Method and device for determining energy recovery of steering wheel steering, and electronic equipment

Abstract

The application discloses a kind of steering energy recovery determination method, device and electronic equipment of steering wheel.This method comprises: obtaining the vehicle driving information and steering wheel steering information of vehicle;Whether energy recovery start condition is satisfied according to vehicle driving information and steering wheel steering information is determined;If satisfied, it is determined to open steering energy recovery.The technical scheme of the present application is used, whether energy recovery start condition is satisfied according to vehicle driving information and steering wheel steering information, so that whether energy recovery is carried out is judged before energy recovery, so as to not affect the driving experience and driving safety of driver when energy recovery is carried out.Through the operation of the above steps, the energy recovery utilization rate is improved, the driving safety is improved while the cruising range of vehicle is increased.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method, device, and electronic device for determining energy recovery during steering wheel turning. Background Technology

[0002] Currently, the continuous development of new energy vehicles has led to a gradual increase in their market share. Continuous technological advancements are also driving the mileage of new energy vehicles to increase.

[0003] However, energy shortages remain a concern for many consumers regarding new energy vehicles. How to recover energy generated during driving while increasing the mileage of new energy vehicles has become a focus for some companies. However, the recovery of energy often lacks consideration of the driver's actual working conditions and the energy generated during steering, which can easily affect the driver's driving experience. Therefore, there is an urgent need for a method that can analyze driver conditions and recover excess energy during steering. Summary of the Invention

[0004] This invention provides a method, apparatus, and electronic device for determining energy recovery during steering wheel turning, in order to solve the problem of insufficient energy recovery during steering and its impact on driver safety.

[0005] According to one aspect of the present invention, a method for determining energy recovery during steering wheel turn is provided, the method comprising:

[0006] Obtain vehicle driving information and steering wheel steering information;

[0007] Determine whether the conditions for energy recovery activation are met based on vehicle driving information and steering wheel information;

[0008] If the conditions are met, then steering energy recovery will be activated.

[0009] According to another aspect of the present invention, a steering wheel energy recovery determining device is provided, the device comprising:

[0010] The information acquisition module is used to acquire vehicle driving information and steering wheel steering information;

[0011] The condition judgment module is used to determine whether the conditions for starting energy recovery are met based on vehicle driving information and steering wheel steering information;

[0012] The energy recovery module is used to determine whether to activate steering energy recovery if certain conditions are met.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory that is communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the energy recovery determination method for steering wheel steering according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the energy recovery determination method for steering wheel steering according to any embodiment of the present invention.

[0018] The technical solution of this invention determines whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel information. This pre-emptive determination of whether energy recovery should be performed ensures that the driver's experience and safety are not affected during energy recovery. Through these steps, the energy recovery efficiency is improved, increasing the vehicle's range while simultaneously enhancing driving safety.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a method for determining energy recovery during steering wheel turning according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a flowchart of another method for determining energy recovery during steering wheel turning according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of a steering wheel energy recovery determining device according to Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the energy recovery determination method for steering wheel turning according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Example 1

[0028] Figure 1 This is a flowchart of a method for determining energy recovery during steering wheel turn, provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where vehicle steering energy is acquired during vehicle steering. This method can be executed by a device for determining energy recovery during steering wheel turn. This device can be implemented in hardware and / or software and can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the method includes:

[0029] S110. Obtain vehicle driving information and steering wheel information.

[0030] Vehicle driving information can be information related to vehicle driving collected during vehicle operation, including but not limited to vehicle speed, vehicle travel angle, vehicle lane angle, distance to the vehicle in front, and remaining fuel. Steering information can be information describing the steering process during vehicle operation, including but not limited to steering torque, steering wheel hand reach, steering force, steering angle, steering frequency, steering speed, and steering wheel model.

