Vibration reminding method and device, vehicle and storage medium

Abstract

This application provides a vibration alert method, device, vehicle, and storage medium. The method, applied in the field of vehicle technology, includes: acquiring a vibration alert signal from a steering wheel and a desired amplitude; acquiring an amplitude rise limit that prevents angular deviation of the steering wheel when responding to the vibration alert at the current moment; and controlling the steering wheel to perform a vibration alert based on the desired amplitude and the amplitude rise limit. This method can improve the smoothness of the vibration alert by limiting its amplitude, avoiding safety hazards while driving, enhancing driving safety, and providing a more user-friendly alert experience.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to vibration alerting methods, devices, vehicles, and storage media in the field of vehicles. Background Technology

[0002] With the development of automotive electronics technology, OEMs are placing increasingly higher demands on vehicle driver assistance systems. Lane departure warning is one of the commonly used functions of vehicle driver assistance systems, and the smoothness of lane departure warning control is also one of the important factors affecting the driving experience.

[0003] In related technologies, lane departure warnings can be issued through sound or vibration. However, vibration warnings may cause steering wheel deviation due to vibration, resulting in poor smoothness of lane departure warning control and causing driver anxiety, thus affecting the driving experience. Summary of the Invention

[0004] This application provides a vibration alert method, device, vehicle, and storage medium in the field of vehicles. The method can improve the smoothness of vibration alerts by limiting the amplitude of the vibration alerts, avoid safety hazards while driving, improve driving safety, and provide users with a more user-friendly alert experience.

[0005] In a first aspect, a vibration alert method is provided, the method comprising: acquiring a vibration alert signal and a desired amplitude of a steering wheel; acquiring an amplitude rise limit at which the steering wheel will not experience angular deviation when responding to the vibration alert at the current moment; and controlling the steering wheel to perform a vibration alert based on the desired amplitude and the amplitude rise limit.

[0006] Based on the above technical means, the embodiments of this application can limit the vibration amplitude of the steering wheel vibration reminder by setting an amplitude rise limit, thereby preventing sudden changes in the amplitude of the vibration reminder from causing the steering wheel angle to deviate. By limiting the amplitude of the vibration reminder, the smoothness of the vibration reminder is improved, avoiding safety hazards while driving, enhancing driving safety, and providing users with a more user-friendly reminder experience.

[0007] In conjunction with the first aspect, in some possible implementations, obtaining the amplitude rise limit value at which the steering wheel will not experience angular deviation when responding to the vibration alert at the current moment includes: obtaining the duration of continuous vibration of the steering wheel and the current rise slope when responding to the vibration alert; and calculating the amplitude rise limit value at which the steering wheel will not experience angular deviation when responding to the vibration alert at the current moment based on the duration of continuous vibration and the current rise slope.

[0008] Through the above technical solution, since the amplitude rise limit will also change with the increase of vibration duration, that is, different vibration durations correspond to different amplitude rise limits, the embodiments of this application can accurately calculate the amplitude rise limit based on the current rise slope and the duration of continuous vibration, thereby providing vibration reminders to users while avoiding angular deviation when the steering wheel vibrates.

[0009] In combination with the first aspect and the above implementation methods, in some possible implementation methods, controlling the steering wheel to vibrate for a reminder based on the desired amplitude and the amplitude rise limit includes: determining the minimum value between the desired amplitude and the amplitude rise limit; and controlling the steering wheel to vibrate for a reminder according to the minimum value between the desired amplitude and the amplitude rise limit.

[0010] Through the above technical solution, the embodiments of this application can respond to the expected amplitude when the expected amplitude is less than the amplitude rise limit, and control the vibration amplitude of the vibration reminder to the amplitude rise limit when the expected amplitude changes abruptly. Thus, the vibration amplitude can be limited by the amplitude rise limit, avoiding abrupt amplitude changes during vibration reminder, improving the smoothness of vibration reminder, avoiding safety hazards while driving, improving driving safety, and providing users with a more user-friendly reminder experience.

[0011] In combination with the first aspect and the above implementation methods, in some possible implementation methods, after controlling the steering wheel to vibrate and remind based on the expected amplitude and the amplitude rise limit, the method further includes: obtaining the continuous vibration duration of the steering wheel; if the continuous vibration duration is greater than the preset response duration, obtaining the amplitude fall limit at which the steering wheel will not deviate angularly when exiting the vibration reminder at the current moment; and controlling the steering wheel to exit the vibration reminder according to the amplitude fall limit.

