Vehicle control method, control device, electronic device, vehicle and storage medium

Abstract

The present application discloses a vehicle control method, a control device, an electronic device, a vehicle and a computer storage medium. The control method includes: obtaining state information including a first state sub-information of a steering wheel and a second state sub-information of a steering wheel, and performing corresponding control operations according to the state information to match the steering angle of the steering wheel with the steering angle of the steering wheel. In this way, the present application enables the vehicle to perform corresponding control operations according to the acquired state information to match the steering angle of the steering wheel with the steering angle of the steering wheel, thereby avoiding the situation where the steering angle of the steering wheel does not match the steering angle of the steering wheel when the steering wheel rotates following the steering wheel, and to a certain extent, ensures the rotation synchronization between the steering wheel and the steering wheel, thereby ensuring the driver's stable control of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, a control device, an electronic device, a vehicle and a computer storage medium. Background Art

[0002] With the rapid development and iteration of automotive electronic technology and components, traditional mechanical connections in vehicles are gradually replaced by communication connections based on electrical signals. For example, the electrical signal communication connection between the steering wheel and the steering wheel replaces the original traditional mechanical column connection through multiple electronic components, thereby achieving decoupling between the body and the chassis, thereby reducing the impact of bad roads on the driver's hands. However, since there is no mechanical connection, after the vehicle is powered off, if the driver or others change the steering wheel, it may cause the transmission relationship between the steering wheel and the steering wheel to not meet expectations after the vehicle is powered on, making it impossible for the driver to accurately control the steering wheel through the steering wheel. Summary of the invention

[0003] The present application provides a vehicle control method, a control device, an electronic device, a vehicle and a computer storage medium.

[0004] The present application provides a vehicle control method, including:

[0005] Acquiring state information of the vehicle, wherein the state information includes first state sub-information of a steering wheel and second state sub-information of a steering wheel;

[0006] The vehicle is controlled according to the state information so that a steering angle of the steering wheel matches a steering angle of the steering wheel.

[0007] In the vehicle control method provided in the embodiment of the present application, the vehicle can obtain status information including first status sub-information of the steering wheel and second status sub-information of the steering wheel, and perform corresponding control operations according to the status information to make the steering angle of the steering wheel match the steering angle of the steering wheel.

[0008] In this way, in the implementation mode of the present application, the vehicle can perform corresponding control operations according to the acquired status information to match the steering angle of the steering wheel with the steering angle of the steering wheel, thereby avoiding the situation where the steering angle of the steering wheel does not match the steering angle of the steering wheel when the steering wheel follows the rotation of the steering wheel, and to a certain extent, ensures the rotation synchronization between the steering wheel and the steering wheel, thereby ensuring the driver's stable control of the vehicle.

[0009] In certain embodiments of the present application, the obtaining of the vehicle status information includes:

[0010] The state information is acquired when the vehicle is in a target state.

[0011] In this way, in the implementation mode of the present application, the vehicle can obtain status information when it is in the target state and perform corresponding control operations based on the status information, which to a certain extent ensures the timeliness and robustness of executing control operations based on the status information.

[0012] In certain embodiments of the present application, when the vehicle enters a power-on state, the vehicle is in a target state.

[0013] Corresponding control operations are performed according to the status information, which can improve to a certain extent the negative impact caused by the steering wheel being affected by external force before the vehicle is powered on, resulting in the mismatch between the steering angle of the steering wheel and the steering wheel.

[0014] In certain embodiments of the present application, when the vehicle enters a power-on state, the current vehicle speed is less than a target vehicle speed threshold, and the current gear is a target gear, the vehicle is in a target state.

[0015] In this way, in the implementation mode of the present application, the vehicle can obtain status information and perform corresponding control operations according to the status information when entering the power-on state, the current vehicle speed is less than the target vehicle speed threshold, and the current gear is the target gear. This can improve to a certain extent the negative impact caused by the steering wheel being affected by external forces before the entire vehicle is powered on, resulting in the mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel, and avoid the negative impact on the driver's control behavior and vehicle driving during the matching process of the steering angle of the steering wheel and the steering wheel.

[0016] In certain embodiments of the present application, when the vehicle enters a power-on state, the current vehicle speed is less than a target vehicle speed threshold, the current gear is the target gear, the vehicle steering system initialization is completed normally, and no fault is detected in the vehicle, the vehicle is in a target state.

[0017] In this way, in the implementation mode of the present application, the vehicle can obtain status information and perform corresponding control operations according to the status information when entering the power-on state, the current vehicle speed is less than the target vehicle speed threshold, and the current gear is the target gear. This can improve to a certain extent the negative impact caused by the steering wheel being affected by external forces before the entire vehicle is powered on, resulting in the steering angle of the steering wheel not matching the steering angle of the steering wheel, and avoid the negative impact on the driver's control behavior and vehicle driving during the matching process of the steering wheel and the steering angle of the steering wheel, and avoid interference with the vehicle control operation when the vehicle steering system initialization is not completed normally or there is a fault.

[0018] In certain embodiments of the present application, controlling the vehicle according to the state information so that the steering angle of the steering wheel matches the steering angle of the steering wheel includes:

[0019] The vehicle is controlled according to a steering angle deviation parameter so that a steering angle of the steering wheel matches a steering angle of the steering wheel, wherein the steering angle deviation parameter is determined according to the state information.

[0020] In this way, in the embodiment of the present application, the vehicle can perform corresponding control operations according to the steering angle deviation parameter.

[0021] In certain embodiments of the present application, the steering angle deviation parameter includes a steering angle deviation of the steering wheel from before the vehicle is powered off to after the vehicle is powered on.

[0022] In this way, in the embodiment of the present application, the vehicle can perform corresponding control operations according to the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on.

[0023] In some embodiments of the present application, the first state sub-information includes a first current steering angle, the second state sub-information includes a second current steering angle, and the method further includes:

[0024] The steering angle deviation of the steering wheel is determined based on the first current steering angle and the steering angle estimate of the steering wheel, wherein the down-power steering angle estimate of the steering wheel is determined based on the second current steering angle and the steering wheel-steering wheel transmission relationship.

[0025] In this way, in the embodiment of the present application, the vehicle can determine the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on based on the first current steering angle and steering angle estimate of the steering wheel, so that the credibility of the steering angle deviation can be guaranteed.

[0026] In certain embodiments of the present application, controlling the vehicle according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel includes:

[0027] In a case where the steering angle deviation parameter is greater than or equal to a target parameter threshold, the vehicle is controlled according to the steering angle deviation parameter so that the steering angle deviation parameter is less than the target parameter threshold.

[0028] In this way, in an embodiment of the present application, when the steering angle deviation parameter is greater than or equal to the target parameter threshold, the vehicle can be controlled according to the steering angle deviation parameter so that the steering angle deviation parameter is less than the target parameter threshold, thereby achieving steering angle matching between the steering wheel and the steering wheel.

[0029] In certain embodiments of the present application, the method further comprises:

[0030] When the steering angle deviation parameter is less than the target parameter threshold, the vehicle is controlled to switch to a target operating mode, wherein when the vehicle is in the target operating mode, the steering angle of the steering wheel changes with the steering angle of the steering wheel.

[0031] In this way, in the embodiment of the present application, the vehicle can switch to the target operating mode so that the steering wheel follows the steering wheel when the steering angle deviation parameter is less than the target parameter threshold, thereby ensuring reliable linkage between the steering wheel and the steering wheel.

[0032] In certain embodiments of the present application, controlling the vehicle according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel includes:

[0033] The steering wheel is controlled to rotate according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0034] Thus, in the embodiment of the present application, the vehicle can achieve matching of the steering angle of the steering wheel with the steering angle of the steering wheel by rotating the steering wheel, thereby ensuring safe execution of the steering angle matching between the steering wheel and the steering wheel.