[0031] Among them, vehicle speed can be used to describe the speed of the vehicle during the driving process; vehicle angle can be used to describe the angle between the vehicle's driving direction and the road extension direction; vehicle lane angle can be used to describe the angle of the road extension that the vehicle is traveling on; distance to the vehicle in front can be used to describe the distance between the vehicle and the vehicle in front, or to the person or obstacle, etc.; and remaining fuel can be used to describe the amount of fuel remaining in the vehicle's fuel tank at the current moment.

[0032] In addition, steering wheel torque can be used to describe the torque applied to the steering wheel during steering; steering wheel hand distance can be used to describe the distance from the driver's grip on the steering wheel to the center of the steering wheel in the vehicle; steering wheel force can be used to describe the magnitude of the force applied to the steering wheel to make it rotate; steering wheel angle can be used to describe the angle of steering wheel rotation; steering wheel speed can be used to describe the angle of steering wheel rotation per unit time; steering wheel frequency can be used to describe the number of times the steering wheel rotates per unit time; and steering wheel model can be used to describe the specific model information of the steering wheel.

[0033] During vehicle operation, the vehicle's driving process can be detected through bus and / or sensors to determine the vehicle's driving information and steering wheel information.

[0034] Optionally, the vehicle driving information includes at least the vehicle speed, vehicle driving angle, vehicle lane angle, and distance to the vehicle in front, and the steering information includes the steering torque, steering wheel hand distance, steering force, steering angle, steering frequency, and steering speed.

[0035] S120. Determine whether the conditions for starting energy recovery are met based on vehicle driving information and steering wheel information.

[0036] If all steering processes are deemed to meet the conditions for energy recovery activation during vehicle operation, it will inevitably affect the driver's driving experience and may even affect the driver's safety.

[0037] Therefore, it is necessary to use vehicle driving information and steering wheel information to determine whether energy can be recovered from the current driving situation of the vehicle without affecting the driver's driving experience and driving safety.

[0038] By determining whether the conditions for energy recovery are met based on vehicle driving information and steering wheel information, a judgment is made on whether energy recovery should be carried out before it is performed, so that the driver's driving experience and driving safety are not affected when energy recovery is carried out.

[0039] In one alternative approach, determining whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel information may include steps A1-A3:

[0040] Step A1: Determine the time of vehicle collision based on the distance to the vehicle in front and the vehicle's speed.

[0041] Step A2: Determine the vehicle steering torque based on the vehicle collision time, vehicle travel angle, and vehicle lane angle.

[0042] Step A3: If the vehicle collision time is greater than the preset time and the steering wheel torque is greater than the vehicle steering torque, then the first energy recovery activation condition is met.

[0043] During vehicle operation, there may be situations such as following vehicles or pedestrians or obstacles in front of the vehicle. Therefore, the distance of vehicles, pedestrians or obstacles in front of the vehicle can be detected by radar, cameras or sensors installed in the vehicle, so as to obtain the distance to the vehicle in front.

[0044] After obtaining the distance to the vehicle in front, the vehicle's speed can be used to calculate and determine the collision time between the vehicle and the vehicle in front, or the pedestrian or obstacle.

[0045] Once the time of vehicle collision is determined, the vehicle steering torque can be determined using the time of collision, the vehicle's driving angle, and the vehicle's lane angle. This allows us to know the steering torque required for the driver to turn the steering wheel during the time of the collision.

[0046] After obtaining the vehicle collision time, it can be compared with the preset time. If the vehicle collision time is greater than the preset time, it means that the driver could have avoided the collision by changing lanes or other normal driving methods within the vehicle collision time.

[0047] The preset time can be determined based on past collision experience, representing the vehicle collision time under non-collision conditions corresponding to different distances from the vehicle in front and vehicle speeds.

[0048] If the vehicle collision time is less than the preset time, it means that the driver cannot avoid the collision by changing lanes or other normal driving methods within the vehicle collision time. Therefore, it can be determined that the driver needs to turn the steering wheel at a relatively fast speed within the vehicle collision time, and the torque that can reasonably avoid the collision at this time is the vehicle steering torque.

