step 4, the method of the embodiment of the present invention further includes aggregating and storing the driving data. Specifically, the method comprises: obtaining a first data set corresponding to the current time information, the current vehicle identification information, motion state information, and positioning information, and the current road traffic information; and storing the corresponding driving data record composed of the first data set, the first turning angle, and the first state in a preset driving data record library.

[0067] It should be noted that in addition to backing up real-time monitoring data during vehicle driving, the embodiment of the present invention also supports offline analysis of the vehicle steering wheel vibration process through the driving data recording library. That is, the method of the embodiment of the present invention also includes steering wheel vibration simulation processing based on the preset driving data recording library, specifically:

[0068] Extracting driving data records of a specified vehicle ID in a specified time period from a driving data record library to form a simulation record sequence, and simulating and reproducing the driving state of the vehicle in the specified time period according to the simulation record sequence;

[0069] In the process of simulation reproduction, the first state corresponding to the current simulation moment is extracted as the current comparison state; the first corner corresponding to the current simulation moment is extracted and added to the preset third corner sequence, and the last specified number of first corners are selected from the third corner sequence to form a corresponding fourth corner sequence, and the fourth corner sequence is normalized (similar to step 2) to generate a corresponding normalized angle sequence, and the steering wheel vibration state is identified according to the normalized angle sequence to generate a corresponding second state (similar to step 3); and the second state is identified. If the second state is a non-vibration state, the corresponding normal state is displayed on the simulation interface; if the second state is a low-vibration state, the corresponding first-level vibration alarm is displayed on the simulation interface; if the second state is a moderate-vibration state, the corresponding second-level vibration alarm is displayed on the simulation interface; if the second state is a high-vibration state, the corresponding third-level vibration alarm is displayed on the simulation interface; and whether the second state matches the current comparison state is identified. If not, the corresponding mismatch vibration state alarm is displayed on the simulation interface.

[0070] Here, different display components are pre-set on the simulation interface to correspond to the no-jitter state, low-jitter state, medium-jitter state, high-jitter state and mismatched jitter state respectively. Each display component realizes a display function similar to a color signal light, and each has a different display color configuration; when displaying the normal state, the display components corresponding to the other states except the mismatched jitter state are turned off, and the display components corresponding to the no-jitter state are lit according to the set color; when displaying the first-level jitter alarm, the display components corresponding to the other states except the mismatched jitter state are turned off, and The display components corresponding to the low jitter state are lit in the set color; a second-level jitter alarm display is performed, the display components corresponding to other states except the mismatched jitter state are turned off, and the display components corresponding to the moderate jitter state are lit in the set color; a third-level jitter alarm display is performed, the display components corresponding to other states except the mismatched jitter state are turned off, and the display components corresponding to the high jitter state are lit in the set color; a mismatched jitter state alarm display is performed, and the display components corresponding to the mismatched jitter state are lit in the set color.

[0071] Figure 2 This is a schematic diagram of the structure of an electronic device provided in the second embodiment of the present invention. The electronic device may be the aforementioned terminal device or server, or may be a terminal device or server connected to the aforementioned terminal device or server to implement the method of the embodiment of the present invention. Figure 2 As shown, the electronic device may include: a processor 301 (such as a CPU), a memory 302, and a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiver 303's transceiver actions. Various instructions may be stored in the memory 302 for completing various processing functions and implementing the processing steps described in the aforementioned method embodiment. Preferably, the electronic device involved in the embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to realize communication connections between components. The above-mentioned communication port 306 is used for connection and communication between the electronic device and other peripherals.

[0072] exist Figure 2 The system bus 305 mentioned in the figure can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2The use of a single bold line in the diagram does not necessarily imply a single bus or type of bus. Communication interfaces enable communication between the database access device and other devices (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and non-volatile memory (NVM), such as at least one disk drive.

[0073] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0074] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, it enables the computer to execute the methods and processing procedures provided in the above embodiments.

[0075] An embodiment of the present invention further provides a chip for executing instructions, which is used to execute the processing steps described in the above method embodiment.

[0076] The embodiments of the present invention provide a steering wheel vibration processing method, an electronic device, and a computer-readable storage medium, which continuously monitor the steering wheel control angle output by the control module, convert the normalized angle sequence converted from the most recent multiple steering wheel control angles into a unilateral spectrum graph, and perform a quantitative count of the spectrum points in a specified data area on the unilateral spectrum graph. The steering wheel vibration state is identified based on the statistical results, and the vehicle is controlled accordingly based on the identified steering wheel vibration state. Through the present invention, it is possible to continuously monitor whether the output of the control module generates steering wheel vibration, and different responses can be taken according to the strength of the steering wheel vibration state, thereby completing effective supervision of the control module and improving the safety of vehicle driving.

