Method and system for controlling steering wheel vibration alert function in intelligent driving vehicles

Abstract

This invention relates to the field of intelligent driving function testing technology, and discloses a method and system for controlling steering wheel vibration reminder function in intelligent driving vehicles. The system includes a data acquisition unit, a vibration arbitration unit, a parameter calculation unit, a request calculation unit, and an execution unit. The data acquisition unit collects status signals sent by the intelligent driving system. The vibration arbitration unit decides whether to respond to the steering wheel vibration request from the intelligent driving system. The parameter calculation unit calculates basic vibration torque parameters and optimizes vibration torque parameters. The parameter arbitration unit determines the final output vibration torque parameters. The request calculation unit determines the vibration torque request status and generates the requested vibration torque. The execution unit decides whether to respond to and execute the requested vibration torque based on the requested vibration torque status. This invention enables the steering wheel vibration effect to adapt to different driving scenarios, has good interactivity, and can significantly improve the intelligent driving experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving function testing technology, specifically to a method and system for controlling the steering wheel vibration reminder function of intelligent driving vehicles. Background Technology

[0002] Steering wheel vibration alert is a sub-function of steer-by-wire and electric power steering systems. As a direct tactile alert module for the driver, it is widely used in warning functions in fields such as intelligent driving (e.g., lane departure warning, driver fatigue alert). This function aims to provide clear warnings to the driver through a good steering wheel vibration feel, so the feel of the steering wheel vibration is the core standard for evaluating this function.

[0003] Existing solutions are all open-loop control systems, which often use fixed waveforms and intensities of EPS motor / road feel analog motor torque requests to achieve steering wheel vibration. Therefore, they are difficult to adapt to various vehicle operating conditions (e.g., driving straight, cornering) and different vehicle steering modes (e.g., intelligent driving mode, comfort mode, sport mode, normal mode). Moreover, they lack interactivity, making it difficult to balance warning and prompt functions with driving experience.

[0004] Furthermore, different drivers have varying degrees of sensitivity to steering wheel vibration alarms (amplitude and frequency), requiring different levels of vibration alarm alerts; even the same driver's perception of steering wheel vibration alarms differs at different vehicle speeds. Therefore, the current single, fixed steering wheel vibration alarm method is insufficient to meet the preferences and actual needs of all users. Summary of the Invention

[0005] The present invention aims to provide a method and system for controlling the steering wheel vibration reminder function of intelligent driving vehicles, which can adapt the steering wheel vibration effect to different driving scenarios, has good interactivity, and can greatly improve the intelligent driving experience.

[0006] To achieve the above objectives, the present invention provides the following basic solution.

[0007] Option 1

[0008] The steering wheel vibration warning function control system for intelligent driving vehicles includes a data acquisition unit, a vibration arbitration unit, a parameter calculation unit, a parameter arbitration unit, a request calculation unit, and an execution unit.

[0009] The data acquisition unit is used to collect the status signals sent by the intelligent driving system and transmit them to the vibration arbitration unit and the parameter calculation unit respectively.

[0010] The vibration arbitration unit is used to decide whether to respond to the steering wheel vibration request of the intelligent driving system based on the status signal, and to feed back the request response status to the request calculation unit and the intelligent driving system.

[0011] The parameter calculation unit includes a basic parameter calculation unit and an optimized parameter calculation unit. The basic parameter calculation unit is used to calculate the basic vibration torque parameters based on the vehicle speed signal and a preset basic calibration parameter library. The optimized parameter calculation unit is used to determine the current driving mode of the vehicle and calculate the driver's attention level coefficient, and calculate the optimized vibration torque parameters by combining the vehicle speed signal, lateral acceleration signal and a preset optimized calibration parameter library.

[0012] The parameter arbitration unit is used to make a decision to obtain the final output vibration torque parameter and feed it back to the request calculation unit;

[0013] The request calculation unit is used to determine the vibration torque request state and generate the vibration request torque based on the received vibration torque parameters.

[0014] The execution unit is used to decide whether to respond to and execute the vibration torque request based on the vibration torque request status; at the same time, it diagnoses and feeds back its own status to the vibration arbitration unit; when the vibration torque request status is "requested", it controls the target motor to move according to the vibration torque request to control the steering wheel vibration and execute the steering wheel vibration request; when the vibration torque request status is "not requested", the target motor does not execute the vibration torque request and does not control the steering wheel vibration.