[0049] When the steering torque applied by the driver to the steering wheel is greater than the vehicle's steering torque, it indicates that the torque input by the driver exceeds the torque required to reasonably avoid a collision. At this time, the portion of the torque exceeding the reasonable torque is a recoverable torque.

[0050] Therefore, when the vehicle collision time is greater than the preset time and the steering wheel torque is greater than the vehicle steering torque, it can be determined that the first energy recovery activation condition is met.

[0051] At this point, the portion of the steering wheel torque that exceeds the vehicle's steering torque will be retracted.

[0052] The first energy recovery activation condition can be a judgment condition for recovering the portion of the steering wheel torque that is greater than the vehicle steering torque.

[0053] In one alternative approach, before determining that the first energy recovery activation condition is met if the vehicle collision time is greater than a preset time and the steering wheel torque is greater than the vehicle steering torque, steps B1-B3 are further included:

[0054] Step B1: Obtain the steering wheel hand-hold distance.

[0055] Step B2: Determine the steering force using the vehicle's onboard system.

[0056] Step B3: Determine the steering wheel torque based on the steering wheel hand-holding distance and steering wheel steering force.

[0057] After determining the vehicle's steering torque, it is necessary to determine the steering wheel torque input by the driver. This requires determining the distance the driver holds the steering wheel using the vehicle's in-vehicle camera or sensors.

[0058] When the driver applies steering force to the steering wheel, the vehicle system determines the magnitude of the steering force and uses the obtained steering wheel hand distance and steering force to determine the steering torque.

[0059] In one alternative approach, determining whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel information further includes steps C1-C2:

[0060] Step C1: Obtain the vehicle's steering wheel frequency.

[0061] Step C2: If the steering wheel turning frequency is greater than the preset frequency, then the second energy recovery activation condition is met.

[0062] In addition to recovering torque exceeding the vehicle's steering torque as mentioned above, there is also lateral kinetic energy generated by vibrations from driving on bumpy roads, which is transmitted through the wheels to the steering linkage. Therefore, it is necessary to determine when the vehicle is driving on bumpy roads.

[0063] Therefore, it is necessary to obtain the steering wheel frequency of the vehicle in order to judge the driving road surface.

[0064] To address this, tests can be conducted on different vehicle models to determine their preset frequencies. These preset frequencies can be the minimum steering wheel frequency required for the vehicle on various bumpy road surfaces.

[0065] The steering wheel frequency is compared with the preset frequency. If the steering wheel frequency is greater than the preset frequency, it is determined that the vehicle is driving on a bumpy road, and the second energy recovery activation condition is met.

[0066] Among them, the second energy recovery activation condition can be a condition for determining whether to acquire lateral kinetic energy transferred to the steering gear tie rod.

[0067] In one alternative approach, determining whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel information further includes steps D1-D3:

[0068] Step D1: Determine the status of the vehicle's automatic parking function.

[0069] Step D2: If the vehicle's automatic parking function is enabled, then obtain the vehicle's steering wheel speed.

[0070] Step D3: If the steering wheel speed is greater than the preset speed, then the third energy recovery start condition is met.

[0071] In addition to the two situations mentioned above, some steering energy can also be recovered when a vehicle is automatically parking.

[0072] To address this, the status of the vehicle's automatic parking function can be obtained through the vehicle's bus or onboard computer, thereby determining whether the automatic parking function is activated.

[0073] The automatic parking function status can be used to indicate whether the vehicle's automatic parking function is currently on or off.

[0074] If the automatic parking function is determined to be activated by checking its status, the steering wheel speed can be measured to determine if there is an excessive steering wheel speed.

[0075] Similar to the method for obtaining the preset frequency, different vehicle models can be tested to determine the preset speed for each model.

[0076] The preset speed can be the minimum steering wheel speed without affecting parking efficiency.

[0077] The steering wheel speed is compared with the preset speed. If the steering wheel speed is greater than the preset speed, it means that the heat energy generated by friction and the rapid rotation of the motor during the automatic parking process can be recovered without affecting the vehicle's automatic parking efficiency. At this time, it can be determined that the third energy recovery start condition is met.