[0012] Through the above technical solution, the embodiments of this application can limit the vibration amplitude when exiting the vibration reminder, avoid sudden changes in the vibration amplitude that could cause the steering wheel to deviate, thereby gradually exiting the vibration reminder, improving the smoothness of exiting the vibration reminder, avoiding safety hazards while driving, improving driving safety, and providing users with a more user-friendly reminder experience.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, obtaining the amplitude reduction limit value at which the steering wheel will not deviate from the angle when it exits the vibration reminder at the current moment includes: obtaining the current reduction slope when the steering wheel exits the vibration reminder; and calculating the amplitude reduction limit value at which the steering wheel will not deviate from the angle when it exits the vibration reminder at the current moment based on the expected amplitude, the current reduction slope, the duration of continuous vibration, and the preset response duration.

[0014] Through the above technical solution, since the amplitude reduction limit will also change with the increase of vibration duration, that is, different vibration durations correspond to different amplitude reduction limits, the embodiment of this application can calculate the amplitude reduction limit based on the expected amplitude, the current reduction slope, the continuous vibration duration and the preset response duration, so as to provide vibration reminders to users while avoiding angle deviation when the steering wheel vibration reminder is exited.

[0015] In combination with the first aspect and the above implementation methods, in some possible implementation methods, controlling the steering wheel to exit the vibration reminder according to the amplitude drop limit includes: identifying whether the amplitude drop limit is less than or equal to a preset amplitude; if the amplitude drop limit is less than or equal to the preset amplitude, then ending the vibration reminder of the steering wheel; otherwise, controlling the steering wheel to exit the vibration reminder according to the amplitude drop limit.

[0016] Through the above technical solution, the embodiments of this application can limit the amplitude of vibration reminder withdrawal by a vibration reduction limit, gradually withdrawing the vibration reminder, thereby improving the smoothness of vibration reminder withdrawal, avoiding safety hazards while driving, improving driving safety, and providing users with a more user-friendly reminder experience.

[0017] Secondly, a vibration alert device is provided, comprising: a first acquisition module for acquiring a vibration alert signal and a desired amplitude of a steering wheel; a second acquisition module for acquiring an amplitude rise limit at which the steering wheel will not experience angular deviation when responding to the vibration alert at the current moment; and a control module for controlling the steering wheel to perform a vibration alert based on the desired amplitude and the amplitude rise limit.

[0018] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the second acquisition module further includes: a first acquisition unit, used to acquire the continuous vibration duration of the steering wheel and the current rise slope when responding to the vibration reminder; and a first calculation unit, used to calculate, based on the continuous vibration duration and the current rise slope, the amplitude rise limit value at which the steering wheel will not experience angular deviation when responding to the vibration reminder at the current moment.

[0019] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the control module further includes: a determining unit, used to determine the minimum value of the desired amplitude and the amplitude rise limit; and a first control unit, used to control the steering wheel to provide vibration reminders according to the minimum value of the desired amplitude and the amplitude rise limit.

[0020] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the vibration reminder device further includes: a third acquisition module, configured to acquire the continuous vibration duration of the steering wheel after controlling the steering wheel to perform vibration reminder according to the desired amplitude and the amplitude rise limit; and when the continuous vibration duration is greater than a preset response duration, acquire the amplitude fall limit at which the steering wheel will not experience angular deviation when exiting the vibration reminder at the current moment; the control module is further configured to control the steering wheel to exit the vibration reminder according to the amplitude fall limit.

[0021] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the control module further includes: a second acquisition unit, used to acquire the current drop slope when the steering wheel exits the vibration reminder; and a second calculation unit, used to calculate the amplitude drop limit at which the steering wheel will not experience angular deviation when exiting the vibration reminder at the current moment, based on the desired amplitude, the current drop slope, the continuous vibration duration, and the preset response duration.

[0022] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the control module further includes: an identification unit, used to identify whether the amplitude drop limit is less than or equal to a preset amplitude; and a second control unit, used to end the vibration reminder of the steering wheel when the amplitude drop limit is less than or equal to the preset amplitude, otherwise control the steering wheel to exit the vibration reminder according to the amplitude drop limit.

[0023] Thirdly, a vehicle is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vibration alert method as described in the above embodiments.