[0015] Option 2

[0016] The method for controlling the steering wheel vibration reminder function of intelligent driving vehicles adopts the steering wheel vibration reminder function control system for intelligent driving vehicles as described in Scheme 1, and controls the steering wheel vibration reminder function of intelligent driving vehicles.

[0017] The working principle and advantages of this invention are as follows:

[0018] First, this solution provides targeted and independent steering wheel vibration adjustment methods for different driving scenarios, effectively addressing the issues of limited tactile feedback and poor adaptability in existing steering wheel vibration warning functions. Specifically, the data acquisition unit of this solution can fully collect status signals and distribute them to the vibration arbitration unit and parameter calculation unit. Combined with the vehicle's real-time status, different basic or optimized vibration torque parameters are selected to calibrate and configure the steering wheel vibration parameters, enabling real-time dynamic adjustment of steering wheel vibration. Furthermore, through the parameter arbitration unit, this system can switch between basic mode (corresponding to the basic parameter calculation unit) and optimized mode (corresponding to the optimized parameter calculation unit) for performance calibration. This provides flexible calibration solutions for projects with different needs—it can be based on basic vibration torque parameters to meet the requirements of vehicle models with short matching cycles and low tactile feedback performance, or based on optimized vibration torque parameters to meet the requirements of vehicle models with high tactile feedback performance, demonstrating strong adaptability.

[0019] Secondly, this solution is a closed-loop control system with good interactivity, which can significantly improve the intelligent driving experience. Specifically, in the parameter optimization calculation unit, when calculating the optimized vibration torque parameters, calibration calculations are performed by combining the vehicle's current driving mode and the driver's attention level coefficient. Among these, closed-loop control of the steering wheel vibration intensity based on the driver's attention level estimate can improve the interactivity between the vibration reminder function and the driver, thereby achieving a better driving experience than existing open-loop control solutions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the system architecture according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the arbitration strategy of the vibration arbitration unit in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of calibration items in the basic calibration parameter library of this invention.

[0023] Figure 4 This is a schematic diagram of the judgment process of the optimization parameter calculation unit in this embodiment of the invention when judging the current driving mode of the vehicle;

[0024] Figure 5 This is a schematic diagram of calibration items in the optimized calibration parameter library of this invention.

[0025] Figure 6 This is a schematic diagram of the judgment process of the optimization parameter calculation unit in this embodiment of the invention when calculating the driver's attention level coefficient;

[0026] Figure 7This is a flowchart illustrating the process of the optimization parameter calculation unit calculating the optimized vibration torque parameters in an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the decision-making process of the request calculation unit in the embodiment of the present invention when deciding on the vibration torque request state;

[0028] Figure 9 A schematic diagram of the vibration request torque parameters generated by the request calculation unit in an embodiment of the present invention;

[0029] Figure 10 This is a schematic diagram of the control method flow under the basic mode of an embodiment of the present invention;

[0030] Figure 11 This is a schematic diagram of the control method in the optimized mode of an embodiment of the present invention. Detailed Implementation

[0031] The following detailed description provides further information through specific implementation methods.

[0032] The basic implementation examples are as follows: Figure 1 As shown: A steering wheel vibration warning function control system for intelligent driving vehicles includes a data acquisition unit, a vibration arbitration unit, a parameter calculation unit, a parameter arbitration unit, a request calculation unit, and an execution unit.

[0033] The data acquisition unit is used to collect the status signals sent by the intelligent driving system and transmit them to the vibration arbitration unit and the parameter calculation unit, respectively.

[0034] Specifically, the status signals include driving warning function fault status information (e.g., whether the lane departure warning function is faulty) transmitted to the vibration arbitration unit, steering wheel vibration warning request status signal, and steering wheel vibration actuator fault status signal sent by the steer-by-wire system; as well as vehicle speed signal, lateral acceleration signal, driver attention status signal (here, this signal is provided by the DMS system of the intelligent driving vehicle), driver steering hand torque signal, steering wheel angle signal, vehicle steering mode signal (e.g., sport, comfort, standard, etc.), and intelligent driving function control vehicle steering status signal (e.g., the state of vehicle steering controlled by intelligent driving functions such as LKA and LCC).