[0078] Among them, the third energy recovery start-up condition can be the judgment condition for determining whether to obtain the heat energy generated by friction and the rapid rotation of the motor.

[0079] In one alternative approach, determining whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel steering information also includes:

[0080] If the steering wheel angle is not at zero and the steering trend is approaching zero, and the steering torque is less than the preset torque, and the vehicle speed is less than the preset speed, then the fourth energy recovery activation condition is met.

[0081] In addition to the three situations mentioned above, there is also the case where, when returning to a straight line from a curve, the suspension, tires, and steering system themselves can cause the vehicle to have a self-centering effect even when no one is turning the steering wheel. This excess self-centering force can also be recovered as energy.

[0082] To determine when the aforementioned energy can be recovered, it is necessary to determine the steering wheel angle and whether the steering wheel angle is at zero.

[0083] If the steering wheel is not at the zero position and the steering trend is towards the zero position, it indicates that the vehicle is returning to center. However, it is still uncertain whether the return to center is effective. Therefore, it is necessary to use the preset torque and steering wheel torque to make a judgment, and also to judge the vehicle speed and the preset driving speed.

[0084] If the steering wheel angle is not at zero and the steering trend is approaching zero, and the steering torque is less than the preset torque, and the vehicle speed is less than the preset speed, then it is determined that energy can be recovered from the excess return force, and the fourth energy recovery activation condition is met.

[0085] The preset driving speed can be the minimum vehicle speed during the automatic self-centering process, obtained through actual testing. The preset torque can be the minimum steering torque applied by the driver to the steering wheel during the automatic self-centering process, obtained through actual testing. The fourth energy recovery activation condition can be a criterion for determining whether to recover excess self-centering force.

[0086] S130. If satisfied, then activate steering energy recovery.

[0087] If a certain energy recovery start-up condition is determined to be met, the energy recovery device corresponding to the energy recovery start-up condition is activated, thereby recovering the turning energy.

[0088] Steering energy can be energy generated by vehicle steering that can be recovered. The energy recovery device can be a device installed in the vehicle to recover energy.

[0089] The technical solution of this invention determines whether the energy recovery activation conditions are met based on vehicle driving information and steering wheel information. This pre-emptive determination of whether energy recovery should be performed ensures that the driver's experience and safety are not affected during energy recovery. Through these steps, the energy recovery efficiency is improved, increasing the vehicle's range while simultaneously enhancing driving safety.

[0090] Example 2

[0091] Figure 2 This invention provides a flowchart of another method for determining energy recovery during steering wheel turn, based on the above embodiments. This embodiment further optimizes the subsequent process of determining whether to activate steering energy recovery if certain conditions are met, as described in the previous embodiments. This embodiment can be combined with various optional solutions from one or more of the above embodiments. Figure 2 As shown, the method for determining energy recovery during steering wheel turn in this embodiment may include the following steps:

[0092] S210. Obtain vehicle driving information and steering wheel steering information.

[0093] S220. Determine whether the conditions for starting energy recovery are met based on vehicle driving information and steering wheel information.

[0094] S230. If satisfied, then activate steering energy recovery.

[0095] S240. Determine whether the activated energy recovery device corresponds to the first energy recovery start-up condition.

[0096] S250, If yes, then determine to stop judging other energy recovery start conditions.

[0097] When the first energy recovery activation condition is met, if other energy recovery activation conditions are met simultaneously and the energy corresponding to those conditions is recovered, it may have a certain impact on the driver's driving experience and safety. This is because other vehicles, people, or obstacles may be present in the first energy recovery activation condition.

[0098] Therefore, the decision to stop should be based on other energy recovery start-up conditions to avoid this situation.

[0099] By employing the technical solution of this invention, it is determined whether the activated energy recovery device corresponds to the first energy recovery activation condition. If so, it is determined to stop judging other energy recovery activation conditions, so as to avoid affecting the driver's driving experience and safety when recovering steering energy.