[0024] Fourthly, a computer-readable storage medium is provided, which stores a computer program that, when executed, implements the vibration alert method as described in the above embodiments. Attached Figure Description

[0025] Figure 1 This is a flowchart illustrating the vibration alert method according to an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the vibration alert method according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of a vibration alert process according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the vibration alert device according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0030] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0031] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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.

[0032] With the development of automotive electronics technology, OEMs are placing increasingly higher demands on vehicle driver assistance systems. Lane departure warning is one of the commonly used functions of vehicle driver assistance systems, and the smoothness of lane departure warning control is also one of the important factors affecting the driving experience.

[0033] In related technologies, lane departure warnings can be categorized into audible and haptic alerts. Vibration alerts are typically implemented by the EPS (Electric Power Steering) motor vibrating to cause the steering wheel to vibrate.

[0034] In vehicles using related technologies, when the Lane Departure Warning (LDW) function is triggered, there may be a problem of the steering wheel shifting and vibrating to one side. This is because at the moment the LDW function is triggered, there is a significant sudden change in the detected current in the EPS system. The current will start to vibrate in the form of a rectangular wave. The amplitude and frequency of the rectangular wave are adjustable. When the amplitude is too large and the frequency is too small in the first half cycle of the rectangular wave response, it will cause an excessive current surge, causing the steering wheel to shift. This results in the steering wheel turning in the direction of the current surge. Therefore, when the motor vibration is not smooth enough, it will cause a shift in the steering angle, resulting in steering wheel deflection. This phenomenon can cause the driver to feel unsafe and panicked, affecting the driving experience.

[0035] Therefore, embodiments of this application can provide a vibration alert method, device, vehicle, and storage medium to solve the above-mentioned problems; specifically, Figure 1This is a schematic flowchart of a vibration alert method provided in an embodiment of this application.

[0036] For example, such as Figure 1 As shown, the vibration alert method includes the following steps:

[0037] Step S101: Obtain the vibration alert signal and desired amplitude of the steering wheel.

[0038] It is understood that the embodiments of this application can acquire the vibration alert signal and the desired amplitude when the vehicle steering wheel vibrates. For example, Figure 2 As shown, after receiving the LDW request from the host computer, the EPS system can superimpose a rectangular wave on the original current to generate a vibration alert signal. The following embodiments will be based on the rectangular wave amplitude A, frequency f, and vibration time T, where amplitude A, frequency f, and vibration time T are all calibrable quantities; the expected amplitude in this embodiment can be calculated based on actual conditions and the calibration value of the steering motor.

[0039] Specifically, in this embodiment of the application, the desired amplitude can be calculated using the calibration value of the steering motor. Since the amplitude of the rectangular wave is related to the amplitude of the vibration alert, this embodiment of the application can directly determine the desired amplitude based on the amplitude of the rectangular wave. That is, the desired amplitude is the value of the LDW response current (i.e., amplitude A) that can satisfy the vibration alert, thus quickly and accurately determining the desired amplitude of the vibration alert.

[0040] Step S102: Obtain the amplitude rise limit of the steering wheel when it responds to the vibration reminder at the current moment so that there is no angle deviation.

[0041] It is understood that the embodiments of this application can obtain in real time the amplitude rise limit value of the steering wheel without angular deviation when the vibration is alerted. Therefore, the embodiments of this application can use the expected amplitude to compare with the rise limit value to determine whether the current gradual in and out stage has been entered, thereby improving the smoothness of the vibration alert process and avoiding steering wheel deviation caused by sudden changes in current when the vibration is alerted, thereby improving the driver's sense of security and driving experience.

[0042] Specifically, obtaining the amplitude rise limit of the steering wheel when responding to the vibration alert at the current moment includes: obtaining the duration of continuous vibration of the steering wheel and the current rise slope when responding to the vibration alert; and calculating the amplitude rise limit of the steering wheel when responding to the vibration alert at the current moment based on the duration of continuous vibration and the current rise slope.

[0043] It is understood that the embodiments of this application can obtain the current rise slope and the duration of continuous vibration of the steering wheel when the steering wheel responds to the vibration reminder in real time, and calculate the amplitude rise limit value at which the steering wheel does not deviate from its angle when the vibration reminder is given. This amplitude rise limit value can represent the critical value at which the steering wheel deviates from its angle. Since the amplitude rise limit value will also change with the increase of the vibration duration, that is, different vibration durations correspond to different amplitude rise limit values, the embodiments of this application can accurately calculate the amplitude rise limit value based on the current rise slope and the duration of continuous vibration, thereby providing vibration reminders to the user while avoiding angle deviation when the steering wheel vibrates.