[0077] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0078] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0079] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for processing steering wheel vibration, characterized in that: The method comprises: receiving a steering wheel control angle as a corresponding first angle; adding the first corners to a preset first corner sequence, and selecting a specified number of the nearest first corners from the first corner sequence to form a corresponding second corner sequence; and performing normalization processing on the second corner sequence to generate a corresponding normalized corner sequence; Performing steering wheel vibration state identification according to the normalized turning angle sequence to generate a corresponding first state; Identify the first state; if the first state is a no-jitter state, perform no-jitter control processing; if the first state is a low-jitter state, perform low-jitter control processing; if the first state is a medium-jitter state, perform medium-jitter control processing; if the first state is a high-jitter state, perform high-jitter control processing; Wherein, if the first state is a low-jitter state, performing low-jitter control processing specifically includes: if the first state is a low-jitter state, adding 1 to the count value of the continuous jitter counter; if the new count value exceeds a preset counter threshold, identifying a preset driver or passenger driving state; if the driver or passenger driving state is a manned driving state, switching the vehicle's driving mode from the automatic driving mode to the manual driving mode; if the driver or passenger driving state is an unmanned driving state, controlling the vehicle to stop; If the first state is a moderate shaking state, performing moderate shaking control processing specifically includes: if the first state is a moderate shaking state, performing steering wheel shaking alarm processing; and identifying the driving state of the driver or passenger; if the driving state of the driver or passenger is a manned driving state, switching the driving mode of the vehicle from the automatic driving mode to the manual driving mode; if the driving state of the driver or passenger is an unmanned driving state, controlling the vehicle to stop; If the first state is a high-vibration state, performing a high-vibration control process specifically includes: if the first state is a high-vibration state, performing a steering wheel vibration alarm process; and controlling the vehicle to stop; The steering wheel vibration alarm processing specifically includes: sound and light alarms inside the vehicle via the vehicle center console based on a preset alarm device; if the vehicle is also connected to a remote vehicle management platform, an alarm is also sent to the remote vehicle management platform; the alarm information sent to the remote vehicle management platform includes time information, vehicle identification information, vehicle location and motion status information, road traffic information and environmental image information; The method further includes performing steering wheel vibration simulation processing according to a preset driving data record library, specifically: extracting driving data records of a specified vehicle identification in a specified time period from the driving data record library to form a simulation record sequence, and simulating and reproducing the driving state of the vehicle in the specified time period according to the simulation record sequence; and during the simulation and reproduction, extracting the first state corresponding to the current simulation moment as the current comparison state; and extracting the first turning angle corresponding to the current simulation moment and adding it to a preset third turning angle sequence, and selecting the last specified number of the first turning angles from the third turning angle sequence to form a corresponding fourth turning angle sequence, and normalizing the fourth turning angle sequence to generate a corresponding normalized turning angle sequence, and performing steering wheel vibration state recognition according to the normalized turning angle sequence to generate a corresponding second state; And identify the second state. If the second state is a no-shake state, a low-shake state, a moderate-shake state or a high-shake state, a corresponding normal state display, a first-level shake alarm display, a second-level shake alarm display or a third-level shake alarm display is performed on the simulation interface; and identify whether the second state matches the current comparison state. If it does not match, a corresponding mismatched shake state alarm display is performed on the simulation interface; wherein, the driving data record library includes a plurality of the driving data records; the driving data record is a driving data backup record generated during the vehicle driving process; the driving data record includes a first data group, the first turning angle and the first state; the first data group includes time information, vehicle identification information, motion state information and positioning information, as well as road traffic information.

2. The method for processing steering wheel vibration according to claim 1, characterized in that: The step of identifying the steering wheel vibration state according to the normalized turning angle sequence and generating the corresponding first state specifically includes: Performing a fast Fourier transform on the normalized rotation angle sequence to generate a corresponding bilateral spectrum diagram, and converting the bilateral spectrum diagram into a corresponding unilateral spectrum diagram; the unilateral spectrum diagram is composed of a plurality of spectrum points, each of which includes a pair of frequency coordinate values ​​and amplitude coordinate values; The spectrum points whose frequency coordinate value is greater than a preset frequency threshold and whose amplitude coordinate value is greater than a preset amplitude threshold are recorded as first-category spectrum points; Counting the number of the first type of spectrum points to generate a corresponding first number; Identify the first quantity; if the first quantity is 0, set the first state to a no-jitter state; if the first state is greater than 0 and less than or equal to a preset first quantity threshold, set the first state to a low-jitter state; if the first state is greater than the first quantity threshold and less than a preset second quantity threshold, set the first state to a moderate-jitter state; if the first state is greater than or equal to a preset third quantity threshold, set the first state to a high-jitter state; the first quantity threshold < the second quantity threshold ≤ the third quantity threshold.

3. The method for processing steering wheel vibration according to claim 1, characterized in that: If the first state is a jitter-free state, performing jitter-free control processing specifically includes: If the first state is a no-jitter state, the count value of the preset continuous jitter counter is reset to 0.

4. An electronic device, characterized in that: include: memory, processors, and transceivers; The processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the method according to any one of claims 1 to 3; The transceiver is coupled to the processor, and the processor controls the transceiver to send and receive messages.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 3.

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