[0100] Example 3

[0101] Figure 3 This invention provides a structural block diagram of a steering wheel steering energy recovery determination device, applicable to situations where vehicle steering energy is acquired during vehicle steering. This steering wheel steering energy recovery determination device can be implemented in hardware and / or software and can be configured in an electronic device with data processing capabilities. For example... Figure 3 As shown, the energy recovery determination device for steering wheel turning in this embodiment may include: an information acquisition module 310, a condition judgment module 320, and an energy recovery module 330.

[0102] in:

[0103] The information acquisition module 310 is used to acquire vehicle driving information and steering wheel steering information;

[0104] The condition judgment module 320 is used to determine whether the energy recovery start-up conditions are met based on vehicle driving information and steering wheel steering information;

[0105] Energy recovery module 330 is used to determine whether to activate steering energy recovery if the conditions are met.

[0106] Based on the above embodiments, optionally, the vehicle driving information includes at least the vehicle driving speed, vehicle driving angle, vehicle lane angle and distance to the vehicle in front, and the steering wheel information includes the steering wheel torque, steering wheel hand distance, steering wheel steering force, steering wheel angle, steering wheel steering frequency and steering wheel speed.

[0107] Accordingly, the condition judgment module 320 includes:

[0108] The collision time determination unit is used to determine the vehicle collision time based on the distance to the vehicle in front and the vehicle's speed.

[0109] The steering torque determination unit is used to determine the vehicle steering torque based on the vehicle collision time, vehicle travel angle, and vehicle lane angle.

[0110] The first condition determination unit is used to determine that the first energy recovery start condition is met if the vehicle collision time is greater than a preset time and the steering wheel torque is greater than the vehicle steering torque.

[0111] Optionally, based on the above embodiments, before the first condition determination unit, the following further step is taken:

[0112] Handheld distance acquisition unit, used to acquire the handheld distance of the steering wheel;

[0113] Steering wheel force determination unit, used to determine the steering wheel force through the vehicle's onboard system;

[0114] The steering wheel torque determination unit is used to determine the steering wheel torque based on the steering wheel hand-holding distance and steering wheel steering force.

[0115] Based on the above embodiments, optionally, the condition judgment module 320 further includes:

[0116] Steering frequency determination unit, used to obtain the steering wheel steering frequency of the vehicle;

[0117] The second condition determination unit is used to determine that the second energy recovery start condition is met if the steering wheel turning frequency is greater than the preset frequency.

[0118] Based on the above embodiments, optionally, the condition judgment module 320 further includes:

[0119] Parking function status determination unit, used to determine the automatic parking function status of the vehicle;

[0120] The steering wheel speed acquisition unit is used to acquire the vehicle's steering wheel speed if the vehicle's automatic parking function is enabled.

[0121] The third condition determination unit is used to determine that the third energy recovery start condition is met if the steering wheel speed is greater than the preset speed.

[0122] Based on the above embodiments, optionally, the condition judgment module 320 further includes:

[0123] The fourth condition determination unit is used to determine that the fourth energy recovery start condition is met if the steering wheel angle is not at zero and the steering trend tends to zero, the steering torque is less than the preset torque, and the vehicle speed is less than the preset speed.

[0124] Based on the above embodiments, optionally, after the energy recovery module 330, the device further includes:

[0125] The first condition judgment module is used to determine whether the activated energy recovery device corresponds to the first energy recovery start-up condition.

[0126] The conditional stop module is used to determine whether other energy recovery start conditions are met if so, and then stop judging the start of the process.

[0127] The energy recovery determination device for steering wheel steering provided in this embodiment of the invention can execute the energy recovery determination method for steering wheel steering provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0128] Example 4

[0129] Figure 4 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0130] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0131] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0132] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the energy recovery determination method for steering wheel steering.

[0133] In some embodiments, the energy recovery determination method for steering wheel steering may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the energy recovery determination method for steering wheel steering described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the energy recovery determination method for steering wheel steering by any other suitable means (e.g., by means of firmware).