[0044] Specifically, the calculation process for the amplitude rise limit in this application embodiment can be as follows: Figure 2 As shown, a calibrable LDW current rise slope, LDWCURRENT_CLIP_INC, is added to the original LDW function, with units of A / ms; after receiving the LDW response signal, as... Figure 3 As shown, timer T1 is started, and the system first enters the gradual entry phase, calculating the current rise limit value A1 (i.e., the amplitude rise limit A1). The magnitude of A1 can be obtained by multiplying the current rise slope by the time, as expressed in the following expression:

[0045] A1=LDWCURRENT_CLIP_INC×T1.

[0046] Step S103: Control the steering wheel to provide vibration alerts based on the desired amplitude and amplitude rise limit.

[0047] It is understandable that since the amplitude of the vibration alert is related to the steering wheel offset and also to the effectiveness of the vibration alert, this embodiment of the application can use the expected amplitude and the amplitude rise limit to determine and control the steering wheel for vibration alerts. This ensures the steering wheel remains stable and does not deviate while maintaining the effectiveness of the vibration alert, improving the smoothness of the vibration alert, avoiding safety hazards while driving, enhancing driving safety, and preventing the driver from experiencing insecurity and panic, thus providing a more user-friendly alert experience. Specifically, the method of controlling the steering wheel for vibration alerts based on the expected amplitude and the amplitude rise limit in this embodiment of the application is as follows:

[0048] In this embodiment of the application, controlling the steering wheel to provide vibration alerts based on the desired amplitude and the amplitude rise limit includes: determining the minimum value between the desired amplitude and the amplitude rise limit; and controlling the steering wheel to provide vibration alerts according to the minimum value between the desired amplitude and the amplitude rise limit.

[0049] It can be understood that, the embodiment of the present application can select the minimum value of the expected amplitude and the amplitude rising limit to control the steering wheel to perform a fade-in vibration reminder, that is, the embodiment of the present application is in the fade-in control stage at this time, so as to avoid steering wheel deviation caused by large sudden current change and improve the smoothness of starting the vibration reminder.

[0050] Therefore, the embodiment of the present application can respond to the expected amplitude when the expected amplitude is smaller than the amplitude rising limit, and control the vibration amplitude of the vibration reminder to be the amplitude rising limit when the expected amplitude changes suddenly, so that the vibration amplitude can be limited by the amplitude rising limit, sudden amplitude change during vibration reminder is avoided, the smoothness of vibration reminder is improved, potential safety hazards during driving are avoided, driving safety is improved, and a more friendly reminder experience is provided for users.

[0051] Specifically, as Figure 3 shown, the embodiment of the present application can compare the expected amplitude A with the current rising limit value A1, and determine the absolute value of the LDW response current, that is, the expected amplitude A and the current rising limit value A1: when A1 < A, the system outputs with the amplitude of A1 and the frequency of f; when it is detected that A1 ≥ A, the system outputs with the amplitude of A and the frequency of f.

[0052] In the embodiment of the present application, after controlling the steering wheel to perform vibration reminder according to the expected amplitude and the amplitude rising limit, the method further includes: acquiring the continuous vibration duration of the steering wheel; if the continuous vibration duration is longer than the preset response duration, acquiring an amplitude falling limit at which the steering wheel will not have angular deviation when exiting the vibration reminder at the current moment; and controlling the steering wheel to exit the vibration reminder according to the amplitude falling limit.

[0053] Wherein, the acquisition of the continuous vibration duration of the steering wheel can be completed by the timer in the above embodiment; the preset duration can be set according to actual conditions, for example, it can be set to 4s, 5s, 6s, etc., which is not specifically limited herein.

[0054] It can be understood that, after performing vibration reminder control according to the expected amplitude and the amplitude rising limit, the embodiment of the present application can also perform a fade-out control for vibration reminder, which uses the vibration duration of the steering wheel to determine whether the effect of the vibration reminder has been achieved, that is, it determines whether to end the vibration control through the continuous vibration duration of the steering wheel, and when the end condition is satisfied, controls the steering wheel to exit the vibration reminder smoothly, so as to avoid steering wheel deviation that may be caused by suddenly ending the vibration reminder, and improve the smoothness of exiting the vibration reminder.