[0035] Here, DMS refers to Driver Monitoring System; LKA refers to Lane Keeping Assist System; and LCC refers to Lane Centering Control System. The driver attention status signals include signals monitoring driver inattention, driver fatigue, and driver hands-off steering wheel status.

[0036] The vibration arbitration unit is used to decide whether to respond to the steering wheel vibration request of the intelligent driving system based on the status signal, and to feed back the request response status to the request calculation unit and the intelligent driving system.

[0037] Specifically, such as Figure 2 As shown, when the vibration arbitration unit makes a decision, if there is no fault in the driving warning function fault status information and the steering wheel vibration execution unit fault status signal, the steering wheel vibration warning request status signal is issued, and the driver has not taken his hands off the steering wheel (in this embodiment, the driver's hands-off steering wheel status signal is used to determine whether the driver has not taken his hands off the steering wheel), then the decision is to respond to the vibration request; otherwise, the vibration request is not responded to.

[0038] The parameter calculation unit includes a basic parameter calculation unit and an optimized parameter calculation unit. The basic parameter calculation unit calculates the basic vibration torque parameters based on the vehicle speed signal and a preset basic calibration parameter library. The optimized parameter calculation unit determines the vehicle's current driving mode and calculates the driver's attention level coefficient. It then combines the vehicle speed signal, lateral acceleration signal, and a preset optimized calibration parameter library to calculate the optimized vibration torque parameters, such as... Figure 7 As shown.

[0039] Specifically, such as Figure 3 As shown, the basic calibration parameter library includes the following calibration items: low-frequency waveform calibration parameters in the basic mode (corresponding to the low-frequency waveform parameters of vibration torque, such as sine wave, square wave, etc.), low-frequency period calibration parameters (corresponding to the period of the low-frequency waveform of vibration torque), vibration intensity calibration table (corresponding to the amplitude of the low-frequency waveform of vibration torque), high-frequency waveform calibration parameters (corresponding to the high-frequency waveform parameters of vibration torque), and high-frequency period calibration parameters (corresponding to the period of the high-frequency waveform of vibration torque).

[0040] like Figure 5 As shown, the optimized calibration parameter library contains multiple sets of calibration items corresponding to different driving modes. Each set of calibration items includes: a calibration table of vibration intensity correction coefficient based on driver attention under driving mode, a calibration table of basic vibration intensity, low-frequency waveform calibration parameters, low-frequency period calibration parameters, high-frequency waveform calibration parameters, and high-frequency period calibration parameters.

[0041] Specifically, in this embodiment, the calibration table for the vibration intensity correction coefficient based on driver concentration is shown in Table 1. Here, 0, 60, 80, 100, 120, and 200 are the calibration points in the table, which can be increased or decreased according to actual adjustments in practical applications. Here, when the vehicle speed value is between two calibration values, the correction coefficient value is obtained through interpolation calculation.

[0042] Table 1. Calibration of Vibration Intensity Correction Coefficient Based on Driver Attention Level

[0043]

[0044] The calibration table for the basic vibration intensity is shown in Table 2. This table is a three-dimensional calibration table, with the horizontal and vertical axes representing vehicle speed and lateral acceleration (absolute values), respectively, and the calibration values ​​being vibration amplitude.

[0045] Table 2. Basic Vibration Intensity Calibration Table

[0046]

[0047] like Figure 4 As shown, the optimization parameter calculation unit, when determining the current driving mode of the vehicle, includes the following steps: based on the intelligent driving function control vehicle steering status signal and vehicle steering mode signal, firstly determine whether the steering situation is controlled by the intelligent driving function; if so, then perform intelligent driving mode judgment; if not, then perform manual driving mode judgment; and output the current driving mode of the vehicle.

[0048] Specifically, the intelligent driving modes include ICA (Intelligent Cruise Assist) control mode, LKA control mode, etc. The manual driving modes include Sport mode, Comfort mode, Standard mode, etc. In practical applications, different intelligent driving modes and manual driving modes can be set according to different intelligent driving vehicle models.