[0035] In certain embodiments of the present application, the method further comprises:

[0036] During the rotation of the steering wheel, obtaining a current force parameter of the target object on the steering wheel;

[0037] When the current force parameter is greater than or equal to the target force parameter threshold, the force when the steering wheel is turned is reduced.

[0038] In this way, in the embodiment of the present application, the vehicle can obtain the current force parameter of the target object on the steering wheel during the process of controlling the rotation of the steering wheel, and when the current force parameter is greater than or equal to the target force parameter threshold, reduce the force when the steering wheel is turned, so as to avoid the interaction between the force when the steering wheel is turned and the force applied by the target object to the steering wheel, which may cause steering wheel failure or injury to the target object.

[0039] In certain embodiments of the present application, when the current force parameter is greater than or equal to a target force parameter threshold, reducing the force when the steering wheel is rotated includes:

[0040] When the current force parameter is greater than or equal to the target force parameter threshold, the force when the steering wheel is turned is reduced according to the current force parameter.

[0041] In this way, in the embodiment of the present application, the vehicle can reduce the force applied when the steering wheel is turned according to the target current force parameters applied to the steering wheel, thereby further ensuring the safety of the steering wheel when it is turned.

[0042] In certain embodiments of the present application, the method further comprises:

[0043] When the steering wheel is in the first rotation state, the rotation of the steering wheel is maintained so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0044] As such, in the embodiment of the present application, the vehicle can maintain the rotation of the steering wheel when the steering wheel is in the first rotation state, thereby ensuring the robust execution of the steering angle matching between the steering wheel and the steering wheel.

[0045] In certain embodiments of the present application, the method further comprises:

[0046] When the steering wheel is in the second rotation state, stopping the rotation of the steering wheel;

[0047] The steering wheel is controlled to rotate according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0048] Thus, in the embodiment of the present application, the vehicle can stop the rotation of the steering wheel and control the rotation of the steering wheel according to the steering angle deviation parameter when the steering wheel is in the second rotation state, thereby ensuring the robust execution of the steering angle matching between the steering wheel and the steering wheel.

[0049] In certain embodiments of the present application, the steering angle deviation parameter includes a steering angle deviation amount of a steering wheel, and the steering angle deviation amount of the steering wheel is determined based on a change in the steering angle of the steering wheel from before the vehicle is powered off to when the steering wheel stops rotating.

[0050] Thus, in the embodiment of the present application, the steering angle deviation of the steering wheel can be determined according to the change in the steering angle of the steering wheel from before the vehicle is powered off to when the steering wheel stops rotating.

[0051] In certain embodiments of the present application, the first state sub-information includes a third current steering angle when the steering wheel stops rotating, the second state sub-information includes a second current steering angle, and the method further includes:

[0052] The steering angle deviation of the steering wheel is determined according to the second current steering angle and the steering angle estimate of the steering wheel, wherein the steering angle estimate of the steering wheel is determined according to the third current steering angle and the steering wheel-steering wheel transmission relationship.

[0053] In this way, in the embodiment of the present application, the vehicle can determine the steering angle deviation of the steering wheel before the vehicle is powered off and when the steering wheel stops turning based on the third current steering angle and steering angle estimate of the steering wheel, so that the credibility of the steering angle deviation can be guaranteed.

[0054] In certain embodiments of the present application, the steering wheel is in the first rotation state when the current rotation parameter of the steering wheel is greater than or equal to the target rotation parameter threshold, and the steering wheel is in the second rotation state when the current rotation parameter of the steering wheel is less than the target rotation parameter threshold.

[0055] In this way, in the embodiment of the present application, the vehicle can determine the rotation state of the steering wheel according to the current rotation parameters of the steering wheel.

[0056] In some embodiments of the present application, the current rotation parameter includes a current rotation speed.

[0057] An embodiment of the present application provides a control device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

[0058] An embodiment of the present application provides an electronic device, including the above-mentioned control device.

[0059] An embodiment of the present application provides a vehicle, including the above-mentioned control device, or including the above-mentioned electronic device.

[0060] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by one or more processors, the above-mentioned vehicle control method is implemented.

[0061] The control device, electronic device, vehicle and computer-readable storage medium provided in the embodiments of the present application enable the vehicle to perform corresponding control operations according to the acquired status information to match the steering angle of the steering wheel with the steering angle of the steering wheel, thereby avoiding the situation where the steering angle of the steering wheel does not match the steering angle of the steering wheel when the steering wheel follows the rotation of the steering wheel, and to a certain extent ensures the rotation synchronization between the steering wheel and the steering wheel, thereby ensuring the driver's stable control of the vehicle.

[0062] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0064] Figure 1 This is one of the flowcharts of the vehicle control method in certain embodiments of the present application;

[0065] Figure 2 This is a second flow chart of a vehicle control method in certain embodiments of the present application;

[0066] Figure 3 This is a third flow chart of a vehicle control method in certain embodiments of the present application;

[0067] Figure 4 A schematic diagram of the mapping relationship between the output torque reduction coefficient and the current applied torque in certain implementation modes of the present application;

[0068] Figure 5 This is a fourth flow chart of a vehicle control method in certain embodiments of the present application;

[0069] Figure 6 A schematic diagram of application scenarios in certain embodiments of the present application;

[0070] Figure 7 This is the fifth flow chart of the vehicle control method in certain embodiments of the present application. DETAILED DESCRIPTION

[0071] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0072] With the rapid development of automotive electronic technology, the degree of electrification and intelligence of vehicles has been gradually improved. With the gradual upgrading and replacement of electronic components in vehicles, traditional mechanical components in vehicles have been gradually replaced by electronic components. For example, in vehicle steering design, the mechanical connection components between the steering wheel and the steering wheel (such as the mechanical column) are upgraded to the Electric Power Steering (EPS) system, which can be upgraded from the Electric Power Steering to the Steering By Wire (SBW) system.

[0073] Furthermore, in a Steering By Wire (SBW) system, the steering wheel and the steering wheel are connected via electrical signal communication via a plurality of electronic components, and thus, the rotation of the steering wheel is controlled by the electrical signals sent by the electronic components. In other words, the steering angle control of the steering wheel may rely on a request or request sent by an Electronic Control Unit (ECU) to achieve steering angle following of the steering wheel relative to the steering wheel.

[0074] It is understandable that the design of the wire-controlled steering system prevents the vibration feedback of the steering wheel caused by bad road conditions from being transmitted to the steering wheel, which improves the driver's steering wheel experience and achieves decoupling between the body and chassis. In addition, since the design of the traditional mechanical column is eliminated, the space in the car required for the steering design can be reduced. In addition, since the steering control is based on electrical signal communication, the corresponding signal generation algorithm and signal control logic can be set to achieve speed-dependent angular transmission ratio, active front wheel steering function, high-sensitivity steering at low speeds and low-sensitivity at high speeds, etc., which can effectively improve the driving comfort of the driver and passengers and the safety and stability of the vehicle.

[0075] However, due to the cancellation of the mechanical connection and to ensure the synchronization of the steering angles between the steering wheel and the steering wheel, in the relevant technology, when the vehicle is powered off, the steering wheel will maintain the steering angle of the steering wheel operated by the driver before power off, and at the same time, the steering wheel will also retain the corresponding steering angle.