[0055] Therefore, the embodiment of the present application can limit the vibration amplitude when exiting the vibration reminder, avoid angular deviation of the steering wheel caused by sudden change of the vibration amplitude when exiting, so as to gradually exit the vibration reminder, improve the smoothness of exiting the vibration reminder, avoid potential safety hazards during driving, improve driving safety, and provide a more friendly reminder experience for users.

[0056] Specifically, in this embodiment, after the LDW vibration ends (i.e., after a vibration time T has elapsed since the LDW request signal was received), a gradual exit phase is entered: The continuous vibration duration T is compared with a preset response duration; if the continuous vibration duration is greater than the preset response duration, an amplitude reduction limit is obtained to ensure the steering wheel will not deviate from the vibration alert angle when it exits; if the continuous vibration duration is less than the preset response duration, no acquisition is performed; after obtaining the amplitude reduction limit, the limit is used to control the steering wheel to exit the vibration alert; The specific methods for obtaining the amplitude reduction limit and controlling the steering wheel to exit the vibration alert in this embodiment are as follows:

[0057] (1) Obtaining the amplitude drop limit

[0058] In this embodiment of the application, obtaining the amplitude reduction limit of the steering wheel without angle deviation when the vibration reminder is removed at the current moment includes: obtaining the current drop slope when the steering wheel is removed from the vibration reminder; and calculating the amplitude reduction limit of the steering wheel without angle deviation when the vibration reminder is removed at the current moment based on the expected amplitude, the current drop slope, the duration of continuous vibration, and the preset response duration.

[0059] It is understandable that the amplitude drop limit will change as the vibration duration increases, i.e., different vibration durations correspond to different amplitude drop limits. Therefore, the embodiments of this application can calculate the amplitude drop limit based on the expected amplitude, the current drop slope, the continuous vibration duration and the preset response duration, so as to provide vibration reminders to the user while avoiding angular deviation when the steering wheel vibration reminder is exited.

[0060] Specifically, this application embodiment can add a calibrable LDW current drop slope LDWCURRENT_CLIP_DEC, with units of A / ms, to the original LDW function; in the following embodiments, the output is based on an amplitude of A2 and a frequency of f, and the amplitude A2 is calculated as follows:

[0061] A2=A-LDWCURRENT_CLIP_DEC×(T1-T).

[0062] (2) Control the steering wheel to disable vibration alert

[0063] In this embodiment of the application, controlling the steering wheel to exit the vibration reminder according to the amplitude reduction limit includes: identifying whether the amplitude reduction limit is less than or equal to a preset amplitude; if the amplitude reduction limit is less than or equal to the preset amplitude, then ending the vibration reminder of the steering wheel; otherwise, controlling the steering wheel to exit the vibration reminder according to the amplitude reduction limit.

[0064] The preset amplitude can be set according to the actual situation. For example, the preset amplitude can be set to 0, and there is no specific limitation on this.

[0065] It is understood that the embodiments of this application can compare the amplitude drop limit and the preset amplitude. When the amplitude drop limit is greater than the preset amplitude, the steering wheel can be controlled to gradually exit the vibration reminder according to the amplitude drop limit. When the vibration drop limit is less than or equal to the preset amplitude, it can be considered that the end requirement of the vibration reminder response is met, thereby ending the vibration reminder.

[0066] Therefore, this embodiment of the application can limit the amplitude of vibration reminder withdrawal by limiting the vibration reduction limit, gradually withdrawing the vibration reminder, thereby improving the smoothness of vibration reminder withdrawal, avoiding safety hazards while driving, improving driving safety, and providing users with a more user-friendly reminder experience.

[0067] The vibration alert method of this application will be described below through a specific embodiment, such as... Figure 3 As shown, the details are as follows:

[0068] After receiving the LDW request from the host computer, the EPS will superimpose a rectangular wave on the original current. The amplitude A, frequency f, and vibration time T of the rectangular wave are all calibrable quantities. In this embodiment, the response can be started through the LDW function when a response request signal is received. At this time, the timer T1 starts counting. By comparing the timer T1 and the response time T, when T1 is less than T, the gradual entry control stage is entered, and when T1 is greater than T, the gradual exit control stage is entered.