[0134] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0135] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0136] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0137] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0138] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0139] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0140] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0141] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining energy recovery during steering wheel turn, characterized in that, include: Obtain vehicle driving information and steering wheel steering information; Determine whether the energy recovery activation conditions are met based on the vehicle driving information and the steering wheel information; If the conditions are met, then activate steering energy recovery; The vehicle driving information includes at least vehicle speed, vehicle driving angle, vehicle lane angle, and distance to the vehicle in front, and the steering wheel information includes steering wheel torque, steering wheel hand distance, steering wheel steering force, steering wheel angle, steering wheel steering frequency, and steering wheel speed. Accordingly, determining whether the energy recovery activation conditions are met based on the vehicle driving information and the steering wheel information includes: The collision time is determined based on the distance to the vehicle in front and the vehicle's speed. The vehicle steering torque is determined based on the vehicle collision time, the vehicle travel angle, and the vehicle lane angle. If the vehicle collision time is greater than a preset time and the steering wheel torque is greater than the vehicle steering torque, then the first energy recovery activation condition is determined to be met.

2. The method according to claim 1, characterized in that, Before determining that the first energy recovery activation condition is met if the vehicle collision time is greater than a preset time and the steering wheel torque is greater than the vehicle steering torque, the procedure further includes: Obtain the steering wheel hand-holding distance; The steering force of the steering wheel is determined through the vehicle's onboard system; The steering torque is determined based on the steering wheel hand-holding distance and the steering wheel steering force.

3. The method according to claim 1, characterized in that, The step of determining whether the energy recovery activation conditions are met based on the vehicle driving information and the steering wheel information also includes: Obtain the steering wheel turning frequency of the vehicle; If the steering wheel turning frequency is greater than the preset frequency, then the second energy recovery activation condition is determined to be met.

4. The method according to claim 1, characterized in that, The step of determining whether the energy recovery activation conditions are met based on the vehicle driving information and the steering wheel information also includes: Determine the status of the vehicle's automatic parking function; If the automatic parking function of the vehicle is enabled, then the steering wheel speed of the vehicle is obtained. If the steering wheel rotation speed is greater than the preset speed, then the third energy recovery activation condition is met.

5. The method according to claim 1, characterized in that, The step of determining whether the energy recovery activation conditions are met based on the vehicle driving information and the steering wheel information also includes: If the steering wheel angle is not at zero and the steering trend is approaching zero, and the steering torque is less than the preset torque, and the vehicle speed is less than the preset speed, then the fourth energy recovery activation condition is determined to be met.

6. The method according to claim 1, characterized in that, After determining that steering energy recovery is activated, the method further includes: Determine whether the activated energy recovery device corresponds to the first energy recovery activation condition; If so, then stop judging other energy recovery start conditions.

7. A device for determining energy recovery during steering wheel turn, characterized in that, include: The information acquisition module is used to acquire vehicle driving information and steering wheel steering information; The condition judgment module is used to determine whether the energy recovery start-up conditions are met based on the vehicle driving information and the steering wheel steering information; An energy recovery module is used to determine whether to activate steering energy recovery if certain conditions are met. The vehicle driving information includes at least vehicle speed, vehicle driving angle, vehicle lane angle, and distance to the vehicle in front, and the steering wheel information includes steering wheel torque, steering wheel hand distance, steering wheel steering force, steering wheel angle, steering wheel steering frequency, and steering wheel speed. Correspondingly, the condition judgment module is specifically used for: The collision time is determined based on the distance to the vehicle in front and the vehicle's speed. The vehicle steering torque is determined based on the vehicle collision time, the vehicle travel angle, and the vehicle lane angle. If the vehicle collision time is greater than a preset time and the steering wheel torque is greater than the vehicle steering torque, then the first energy recovery activation condition is determined to be met.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, which enables the at least one processor to perform the energy recovery determination method for steering wheel turning as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining energy recovery of steering wheel steering as described in any one of claims 1-6.

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