[0076] After power is turned off, the road sensing motor in the wire-controlled steer system stops working or enters a dormant state. Therefore, if the steering wheel is turned by the driver or others, the steering angle between the steering wheel and the steering wheel may be out of sync. Furthermore, after the vehicle is powered on and the user turns the steering wheel, although the steering angle of the steering wheel changes with the steering angle of the steering wheel, the steering angle of the steering wheel and the steering wheel before the change are different. Therefore, after the steering angle changes, the steering angles of the steering wheel and the steering wheel are asymmetric (or mismatched), or even the steering angle of the steering wheel changes suddenly.

[0077] Based on the above problems you may encounter, please refer to Figure 1 , the embodiment of the present application provides a vehicle control method, comprising:

[0078] 01: Obtain vehicle status information, wherein the status information includes first status sub-information of the steering wheel and second status sub-information of the steering wheel;

[0079] 02: Control the vehicle based on the status information so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0080] The embodiment of the present application also provides a control device, which includes a memory and a processor. The control method of the vehicle of the embodiment of the present application can be implemented by the control device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain the state information of the vehicle, and to control the vehicle according to the state information so that the steering angle of the steering wheel matches the steering angle of the steering wheel. The state information includes the first state sub-information of the steering wheel and the second state sub-information of the steering wheel.

[0081] Specifically, in an embodiment of the present application, the vehicle (or a control device in the vehicle) can obtain status information including first status sub-information of the steering wheel and second status sub-information of the steering wheel, such as the current steering angle of the steering wheel and the current steering angle of the steering wheel, and perform corresponding control operations according to the status information to make the steering angle of the steering wheel match the steering angle of the steering wheel.

[0082] In one example, when the vehicle obtains status information to determine that the current steering angle of the front wheels (i.e., steering wheels) is 30° and the current steering angle of the steering wheel (i.e., steering wheel) is -30°, the vehicle can control the front wheels to rotate in a positive direction and control the steering wheel to rotate in a negative direction to change the steering angle of the front wheels from 30° to 0°, and to change the steering angle of the front wheels from -30° to 0°, thereby matching the steering angle of the steering wheel with the steering angle of the steering wheel.

[0083] In this way, in the implementation mode of the present application, the vehicle can perform corresponding control operations according to the acquired status information to match the steering angle of the steering wheel with the steering angle of the steering wheel, thereby avoiding the situation where the steering angle of the steering wheel does not match the steering angle of the steering wheel when the steering wheel follows the rotation of the steering wheel, and to a certain extent, ensures the rotation synchronization between the steering wheel and the steering wheel, thereby ensuring the driver's stable control of the vehicle.

[0084] In addition, it is understood that in the embodiments of the present application, the state information, the first state sub-information and the second state sub-information can be set according to actual conditions. For example, in some embodiments of the present application, the first state sub-information of the steering wheel includes the current steering angle of the steering wheel, and the second state sub-information of the steering wheel includes the current steering angle of the steering wheel.

[0085] It is also understood that in the embodiments of the present application, the method for obtaining the status information may also be set according to the actual situation. For example, in some embodiments of the present application, the vehicle (or control device) may receive the status information based on a CAN (Controller Area Network) bus.

[0086] And, it can also be understood that the state information generation method can also be set according to actual conditions. For example, in some embodiments of the present application, the vehicle includes a steering by wire (SBW) system, the steering by wire system includes a steering wheel module and a steering wheel module, the steering wheel module includes a torque angle sensor (TAS, Torque and Angle Sensor), the torque angle sensor is used to perform data collection for the steering wheel, and thus the first state sub-information is collected by the torque angle sensor.

[0087] Similarly, the steering wheel module also includes a torque angle sensor (TAS, Torque and Angle Sensor), and the torque angle sensor is used to perform data collection for the steering wheel, so the second state sub-information is collected by the torque angle sensor.

[0088] Optionally, in certain embodiments in which the above-mentioned vehicle includes a steer-by-wire system, the steer-by-wire system includes a hand wheel module, a first torque angle sensor disposed on the hand wheel simulation unit side, a steering action module, and a second torque angle sensor disposed on the hand wheel simulation unit side, and thus, the first state sub-information can be acquired through the first torque angle sensor, and the second state sub-information can be acquired through the second torque angle sensor.

[0089] In addition, it should be noted that, in the embodiments of the present application, "steering angle matching between the steering wheel and the steering wheel" can be understood as the transmission relationship between the steering wheel and the steering wheel meets expectations.

[0090] For example, when the transmission ratio is 1:15 and the steering angles between the steering wheel and the steering wheel match, if the steering angle of the steering wheel is +15°, the steering angle of the steering wheel is +1°.

[0091] For example, when the transmission ratio is 1:20 and the steering angles of the steering wheel and the steering wheel match, if the steering angle of the steering wheel is -40°, the steering angle of the steering wheel is -2°.

[0092] In certain embodiments of the present application, step 01 includes:

[0093] Acquire status information when the vehicle is in a target state.

[0094] The processor of the embodiment of the present application is also used to obtain state information when the vehicle is in a target state.

[0095] Specifically, in order to avoid interference with the driver when performing control operations based on status information, and to ensure that the control operations performed based on status information are timely, the vehicle of the implementation mode of the present application can obtain status information when it is in the target state and perform corresponding control operations based on the status information.

[0096] In this way, in the implementation mode of the present application, the vehicle can obtain status information when it is in the target state and perform corresponding control operations based on the status information, which to a certain extent ensures the timeliness and robustness of executing control operations based on the status information.

[0097] It is understandable that the target state in the embodiments of the present application can be set according to actual conditions. For example, in some embodiments of the present application, when the vehicle enters the power-on state, the vehicle is in the target state.

[0098] Specifically, taking into account the fact that the steering wheel may be turned by the driver or other personnel during the period from vehicle power-off to vehicle power-on, resulting in a mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel, the vehicle of the embodiment of the present application can obtain the first state sub-information of the steering wheel and the second state sub-information of the steering wheel when the vehicle is powered on, and perform corresponding control operations based on the first state sub-information of the steering wheel and the second state sub-information of the steering wheel, so that after the vehicle is powered on, the steering angle of the steering wheel matches the steering angle of the steering wheel, so as to eliminate the problem of mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel before the vehicle is powered on.

[0099] In this way, in the implementation mode of the present application, the vehicle can obtain status information when entering the power-on state and perform corresponding control operations based on the status information, thereby improving to a certain extent the negative impact caused by the steering wheel being affected by external forces before the entire vehicle is powered on, resulting in the steering angle of the steering wheel not matching the steering angle of the steering wheel.

[0100] Optionally, in certain embodiments of the present application, when the vehicle enters a power-on state, the current vehicle speed is less than a target vehicle speed threshold, and the current gear is a target gear, the vehicle is in a target state.

[0101] Specifically, taking into account the situation that the steering wheel may be turned by the driver or other personnel during the period from vehicle power-off to vehicle power-on, resulting in a mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel, and in order to avoid the negative impact of the steering wheel rotation and / or steering wheel rotation on the vehicle driving and the driver's operating behavior during the period when the vehicle performs control operations based on status information, therefore, in an embodiment of the present application, the vehicle can enter the power-on state, the current vehicle speed is less than the target vehicle speed threshold, and the current gear is the target gear, and obtain status information and perform control operations based on the status information.

[0102] It is understood that the target vehicle speed threshold can be set according to actual conditions. For example, in some embodiments, the target vehicle speed threshold is a value close to or equal to 0. Specifically, in one example, the target vehicle speed threshold is 0. In another example, the target vehicle speed threshold is 0.1 m / s (meters per second).

[0103] And, it can also be understood that the target gear position can also be set according to actual conditions. For example, in some embodiments, the target gear position is the parking gear (or the P gear).