[0069] (1) Gradual control

[0070] This embodiment of the application can add a calibrable LDW current rise slope LDWCURRENT_CLIP_INC, with units of A / ms, to the original LDW function; when T1 is less than T, the current rise limit A1 (i.e., amplitude rise limit) is calculated, where the current rise limit A1 is the current rise slope multiplied by time, and its calculation formula can be:

[0071] A1=LDWCURRENT_CLIP_INC×T1;

[0072] Compare the magnitude of A with the calculated magnitude of A1. When the current rise limit A1 is less than the preset set amplitude A, output a rectangular wave current with amplitude A1 and frequency f. When A1 is greater than or equal to A, output a rectangular wave current with amplitude A and frequency f. This completes the current gradual control for vibration reminder and returns to the judgment step of timer T1 and response time T.

[0073] (2) Fade-out control

[0074] This embodiment of the application can add a calibrable LDW current drop slope LDWCURRENT_CLIP_DEC, with units of A / ms, to the original LDW function; when T1 is greater than or equal to T, the current drop limit A2 (i.e., amplitude drop limit) is calculated, where the current drop limit A2 is the current drop slope multiplied by time, and its calculation formula can be:

[0075] A2=A-LDWCURRENT_CLIP_DEC×(T1-T);

[0076] Determine whether A2 has dropped to 0. When A2 is greater than 0, output a rectangular wave current with A2 as the amplitude and f as the frequency, thereby completing the current fade-out control for vibration reminder and returning to the determination step of timer T1 and response time T. When A2 is less than or equal to 0, this embodiment of the application can directly end the current LDW function response.

[0077] Therefore, the embodiments of this application can introduce amplitude rise and fall limits to control the steering wheel to perform gradual entry and gradual exit vibration reminders, thereby smoothly completing the process of steering wheel entering and exiting vibration reminders, avoiding steering wheel deviation caused by large current changes, improving the driver's sense of security, and thus enhancing the driving experience.

[0078] In summary, the vibration alert method according to the embodiments of this application can limit the vibration amplitude of the steering wheel vibration alert by setting an amplitude rise limit, thereby preventing sudden changes in the amplitude of the vibration alert from causing an angle shift in the steering wheel. By limiting the amplitude of the vibration alert, the smoothness of the vibration alert is improved, avoiding safety hazards while driving, enhancing driving safety, and providing users with a more user-friendly alert experience.

[0079] Figure 4 This is a structural schematic diagram of a vibration alert device provided in an embodiment of this application.

[0080] For example, such as Figure 4 As shown, the vibration alert device 10 may include: a first acquisition module 100, a second acquisition module 200, and a control module 300.

[0081] The first acquisition module 100 is used to acquire the vibration reminder signal and the desired amplitude of the steering wheel.

[0082] The second acquisition module 200 is used to acquire the amplitude rise limit of the steering wheel when it responds to the vibration reminder at the current moment without causing angular deviation.

[0083] The control module 300 is used to control the steering wheel to provide vibration alerts based on the desired amplitude and the amplitude rise limit.

[0084] In this embodiment of the application, the second acquisition module 200 further includes: a first acquisition unit, used to acquire the duration of continuous vibration of the steering wheel and the current rise slope when responding to the vibration reminder; and a first calculation unit, used to calculate the amplitude rise limit of the steering wheel at the current moment when responding to the vibration reminder without angular deviation, based on the duration of continuous vibration and the current rise slope.

[0085] In this embodiment, the control module 300 further includes: a determining unit, used to determine the minimum value between the desired amplitude and the amplitude rise limit; and a first control unit, used to control the steering wheel to provide a vibration reminder according to the minimum value between the desired amplitude and the amplitude rise limit.

[0086] In this embodiment of the application, the vibration reminder device 10 further includes: a third acquisition module, configured to acquire the continuous vibration duration of the steering wheel after controlling the steering wheel to perform vibration reminder according to the expected amplitude and the amplitude rise limit; and to acquire the amplitude fall limit at which the steering wheel will not deviate in angle when the continuous vibration duration is greater than the preset response duration; the control module 300 is further configured to control the steering wheel to exit the vibration reminder according to the amplitude fall limit.