[0049] like Figure 6 As shown, the optimization parameter calculation unit, when calculating the driver's attention level coefficient, includes the following steps: inputting the driver's distraction state monitoring signal and the driver's fatigue state monitoring signal from the driver's attention state signal into the driver's attention estimation model, and outputting the driver's attention level coefficient. Specifically, the driver's attention estimation model has a attention level coefficient calibration table; the driver's attention estimation model obtains the attention level coefficient corresponding to the input signal from the attention level coefficient calibration table and outputs it.

[0050] In this embodiment, the concentration level coefficient calibration table is shown in Table 3. The content of the driver's inattention monitoring signal and the driver's fatigue monitoring signal is generally yes, no, or uncertain, corresponding to inattention, not inattention, and unknown state in the driver's inattention state, and fatigue, not fatigued, and unknown state in the driver's fatigue state, respectively.

[0051] Table 3. Table for Assessing Concentration Level Coefficient

[0052]

[0053] The parameter arbitration unit is used to determine the final output vibration torque parameter and feed it back to the request calculation unit.

[0054] Specifically, depending on the mode (basic mode or optimized mode), the calibration parameter settings are selected, and the basic vibration torque parameter or optimized vibration torque parameter is assigned to the vibration request torque parameter, and the vibration request torque parameter is sent to the request calculation unit.

[0055] The request calculation unit is used to determine the vibration torque request state; and generate the vibration request torque based on the received vibration torque parameters. It then sends the vibration torque request state and the vibration request torque to the execution unit, such as... Figure 8 and Figure 9 As shown.

[0056] The execution unit is used to decide whether to respond to and execute the vibration torque request based on the vibration torque request status; at the same time, it diagnoses and feeds back its own status to the vibration arbitration unit; when the vibration torque request status is "requested", it controls the target motor to move according to the vibration torque request to control the steering wheel vibration and execute the steering wheel vibration request; when the vibration torque request status is "not requested", the target motor does not execute the vibration torque request and does not control the steering wheel vibration.

[0057] The target motor is either an EPS motor or a road feel simulation motor. When the steering system of the intelligent driving vehicle is a traditional EPS steering system with an external drive-by-wire interface, the target motor is selected as an EPS motor. When the steering system of the intelligent driving vehicle is a drive-by-wire steering system with no mechanical connection between the steering wheel and the steering mechanism, the target motor is a road feel simulation motor.

[0058] This embodiment also provides a method for controlling the steering wheel vibration reminder function of an intelligent driving vehicle, which uses the steering wheel vibration reminder function control system described above to control the steering wheel vibration reminder function of the intelligent driving vehicle.

[0059] In practical applications, different modes of this control system can be selected to be enabled according to the calibration requirements of the vehicle model.

[0060] For vehicle projects with short EPS performance matching cycles and low requirements for handling performance, the basic mode based on the basic parameter calculation unit is used. In this mode, such as... Figure 10 As shown, the control method includes the following steps:

[0061] S1: Data Acquisition. The data acquisition unit collects status signals and transmits them to the vibration arbitration unit and the basic parameter calculation unit, respectively.

[0062] S2: Vibration Response Status Arbitration. The vibration arbitration unit calculates the vibration request response status based on the signal input of S1, decides whether to respond to the steering wheel vibration request of the intelligent driving warning function, and sends the vibration request response status to the request calculation unit, while also feeding it back to the intelligent driving system.

[0063] S3: Calculation of basic vibration torque parameters (i.e., vibration torque parameters in the basic mode). The basic parameter calculation unit calculates the vibration torque parameters (low-frequency vibration waveform, low-frequency vibration period, vibration intensity, etc.) of the basic mode based on the vehicle speed signal and the basic calibration parameter library, and sends the basic vibration torque parameters to the parameter arbitration unit.

[0064] S4: Calculation of vibration request torque parameters. The parameter arbitration unit assigns the basic vibration torque parameters calculated in S3 to the vibration request torque parameters, and sends the vibration request torque parameters to the request calculation unit.

[0065] S5: Vibration torque request status arbitration. The request calculation unit arbitrates the vibration request status based on the parameters in S2 sent by the arbitration unit.

[0066] S6: Vibration Request Torque Calculation. The request calculation unit generates the vibration request torque based on the vibration request torque parameters sent by the arbitration unit in parameter S4; and sends the vibration torque request status and vibration request torque to the execution unit.