[0104] In this way, in the implementation mode of the present application, the vehicle can obtain status information and perform corresponding control operations according to the status information when entering the power-on state, the current vehicle speed is less than the target vehicle speed threshold, and the current gear is the target gear. This can improve to a certain extent the negative impact caused by the steering wheel being affected by external forces before the entire vehicle is powered on, resulting in the mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel, and avoid the negative impact on the driver's control behavior and vehicle driving during the matching process of the steering angle of the steering wheel and the steering wheel.

[0105] Optionally, in certain embodiments of the present application, when the vehicle enters a power-on state, the current vehicle speed is less than a target vehicle speed threshold, the current gear is the target gear, the vehicle steering system initialization is completed normally, and no faults are detected in the vehicle, the vehicle is in a target state.

[0106] Specifically, taking into account the fact that the steering wheel may be turned by the driver or other personnel during the period from vehicle power-off to vehicle power-on, resulting in a mismatch between the steering angle of the steering wheel and the steering angle of the steering wheel, and in order to avoid the negative impact of the steering wheel rotation and / or steering wheel rotation on the vehicle driving and the driver's operating behavior during the period when the vehicle performs control operations according to the status information, and considering that the control operations on the steering wheel and the steering wheel can be responded to when the steering system is not initialized, and considering the negative impact of vehicle failures on the control operations, therefore, in an embodiment of the present application, the vehicle can obtain status information and perform control operations according to the status information when it enters the power-on state, the current vehicle speed is less than the target vehicle speed threshold, the current gear is the target gear, the vehicle steering system initialization is completed normally, and no fault is detected.

[0107] To more clearly illustrate the implementation of this application, please refer to Figure 2 , Figure 2The flowchart of the vehicle control method in certain embodiments of the present application is shown in FIG. That is, the vehicle in the embodiments of the present application can continuously read the fault array FaultArrary, the power-on signal IG_On, the steering system initialization check signal, the vehicle speed and the gear position, and when the fault array FaultArrary indicates that the vehicle has no fault, IG_On is 1 to indicate that the vehicle has entered the power-on state, the steering system initialization check signal is Valid to indicate that the steering system initialization has been completed normally, the vehicle speed is less than the target vehicle speed threshold (such as 0.1 m / s), and the gear position is the target gear position (such as P gear), it is determined that the vehicle is in the target state, and thus the state information is obtained and the corresponding control operation is performed according to the state information.

[0108] On the contrary, if any of the fault array FaultArrary, the power-on signal IG_On, the steering system initialization check signal, the vehicle speed and the gear position does not meet the corresponding conditions, the vehicle can repeatedly read the signal and perform repeated detection until each of the fault array FaultArrary, the power-on signal IG_On, the steering system initialization check signal, the vehicle speed and the gear position meets the corresponding conditions, obtain the status information and perform the corresponding control operation according to the status information.

[0109] In this way, in the implementation mode of the present application, the vehicle can obtain status information and perform corresponding control operations according to the status information when entering the power-on state, the current vehicle speed is less than the target vehicle speed threshold, and the current gear is the target gear. This can improve to a certain extent the negative impact caused by the steering wheel being affected by external forces before the entire vehicle is powered on, resulting in the steering angle of the steering wheel not matching the steering angle of the steering wheel, and avoid the negative impact on the driver's control behavior and vehicle driving during the matching process of the steering wheel and the steering angle of the steering wheel, and avoid interference with the vehicle control operation when the vehicle steering system initialization is not completed normally or there is a fault.

[0110] In certain embodiments of the present application, step 02 includes:

[0111] The vehicle is controlled according to a steering angle deviation parameter so that a steering angle of a steering wheel matches a steering angle of a steering wheel, wherein the steering angle deviation parameter is determined according to the state information.

[0112] The processor of the embodiment of the present application is also used to control the vehicle according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel, wherein the steering angle deviation parameter is determined according to the state information.

[0113] Specifically, to ensure robust execution of control operations, in an embodiment of the present application, the vehicle may perform corresponding control operations based on a steering angle deviation parameter determined by state information to match the steering angle of the steering wheel with the steering angle of the steering wheel.

[0114] In this way, in the embodiment of the present application, the vehicle can perform corresponding control operations according to the steering angle deviation parameter.

[0115] It is understandable that the steering angle deviation parameter in the embodiments of the present application can be set according to actual conditions. For example, in certain embodiments of the present application, the first state sub-information includes the steering angle of the steering wheel at the current moment, the second state sub-information includes the steering angle of the steering wheel at the current moment, and the steering angle deviation parameter is the steering angle difference between the steering wheel and the steering wheel at the current moment.

[0116] For another example, in certain embodiments of the present application, the steering angle deviation parameter includes a steering angle deviation of the steering wheel from before the vehicle is powered off to after the vehicle is powered on.

[0117] That is, considering that the steering angle of the steering wheel matches the steering angle of the steering wheel before the vehicle is powered on, and during the period from the power-off of the vehicle to the power-on of the vehicle, the steering wheel may be turned by the driver or other personnel, resulting in the steering angle of the steering wheel not matching the steering angle of the steering wheel after the vehicle is powered on. In other words, considering that during the period from the power-off of the vehicle to the power-on of the vehicle, the steering angle of the steering wheel is affected by external interference and undergoes a certain change, resulting in the steering angle of the steering wheel not matching the steering angle of the steering wheel after the vehicle is powered on, the steering angle deviation parameter in the embodiment of the present application may include the steering angle deviation of the steering wheel before the vehicle is powered on and after the vehicle is powered on.

[0118] It is understandable that the specific method for determining the steering angle deviation of the steering wheel can be set according to the actual situation. For example, in some embodiments of the present application, the vehicle can record the steering angle of the steering wheel at the current moment when the power-off signal is detected. i off_1 , and start detecting the steering angle of the steering wheel when the power-on signal is detected i on_1 , calculated from this i on_1 and i off_1 The difference between the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on is obtained. i change_1 , or in other words, i change_1 =| i off_1 - i on_1 |.

[0119] Further, in the case where the steering angle deviation parameter includes a steering angle deviation amount, the vehicle in the embodiment of the present application may control the rotation of the steering wheel and / or the steering wheel according to the steering angle deviation amount.

[0120] In one example, the vehicle can control the steering wheel to maintain the current steering angle and control the steering wheel to turn i change_1 The angle of the steering wheel is adjusted to the desired angle after the vehicle is powered on. i on_1 The steering angle of the steering wheel before the vehicle was powered off last time i off_1 Match or be similar to the steering angle of the steering wheel before the vehicle was powered off last time i off_2 Match.

[0121] In this way, in the embodiment of the present application, the vehicle can perform corresponding control operations according to the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on.

[0122] In certain embodiments of the present application, the first state sub-information includes a first current steering angle, the second state sub-information includes a second current steering angle, and the vehicle control method further includes:

[0123] The steering angle deviation of the steering wheel is determined according to the first current steering angle and the steering angle estimation of the steering wheel, wherein the power-off steering angle estimation of the steering wheel is determined according to the second current steering angle and the steering wheel-steering wheel transmission relationship.

[0124] The processor of the embodiment of the present application is also used to determine the steering angle deviation of the steering wheel based on the first current steering angle and the steering angle estimate of the steering wheel. The power-off steering angle estimate of the steering wheel is determined based on the second current steering angle and the steering wheel-steering wheel transmission relationship.

[0125] Specifically, taking into account the possible data loss during data storage and reading and writing, and to ensure the robustness of the vehicle's control operations, the vehicle of the present application embodiment can determine the steering angle deviation of the steering wheel before the vehicle is powered on and after the vehicle is powered on based on the transmission relationship between the steering wheel and the steering wheel, and the steering angles of the steering wheel and the steering wheel at the current moment (i.e., the first current steering angle and the second current steering angle).