[0087] In this embodiment of the application, the control module 300 further includes: a second acquisition unit, used to acquire the current drop slope when the steering wheel exits the vibration reminder; and a second calculation unit, used to calculate the amplitude drop limit at which the steering wheel will not experience angular deviation when exiting the vibration reminder at the current moment, based on the desired amplitude, the current drop slope, the duration of continuous vibration, and the preset response duration.

[0088] In this embodiment of the application, the control module 300 further includes: an identification unit, used to identify whether the amplitude drop limit is less than or equal to a preset amplitude; and a second control unit, used to end the vibration reminder of the steering wheel when the amplitude drop limit is less than or equal to the preset amplitude, otherwise control the steering wheel to exit the vibration reminder according to the amplitude drop limit.

[0089] It should be noted that the foregoing explanation of the vibration alert method embodiment also applies to the vibration alert device of this embodiment, and will not be repeated here.

[0090] According to the vibration reminder device of this application embodiment, the vibration amplitude of the steering wheel vibration reminder can be limited by the amplitude rise limit value, so as to avoid the steering wheel angle deviation caused by the sudden change of vibration amplitude. In this way, by limiting the amplitude of vibration reminder, the smoothness of vibration reminder is improved, safety hazards are avoided when driving, driving safety is improved, and a more user-friendly reminder experience is provided.

[0091] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0092] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0093] When the processor 502 executes the program, it implements the vibration reminder method provided in the above embodiments.

[0094] Furthermore, the vehicle also includes:

[0095] Communication interface 503 is used for communication between memory 501 and processor 502.

[0096] The memory 501 is used to store computer programs that can run on the processor 502.

[0097] The memory 501 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0098] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0099] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0100] Processor 502 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of this application.

[0101] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vibration reminder method described above.

[0102] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vibration alert method, characterized in that, The method includes: Obtain the vibration alert signal and desired amplitude from the steering wheel; The duration of continuous vibration of the steering wheel and the current rise slope in response to the vibration alert are obtained. Based on the duration of continuous vibration and the current rise slope, the timer time is multiplied by the current rise slope to calculate the amplitude rise limit at which the steering wheel will not deviate in angle when responding to the vibration reminder at the current moment. Determine the minimum value between the desired amplitude and the amplitude rise limit; The steering wheel is controlled to vibrate as a reminder according to the minimum value between the desired amplitude and the amplitude rise limit.

2. The method according to claim 1, characterized in that, After controlling the steering wheel to vibrate as a reminder based on the desired amplitude and the amplitude rise limit, the method further includes: Obtain the duration of continuous vibration of the steering wheel; If the duration of continuous vibration is greater than the preset response duration, then the amplitude reduction limit of the steering wheel will not cause angular deviation when the vibration reminder is removed at the current moment is obtained; The steering wheel is controlled to disengage from the vibration alert according to the amplitude reduction limit.

3. The method according to claim 2, characterized in that, The step of obtaining the amplitude reduction limit for when the steering wheel will not deviate from the vibration alert at the current moment includes: Obtain the current drop slope when the steering wheel disengages from the vibration alert; Based on the desired amplitude, the current drop slope, the duration of continuous vibration, and the preset response duration, calculate the amplitude drop limit at which the steering wheel will not deviate from its angle when it exits the vibration alert at the current moment.

4. The method according to claim 2, characterized in that, The step of controlling the steering wheel to exit the vibration alert according to the amplitude reduction limit includes: Identify whether the amplitude drop limit is less than or equal to the preset amplitude; If the amplitude reduction limit is less than or equal to the preset amplitude, the vibration alert of the steering wheel is terminated; otherwise, the steering wheel is controlled to exit the vibration alert according to the amplitude reduction limit.

5. A vibration alert device, characterized in that, To implement the vibration alert method as described in any one of claims 1-4, the device comprises: The first acquisition module is used to acquire the vibration reminder signal and the desired amplitude of the steering wheel; The second acquisition module is used to acquire the amplitude rise limit value of the steering wheel when it responds to the vibration reminder at the current moment without angular deviation. The control module is used to control the steering wheel to vibrate as a reminder based on the desired amplitude and the amplitude rise limit. The second acquisition module also includes: The first acquisition unit is used to acquire the current rise slope when the steering wheel responds to the vibration alert; The first calculation unit is used to calculate the amplitude rise limit of the steering wheel when it responds to the vibration reminder at the current moment, based on the duration of continuous vibration of the steering wheel and the current rise slope.

6. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the vibration alert method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the vibration alert method as described in any one of claims 1-4.

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