[0067] S7: Steering wheel vibration execution. The execution unit decides whether to respond to and execute the requested vibration torque based on the vibration torque request status in S5, and simultaneously diagnoses and feeds back its own status (availability) to the vibration arbitration unit. When the vibration torque request status is "requested," the target motor is controlled to operate according to the vibration torque request in S6, executing the steering wheel vibration request; when the vibration torque request status is "not requested," the target motor does not execute the requested vibration torque and does not control steering wheel vibration.

[0068] For vehicle models requiring high handling performance, an optimization mode based on the optimized parameter calculation unit is activated. In this mode, such as... Figure 11 As shown, the control method includes the following steps:

[0069] S1: Data Acquisition. The data acquisition unit collects status signals and transmits them to the vibration arbitration unit and the optimization parameter calculation unit, respectively.

[0070] S2: Vibration Response Status Arbitration. The vibration arbitration unit calculates the vibration request response status based on the signal input of S1, decides whether to respond to the steering wheel vibration request of the intelligent driving warning function, and sends the vibration request response status to the request calculation unit, while also feeding it back to the intelligent driving system.

[0071] S3: Driving Mode Arbitration. The optimization parameter calculation unit calculates the vehicle's current driving mode based on the EPS steering status signal and the vehicle steering mode signal controlled by the intelligent driving function.

[0072] S4: Optimize calibration parameter library lookup. Based on the driving mode output by S3, the optimization parameter calculation unit searches the optimization calibration parameter library for the corresponding calibration item group of the current driving mode, which is used for subsequent vibration torque parameter calculation.

[0073] S5: Driver Attention Level Estimation. The optimization parameter calculation unit calculates the driver attention level coefficient (to characterize the driver's attention level) based on the driver's inattention monitoring signal and driver fatigue monitoring signal.

[0074] S6: Calculation of optimized vibration torque parameters (i.e., vibration torque parameters in optimized mode). The optimization parameter calculation unit queries the current driving mode's optimization calibration parameter library (output by S4) based on the vehicle speed signal, lateral acceleration signal, and driver attention level coefficient from S5, and calculates the vibration torque parameters (low-frequency vibration waveform, low-frequency vibration period, vibration intensity, etc.) for the optimized mode. The vibration intensity calculation incorporates correction factors for straight / curved driving conditions (vehicle speed and lateral acceleration) and driver attention. The optimized vibration torque parameters are then sent to the parameter arbitration unit.

[0075] S7: Calculation of vibration request torque parameters. The parameter arbitration unit assigns the optimized vibration torque parameters calculated in S6 to the vibration request torque parameters, and sends the vibration request torque parameters to the request calculation unit.

[0076] S8: Vibration torque request status arbitration. The request calculation unit arbitrates the vibration request status based on the parameters in S2 sent by the arbitration unit.

[0077] S9: Vibration Request Torque Calculation. The request calculation unit generates the vibration request torque based on the vibration request torque parameters sent by the arbitration unit in S7; and sends the vibration torque request status and vibration request torque to the execution unit.

[0078] S10: Steering wheel vibration execution. The execution unit decides whether to respond to and execute the requested vibration torque based on the vibration torque request status in S8, and simultaneously diagnoses and feeds back its own status (availability) to the vibration arbitration unit. When the vibration torque request status is "requested," the target motor is controlled to operate according to the vibration torque request in S9, and the steering wheel vibration request is executed; when the vibration torque request status is "not requested," the target motor does not execute the requested vibration torque and does not control the steering wheel vibration.

[0079] This embodiment provides a method and system for controlling steering wheel vibration reminder function in intelligent driving vehicles, which can adapt the steering wheel vibration effect to different driving scenarios, has good interactivity, and can greatly improve the intelligent driving experience.