[0126] Specifically, considering that it is difficult for the steering wheel to change the steering angle due to external force interference, in the embodiment of the present application, the steering angle of the steering wheel at the current moment can be i now_2 (i.e. the second steering angle) is determined as the steering angle of the steering wheel before the vehicle was powered off last time i off_2 .

[0127] Furthermore, considering the relationship between the steering angle of the steering wheel and the steering angle of the steering wheel (i.e., the steering wheel-steering wheel transmission relationship), or in other words, considering the transmission ratio of the steering wheel relative to the steering wheel, the vehicle of the embodiment of the present application can be controlled according to the steering angle of the steering wheel at the current moment. i now_2 , determine "the steering angle of the steering wheel is equal to i now_2 Steering wheel steering angle i est_1 '", i.e. steering angle estimation.

[0128] Furthermore, since the steering angle estimation can represent "the steering angle of the steering wheel that matches the 'current steering angle of the steering wheel' when the steering angle of the steering wheel matches the steering angle of the steering wheel", and can represent "the steering angle of the steering wheel that is not rotated due to no external force before the vehicle is powered off and after the vehicle is powered on", it can be equivalent to "the steering angle before the vehicle is powered off". i off_1 Therefore, the vehicle of the embodiment of the present application can adjust the steering angle of the steering wheel according to the current moment. i now_1 With steering angle estimation i est_1 , determine the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on i change_1 , or say, or say, i change_1 =| i est_1 - i now_1 |.

[0129] In this way, in the embodiment of the present application, the vehicle can determine the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on based on the first current steering angle and steering angle estimate of the steering wheel, so that the credibility of the steering angle deviation can be guaranteed.

[0130] In addition, it can be understood that if the vehicle starts to detect the steering angles of the steering wheel and the steering wheel to obtain the first current steering angle and the second current steering angle when the power-on signal is detected, or in other words, the vehicle detects the steering angles of the steering wheel and the steering wheel in real time when it is in the target working condition to obtain the first current steering angle and the second current steering angle, then i now_1 and i on_1 same, i now_2 and i on_2 same, i last_1 and i off_1 same, i last_2 and i off_2 same.

[0131] And, it can also be understood that, in the embodiment of the present application, when a power-on signal is detected, it indicates that the vehicle has entered a power-on state.

[0132] In addition, it can be understood that the specific process of determining the steering angle deviation amount according to the first steering angle, the steering angle estimation of the steering wheel, and the steering wheel-steering wheel transmission relationship can be set according to actual conditions. i change_1 It can be determined by formula (1), that is:

[0133] (1)

[0134] In the formula, i Indicates the steering wheel ratio (i.e. the steering wheel-steering wheel transmission relationship), i now_2 ∙ i Represents the steering angle estimate of the steering wheel.

[0135] Furthermore, in certain embodiments of the present application, the steering wheel rotation ratio is variable, or in other words, the steering wheel rotation ratio can change with the change of vehicle speed, and considering that the vehicle speed before the whole vehicle is powered off is usually 0, therefore, in the embodiments of the present application, the steering angle deviation of the steering wheel is i change_1 The estimate can also be determined by formula (2), namely:

[0136] (2)

[0137] In the formula, i v0 Indicates the steering wheel rotation ratio (i.e. the steering wheel-steering wheel transmission relationship) when the vehicle speed is 0. i now_2 ∙ i v0 Represents the steering angle estimate of the steering wheel.

[0138] In certain embodiments of the present application, the step of controlling the vehicle according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel includes:

[0139] When the steering angle deviation parameter is greater than or equal to the target parameter threshold, the vehicle is controlled according to the steering angle deviation parameter so that the steering angle deviation parameter is less than the target parameter threshold.

[0140] The processor of the embodiment of the present application is also used to control the vehicle according to the steering angle deviation parameter when the steering angle deviation parameter is greater than or equal to the target parameter threshold so that the steering angle deviation parameter is less than the target parameter threshold.

[0141] Specifically, in order to avoid invalid execution of control operations, in an embodiment of the present application, the vehicle may, when the steering angle deviation parameter is greater than or equal to the target parameter threshold, perform corresponding control operations according to the steering angle deviation parameter to make the steering angle deviation parameter less than the target parameter threshold, thereby achieving steering angle matching between the steering wheel and the steering wheel.

[0142] For example, let the target parameter threshold be T 1 , then the steering angle deviation parameter includes the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on. i change_1 , then the vehicle can be determined i change_1 Greater than or equal to T 1 In the case of i change_1 Gradually decrease until it is less than T 1 , thereby achieving steering angle matching between the steering wheel and the steering wheel.

[0143] It is understandable that in the embodiments of the present application, i change_1 , i now_1 and i now_2 It can be understood as a value that changes in real time. In one example, i now_1 and i now_2 When the vehicle is powered on (or in the target working condition), the vehicle starts to collect the steering angle of the steering wheel and steering wheel, so as to obtain real-time i now_1 and i now_2 , combined with the above formula (1) or (2), it can be realized through real-time i now_1 and i now_2 Get real-time i change_1 .

[0144] It is also understood that the specific manner of executing the corresponding control operation according to the steering angle deviation parameter can be set according to the actual situation. For example, in certain embodiments of the present application, the vehicle can call a preset algorithm to generate a control instruction corresponding to the steering angle deviation parameter, and control the steering wheel and / or steering wheel to rotate according to the control instruction so that the steering angle deviation parameter is less than the target parameter threshold, thereby achieving steering angle matching between the steering wheel and the steering wheel.

[0145] It is understood that the preset algorithm can be implemented by a code or program pre-installed in the vehicle. Also, the preset algorithm can be set according to actual conditions. In one example, the preset algorithm is a PID (Proportion Integral Differential) algorithm.

[0146] In this way, in the embodiment of the present application, the vehicle can be controlled according to the steering angle deviation parameter when the steering angle deviation parameter is greater than or equal to the target parameter threshold, so that the steering angle deviation parameter is less than the target parameter threshold, thereby achieving steering angle matching between the steering wheel and the steering wheel.

[0147] In addition, it can also be understood that the target parameter threshold in the embodiment of the present application can be set according to actual conditions. For example, when the steering angle deviation parameter includes the steering angle deviation of the steering wheel before the vehicle is powered off and after the vehicle is powered on, the target parameter threshold can be a steering angle value, such as a value less than 1°.

[0148] In certain embodiments of the present application, the vehicle control method further includes:

[0149] When the steering angle deviation parameter is less than the target parameter threshold, the vehicle is controlled to switch to the target working mode, wherein when the vehicle is in the target working mode, the steering angle of the steering wheel changes with the steering angle of the steering wheel.

[0150] The processor of the embodiment of the present application is also used to control the vehicle to switch to a target operating mode when the steering angle deviation parameter is less than a target parameter threshold. When the vehicle is in the target operating mode, the steering angle of the steering wheel changes with the steering angle of the steering wheel.

[0151] Specifically, in order to ensure reliable linkage between the steering wheel and the steering wheel, in an embodiment of the present application, the vehicle can switch to the target operating mode so that the steering wheel follows the rotation of the steering wheel when the steering angle deviation parameter is less than the target parameter threshold.

[0152] In other words, if the steering angle deviation parameter is greater than or equal to the target parameter threshold, the vehicle may continuously perform corresponding control operations according to the steering angle deviation parameter when the steering angle deviation parameter is less than the target parameter threshold.

[0153] Alternatively, if the steering angle deviation parameter is less than the target parameter threshold, the vehicle may skip the execution content of "performing corresponding control operations according to the steering angle deviation parameter".

[0154] It is understandable that, in the process of the vehicle performing corresponding control operations according to the steering angle deviation parameter, the driver or other personnel may intervene, such as rotating the steering wheel, etc. It is also understandable that, in the embodiment of the present application, if the steering angle deviation parameter is less than the target parameter threshold due to the intervention of the driver or other personnel, the vehicle can directly enter the target working mode.

[0155] Furthermore, if the steering angle deviation parameter is always greater than or equal to the target parameter threshold during the process from the start of intervention to the stop of intervention by the driver or other personnel, the vehicle can take over the rotation of the steering wheel at the time of intervention stop or after intervention stop, and perform corresponding control operations according to the steering angle deviation parameter, thereby avoiding the failure of steering angle matching between the steering wheel and the steering wheel due to the intervention of the driver or other personnel.

[0156] In this way, in the embodiment of the present application, the vehicle can switch to the target operating mode so that the steering wheel follows the steering wheel when the steering angle deviation parameter is less than the target parameter threshold, thereby ensuring reliable linkage between the steering wheel and the steering wheel.

[0157] In certain embodiments of the present application, the step of controlling the vehicle according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel includes:

[0158] The steering wheel is controlled to rotate according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0159] The processor of the embodiment of the present application is also used to control the rotation of the steering wheel according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0160] Specifically, taking into account the possibility that the rotation of the steering wheel may cause an accident, and in order to ensure the safe execution of the steering angle matching between the steering wheel and the steering wheel, in an embodiment of the present application, the vehicle can control the rotation of the steering wheel according to the steering angle deviation parameter when the steering angle deviation parameter is obtained, and control the steering wheel to remain stationary, so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0161] Thus, in the embodiment of the present application, the vehicle can achieve matching of the steering angle of the steering wheel with the steering angle of the steering wheel by rotating the steering wheel, thereby ensuring safe execution of the steering angle matching between the steering wheel and the steering wheel.

[0162] See also Figure 3In certain embodiments of the present application, the vehicle control method further includes:

[0163] 03: During the rotation of the steering wheel, obtain the current force parameters of the target object on the steering wheel;

[0164] 04: When the current force parameter is greater than or equal to the target force parameter threshold, the force applied when the steering wheel is turned is reduced.

[0165] The processor of the embodiment of the present application is also used to obtain the current force parameter of the target object for the steering wheel during the rotation of the steering wheel, and to reduce the force when the steering wheel is turned when the current force parameter is greater than or equal to the target force parameter threshold.

[0166] Specifically, the driver or other users may be dissatisfied with the turning speed of the vehicle's active steering wheel, and thus want to observe the wheels based on the HUD (Head Up Display) and turn the steering wheel themselves to achieve steering angle matching between the steering wheel and the steering wheel.

[0167] Furthermore, in order to avoid the driver or other users touching the steering wheel during the process of controlling the rotation of the steering wheel, so that the force of the steering wheel rotation acts on the user, causing dangerous situations such as user injury, the vehicle of the embodiment of the present application can obtain the current force parameters of the target object on the steering wheel during the process of controlling the rotation of the steering wheel, or in other words, detect the force applied to the steering wheel by the driver or other users.

[0168] Furthermore, when the current force parameter is greater than or equal to the target force parameter threshold, it means that the force applied by the target object to the steering wheel is large. Consequently, when the force when the steering wheel is turned interacts with the force applied by the target object to the steering wheel, steering wheel failure or injury to the target object may occur. Therefore, the vehicle of the embodiment of the present application can reduce the force when the steering wheel is turned when the current force parameter is greater than or equal to the target force parameter threshold.

[0169] Optionally, in certain embodiments of the present application, the current force parameter is the current force torque of the target object on the steering wheel.

[0170] Further, in certain implementations where the current force parameter is the current force torque, the target force parameter threshold is 0.5 N·m (Newton·meter).

[0171] In this way, in the embodiment of the present application, the vehicle can obtain the current force parameter of the target object on the steering wheel during the process of controlling the rotation of the steering wheel, and when the current force parameter is greater than or equal to the target force parameter threshold, reduce the force when the steering wheel is turned, so as to avoid the interaction between the force when the steering wheel is turned and the force applied by the target object to the steering wheel, which may cause steering wheel failure or injury to the target object.

[0172] In certain embodiments of the present application, step 04 includes:

[0173] When the current force parameter is greater than or equal to the target force parameter threshold, the force when the steering wheel is turned is reduced according to the current force parameter.

[0174] The processor of the embodiment of the present application is also used to reduce the force when the steering wheel is turned according to the current force parameter when the current force parameter is greater than or equal to the target force parameter threshold.

[0175] Specifically, in order to further reduce the influence of the force applied when the steering wheel is turned on the target object, in the embodiment of the present application, the vehicle can reduce the force applied when the steering wheel is turned according to the current force parameters of the target object on the steering wheel.

[0176] Optionally, in certain embodiments of the present application, the current force parameter is positively correlated with the "reduction in force when the steering wheel is turned", that is, the vehicle can control the steering wheel to turn with smaller force when the force applied by the target object on the steering wheel is greater.

[0177] Optionally, in certain embodiments of the present application, the steering wheel is connected to a drive motor, and the drive motor is used to output torque to the steering wheel to rotate the steering wheel, and thus, the greater the output torque of the drive motor, the greater the force of the steering wheel rotation. Furthermore, the vehicle of the embodiment of the present application can determine the reduction coefficient of the output torque according to the current force parameter, and determine the final output torque according to the default output torque and the reduction coefficient of the output torque.

[0178] Optionally, in certain embodiments of the present application, the process of determining the final output torque according to the default output torque and the reduction coefficient of the output torque can refer to formula (3), that is:

[0179] (3)

[0180] In the formula, M o is the default output torque, K Hand is the output torque reduction coefficient determined according to the current force parameters, M' is the final output torque.

[0181] Optionally, in certain embodiments where the current force parameter is the current force torque, the reduction coefficient of the output torque can be obtained by looking up a table. Figure 4 , Figure 4 Schematic diagram of the mapping relationship between the output torque reduction coefficient and the current applied torque in certain embodiments of the present application. That is, in the embodiments of the present application, the reduction coefficient of the output torque is K Hand Available through Figure 4 The mapping relationship table pointed to is obtained by performing a table lookup operation.

[0182] In this way, in the embodiment of the present application, the vehicle can reduce the force applied when the steering wheel is turned according to the target current force parameters applied to the steering wheel, thereby further ensuring the safety of the steering wheel when it is turned.

[0183] In certain embodiments of the present application, the vehicle control method further includes:

[0184] When the steering wheel is in the first rotation state, the rotation of the steering wheel is maintained so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0185] The processor of the embodiment of the present application is also used to maintain the rotation of the steering wheel when the steering wheel is in the first rotation state, so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0186] Specifically, in order to ensure the robust execution of the steering angle matching between the steering wheel and the steering wheel, in the embodiment of the present application, the vehicle may maintain the rotation of the steering wheel when it is determined that the steering wheel is in the first rotation state.

[0187] It is understandable that the first rotation state can be understood as a state in which the steering wheel rotates normally. In one example, the steering wheel is in the first rotation state when the rotation speed of the steering wheel is always higher than a preset value (such as 0.1° / s) within a preset time length (such as 3s). In another example, the steering wheel is in the first rotation state when the rotation angle of the steering wheel within a preset time length is higher than a preset value (such as 1°).

[0188] As such, in the embodiment of the present application, the vehicle can maintain the rotation of the steering wheel when the steering wheel is in the first rotation state, thereby ensuring the robust execution of the steering angle matching between the steering wheel and the steering wheel.