[0080] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A steering wheel vibration warning function control system for intelligent driving vehicles, characterized in that, It includes a data acquisition unit, a vibration arbitration unit, a parameter calculation unit, a parameter arbitration unit, a request calculation unit, and an execution unit; The data acquisition unit is used to collect the status signals sent by the intelligent driving system and transmit them to the vibration arbitration unit and the parameter calculation unit respectively. The vibration arbitration unit is used to decide whether to respond to the steering wheel vibration request of the intelligent driving system based on the status signal, and to feed back the request response status to the request calculation unit and the intelligent driving system. The parameter calculation unit includes a basic parameter calculation unit and an optimized parameter calculation unit. The basic parameter calculation unit is used to calculate the basic vibration torque parameters based on the vehicle speed signal and a preset basic calibration parameter library. The optimized parameter calculation unit is used to determine the current driving mode of the vehicle and calculate the driver's attention level coefficient, and calculate the optimized vibration torque parameters by combining the vehicle speed signal, lateral acceleration signal and a preset optimized calibration parameter library. The parameter arbitration unit is used to determine the final output vibration torque parameter and feed it back to the request calculation unit. The specific operation is as follows: according to the mode selection calibration parameter setting, the basic vibration torque parameter or the optimized vibration torque parameter is assigned to the vibration request torque parameter, and the vibration request torque parameter is sent to the request calculation unit; the mode includes basic mode or optimized mode; the basic mode corresponds to the selection of basic vibration torque parameter, and the optimized mode corresponds to the selection of optimized vibration torque parameter. The request calculation unit is used to determine the vibration torque request state and generate the vibration request torque based on the received vibration torque parameters. The execution unit is used to decide whether to respond to and execute the vibration torque request based on the vibration torque request status; at the same time, it diagnoses and feeds back its own status to the vibration arbitration unit; when the vibration torque request status is "requested", it controls the target motor to move according to the vibration torque request to control the steering wheel vibration and execute the steering wheel vibration request; when the vibration torque request status is "not requested", the target motor does not execute the vibration torque request and does not control the steering wheel vibration.

2. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 1, characterized in that, The status signals include driving warning function fault status information, steering wheel vibration warning request status signal, and steering wheel vibration actuator fault status signal sent by the steer-by-wire system to the vibration arbitration unit; as well as vehicle speed signal, lateral acceleration signal, driver attention status signal, vehicle steering mode signal, and intelligent driving function control vehicle steering status signal transmitted to the parameter calculation unit.

3. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 2, characterized in that, When the vibration arbitration unit makes a decision, if there is no fault in the driving warning function fault status information and the steering wheel vibration actuator fault status signal, the steering wheel vibration warning request status signal is issued, and the driver has not taken his hands off the steering wheel, then the decision is to respond to the vibration request. Conversely, it will not respond to vibration requests.

4. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 1, characterized in that, The basic calibration parameter library includes the following calibration items: low-frequency waveform calibration parameters, low-frequency period calibration parameters, vibration intensity calibration table, high-frequency waveform calibration parameters, and high-frequency period calibration parameters in the basic mode.

5. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 1, characterized in that, The optimized calibration parameter library contains multiple sets of calibration items corresponding to different driving modes. Each set of calibration items includes: a calibration table of vibration intensity correction coefficient based on driver attention under driving mode, a calibration table of basic vibration intensity, low-frequency waveform calibration parameters, low-frequency period calibration parameters, high-frequency waveform calibration parameters, and high-frequency period calibration parameters.

6. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 2, characterized in that, When determining the current driving mode of the vehicle, the optimization parameter calculation unit includes the following steps: based on the intelligent driving function control vehicle steering status signal and vehicle steering mode signal, first determine whether the steering situation is controlled by the intelligent driving function; if so, perform intelligent driving mode judgment; if not, perform manual driving mode judgment; and output the current driving mode of the vehicle.

7. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 2, characterized in that, The optimization parameter calculation unit calculates the driver's attention level coefficient by including the following steps: inputting the driver's attention state signal into the driver's attention estimation model and outputting the driver's attention level coefficient.

8. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 7, characterized in that, The driver attention estimation model includes an attention level coefficient calibration table. Based on the input signal, the driver attention estimation model obtains the attention level coefficient corresponding to the signal from the attention level coefficient calibration table and outputs it.

9. The steering wheel vibration reminder function control system for intelligent driving vehicles according to claim 1, characterized in that, The target motor is an EPS motor or a road feel simulation motor.

10. A method for controlling steering wheel vibration alert function in intelligent driving vehicles, characterized in that, The steering wheel vibration reminder function control system for intelligent driving vehicles as described in any one of claims 1-9 is used to control the steering wheel vibration reminder function of intelligent driving vehicles.

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