[0189] See also Figure 5 In certain embodiments of the present application, the vehicle control method further includes:

[0190] 05: When the steering wheel is in the second rotation state, stop the rotation of the steering wheel;

[0191] 06: Control the steering wheel rotation according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0192] The processor of the embodiment of the present application is also used to stop the rotation of the steering wheel when the steering wheel is in the second rotation state, and to control the rotation of the steering wheel according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel.

[0193] Specifically, in order to ensure the robust execution of the steering angle matching between the steering wheel and the steering wheel, the vehicle of the embodiment of the present application can also stop the rotation of the steering wheel when the steering wheel is in an abnormal rotation state, or when the steering wheel is in the second rotation state, and control the steering wheel to rotate according to the steering angle deviation parameter.

[0194] It should be noted that, in the embodiment of the present application, when the steering wheel is in the second rotation state, it indicates that the rotation of the steering wheel is abnormal, which may be because the steering wheel cannot be rotated due to external interference, or the motor driving the steering wheel to rotate is blocked, resulting in abnormal rotation of the steering wheel. In one example, the steering wheel is in the second rotation state when the rotation speed of the steering wheel is always less than a preset value (such as 0.1° / s) within a preset time (such as 3s). In another example, the steering wheel is in the second rotation state when the rotation angle of the steering wheel within a preset time is less than a preset value (such as 1°).

[0195] Thus, in the embodiment of the present application, the vehicle can stop the rotation of the steering wheel and control the rotation of the steering wheel according to the steering angle deviation parameter when the steering wheel is in the second rotation state, thereby ensuring the robust execution of the steering angle matching between the steering wheel and the steering wheel.

[0196] Optionally, in certain embodiments of the present application, the steering angle deviation parameter includes a steering angle deviation amount of the steering wheel, and the steering angle deviation amount of the steering wheel is determined based on a change in the steering angle of the steering wheel before the vehicle is powered off to when the steering wheel stops rotating.

[0197] Specifically, the steering wheel may have rotated a certain angle before the second rotation state of the steering wheel is determined, or before the steering wheel is controlled to stop rotating. At the same time, considering that it is difficult for the steering wheel to change its steering angle due to external interference, the steering angle of the steering wheel determined by the vehicle at the current moment can be regarded as the steering angle of the steering wheel before the vehicle was powered off last time. Also, considering that there is a mapping relationship between the steering angle of the steering wheel and the steering angle of the steering wheel.

[0198] Furthermore, the vehicle of the embodiment of the present application can be configured to change the steering wheel according to the change in the amount of rotation of the steering wheel from before the vehicle was powered off to when the steering wheel stopped rotating. I will change_1 , determine the steering angle deviation of the steering wheel i change_2 , and according to the steering angle deviation i change_2 Control the steering wheel to turn, or in other words, control the steering wheel to turn i change_2 The angle of size.

[0199] Thus, in the embodiment of the present application, the steering angle deviation of the steering wheel can be determined according to the change in the steering angle of the steering wheel from before the vehicle is powered off to when the steering wheel stops rotating.

[0200] In certain embodiments of the present application, the first state sub-information includes a third current steering angle when the steering wheel stops rotating, the second state sub-information includes a second current steering angle, and the vehicle control method further includes:

[0201] The steering angle deviation of the steering wheel is determined according to the second current steering angle and the steering angle estimation of the steering wheel, wherein the steering angle estimation of the steering wheel is determined according to the third current steering angle and the steering wheel-steering wheel transmission relationship.

[0202] The processor of the embodiment of the present application is also used to determine the steering angle deviation of the steering wheel based on the second current steering angle and the steering angle estimate of the steering wheel, wherein the steering angle estimate of the steering wheel is determined based on the third current steering angle and the steering wheel-steering wheel transmission relationship.

[0203] Specifically, considering the relationship between the steering angle of the steering wheel and the steering angle of the steering wheel (i.e., the steering wheel-steering wheel transmission relationship), the vehicle of the embodiment of the present application can be controlled according to the steering angle when the steering wheel stops rotating. i stop_1 (i.e., the third current rotation angle), the rotation angle of the steering wheel before the vehicle was last powered off i last_2 The steering angle deviation of the steering wheel is determined based on the relationship between the steering angle of the steering wheel and the steering angle of the steering wheel.

[0204] It is understandable that the specific process of determining the steering angle deviation amount according to the second current steering angle, the steering angle estimation of the steering wheel, and the steering wheel-steering wheel transmission relationship can be set according to actual conditions. For example, in some embodiments of the present application, the steering angle deviation amount of the steering wheel is i change_2 It can be determined by formula (4), that is:

[0205] (4)

[0206] In the formula, i Indicates the steering wheel ratio (i.e. the steering wheel-steering wheel transmission relationship), i stop_1 / i Represents the steering angle estimate of the steering wheel.

[0207] Furthermore, in certain embodiments of the present application, the steering wheel rotation ratio is variable, or in other words, the steering wheel rotation ratio can change with the change of vehicle speed, and considering that the vehicle speed before the whole vehicle is powered off is usually 0, therefore, in the embodiments of the present application, the steering angle deviation of the steering wheel is i change_2 The estimate can also be determined by formula (5), that is:

[0208] (5)

[0209] In the formula, i v0 Indicates the steering wheel rotation ratio (i.e. the steering wheel-steering wheel transmission relationship) when the vehicle speed is 0. i stop_1 / i v0 Represents the steering angle estimate of the steering wheel.

[0210] In this way, in the embodiment of the present application, the vehicle can determine the steering angle deviation of the steering wheel before the vehicle is powered off and when the steering wheel stops turning based on the third current steering angle and steering angle estimate of the steering wheel, so that the credibility of the steering angle deviation can be guaranteed.

[0211] In certain embodiments of the present application, the steering wheel is in a first rotation state when the current rotation parameter of the steering wheel is greater than or equal to the target rotation parameter threshold, and is in a second rotation state when the current rotation parameter of the steering wheel is less than the target rotation parameter threshold.

[0212] That is, the implementation mode of the present application can determine the rotation state of the steering wheel based on real-time monitoring of the current rotation parameters of the steering wheel, that is, based on the magnitude relationship between the current rotation parameters of the steering wheel and the preset target rotation parameter threshold.

[0213] In this way, in the embodiment of the present application, the vehicle can determine the rotation state of the steering wheel according to the current rotation parameters of the steering wheel.

[0214] Optionally, in some embodiments of the present application, the current rotation parameter includes a current rotation speed.

[0215] Optional, see Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of application scenarios in certain embodiments of the present application. Figure 7The flowchart of the vehicle control method in certain embodiments of the present application is shown in FIG. Specifically, in the embodiments of the present application, the vehicle can receive signals collected by sensors such as a vehicle speed sensor (or wheel speed sensor), a steering wheel side torque angle sensor, and a steering wheel side torque angle sensor. At the same time, the vehicle can also obtain power-on signals IG_On, fault array FaultArrary, steering system initialization signals, gear position signals, etc. according to the CAN bus.

[0216] Furthermore, after the vehicle obtains the signals collected by each sensor, the sensor collected signals can be subjected to noise reduction processing. And after the noise reduction of the sensor collected signals is completed, the vehicle can determine the vehicle speed based on the noise-reduced sensor collected signals. V veh , the current steering angle of the steering wheel A 1. Steering wheel speed V m , the current steering angle of the steering wheel A 2. The torque of the force applied by the target object on the steering wheel M .

[0217] Furthermore, after obtaining the vehicle speed V veh , and based on the power-on signal IG_On, fault array FaultArrary, steering system initialization signal and gear position signal transmitted by the CAN bus, the vehicle can be based on Figure 2 The judgment logic shown is that when the fault array FaultArrary indicates that the vehicle has no fault, IG_On is 1 to indicate that the vehicle has entered the power-on state, the steering system initialization check signal is Valid to indicate that the steering system initialization has been completed normally, the vehicle speed is less than the target vehicle speed threshold (such as 0.1m / s), and the gear is the target gear (such as P gear), according to the current steering angle of the steering wheel A 1. Steering wheel speed V m , the current steering angle of the steering wheel A 2 and the torque of the force applied by the target object on the steering wheel M , perform the matching operation of the steering wheel and the steering wheel.

[0218] Specifically, in the matching process between the steering wheel and the steering wheel, the variable transmission ratio when the vehicle speed is 0, A 1 and A 2. Determine the steering angle deviation of the steering wheel from before the vehicle was last powered off to after the vehicle was last powered on, or in other words, determine the steering angle deviation of the steering wheel from before the vehicle was last powered off to after the vehicle was last powered on based on the above formula (2).

[0219] Then, determine whether the steering angle deviation of the steering wheel is greater than or equal to a preset threshold value (such as Figure 7 0.1° in the range of 0.1°).

[0220] If it is less than, it is determined that the steering angle between the steering wheel and the steering wheel matches, so the vehicle enters the target working mode, or in other words, Figure 6 The controller in the steering actuator sends a matching completion signal to the steering actuator unit so that the steering angle of the steering wheel controlled by the steering actuator unit changes with the steering angle of the steering wheel.

[0221] If it is greater than or equal to, the steering wheel is controlled to rotate and the detection| V m |The duration of less than 0.1° / m is greater than or equal to 7 seconds.

[0222] Further, if | V m |If the duration of the rotation speed less than the preset rotation speed (such as 0.1° / m) is greater than or equal to the preset time (such as 7s), the third matching mode (or auxiliary matching mode) is entered.

[0223] And, | V m | If the duration of the speed less than the preset speed is less than the preset time, it is determined M Is it greater than or equal to the preset threshold (such as 0.5N·M).

[0224] like M If it is greater than or equal to a preset threshold, it is determined that the driver or other user has intervened, so the second matching mode (or user-initiated matching mode) is entered.

[0225] like M If the value is less than a preset threshold, it is determined that the driver or other users have not intervened, so the first matching mode (or vehicle active matching mode) is entered.

[0226] In the first matching mode, the vehicle can adjust the transmission ratio according to the variable transmission ratio when the vehicle speed is 0, A 1 and A 2. Determine the steering wheel steering angle estimate (also called the target steering angle or the requested steering angle).

[0227] Then, A1 and the steering angle estimate of the steering wheel are used as input parameters of a preset control algorithm (such as a PID algorithm), or the steering angle deviation of the steering wheel is calculated based on A1 and the steering angle estimate of the steering wheel, and the steering angle deviation of the steering wheel is used as an input parameter of the preset control algorithm, thereby determining the motor output torque of the steering wheel side drive motor.

[0228] Finally, the steering wheel side drive motor is controlled according to the output torque to drive the steering wheel to rotate, so as to stop the rotation of the steering wheel when the steering angle deviation of the steering wheel is less than a preset threshold value (such as 1°), and send a matching completion signal to the steering execution unit so that the steering execution unit controls the steering angle of the steering wheel to change with the steering angle of the steering wheel.

[0229] In the second matching mode, the vehicle can adjust the speed according to the variable transmission ratio when the vehicle speed is 0, A 1 and A 2. Determine the steering wheel steering angle estimate (also called the target steering angle or the requested steering angle).

[0230] Then, A1 and the steering angle estimate of the steering wheel are used as input parameters of a preset control algorithm (such as a PID algorithm), or the steering angle deviation of the steering wheel is calculated based on A1 and the steering angle estimate of the steering wheel, and the steering angle deviation of the steering wheel is used as an input parameter of the preset control algorithm, thereby determining the motor output torque of the steering wheel side drive motor.

[0231] Next, according to M The table is looked up to obtain the output torque reduction coefficient, and then the final output torque of the steering wheel side drive motor is determined according to the output torque reduction coefficient and the motor output torque.

[0232] Finally, the steering wheel side drive motor is controlled to drive the steering wheel to rotate according to the final output torque of the motor, so as to stop the rotation of the steering wheel when the steering angle deviation of the steering wheel is less than a preset threshold (such as 1°), and send a matching completion signal to the steering execution unit so that the steering execution unit controls the steering angle of the steering wheel to change with the steering angle of the steering wheel.

[0233] Furthermore, if during the rotation of the steering wheel, the user stops intervening and thus M is less than a preset threshold, and at this time the steering angle deviation of the steering wheel is greater than or equal to the preset threshold, then at this time the steering angle deviation of the steering wheel is used as an input parameter of the preset control algorithm, thereby determining the motor output torque of the steering wheel side drive motor, and controlling the steering wheel side drive motor to drive the steering wheel to rotate according to the output torque, so as to stop the rotation of the steering wheel when the steering angle deviation of the steering wheel is less than a preset threshold (such as 1°), and send a matching completion signal to the steering execution unit, so that the steering execution unit controls the steering angle of the steering wheel to change with the steering angle of the steering wheel.

[0234] In the third matching mode, the vehicle can adjust the transmission ratio according to the variable transmission ratio when the vehicle speed is 0, A 1 and A 2. Determine the steering angle estimate of the steering wheel (also called the target steering angle or the requested steering angle).

[0235] Then, A2 and the steering angle estimation of the steering wheel as input parameters of a preset control algorithm (such as a PID algorithm), or according to A 2 and the steering angle of the steering wheel, calculate the steering angle deviation of the steering wheel, and use the steering angle deviation of the steering wheel as an input parameter of a preset control algorithm to obtain the output torque for controlling the steering wheel side driving motor.

[0236] Finally, the steering wheel side drive motor is controlled according to the output torque to drive the steering wheel to rotate, so as to stop the rotation of the steering wheel when the steering angle deviation of the steering wheel is less than a preset threshold value (such as 1°), and send a matching completion signal to the steering execution unit so that the steering execution unit controls the steering angle of the steering wheel to change with the steering angle of the steering wheel.

[0237] The embodiment of the present application further provides an electronic device, wherein the electronic device comprises the above-mentioned control device.

[0238] The embodiment of the present application further provides a vehicle, wherein the vehicle includes the above-mentioned control device or the above-mentioned electronic device.

[0239] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned vehicle control method when the computer program is executed by one or more processors.

[0240] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0241] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0242] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle control method, characterized in that: include: Acquiring state information of the vehicle, wherein the state information includes first state sub-information of a steering wheel and second state sub-information of a steering wheel; controlling the vehicle according to the state information so that the steering angle of the steering wheel matches the steering angle of the steering wheel; The controlling the vehicle according to the state information so that the steering angle of the steering wheel matches the steering angle of the steering wheel comprises: Controlling the steering wheel to rotate according to the state information so that the steering angle of the steering wheel matches the steering angle of the steering wheel; When the steering wheel is in a first rotation state, maintaining the rotation of the steering wheel so that the steering angle of the steering wheel matches the steering angle of the steering wheel, wherein the steering wheel is in the first rotation state when a current rotation parameter of the steering wheel is greater than or equal to a target rotation parameter threshold, and the current rotation parameter includes a current rotation speed; When the steering wheel is in a second rotation state, stopping the rotation of the steering wheel, wherein the steering wheel is in the second rotation state when a current rotation parameter of the steering wheel is less than a target rotation parameter threshold; The steering wheel is controlled to rotate according to a steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel, wherein the steering angle deviation parameter is determined according to the state information.

2. The method according to claim 1, characterized in that The obtaining of the vehicle status information comprises: The state information is acquired when the vehicle is in a target state.

3. The method according to claim 2, characterized in that When the vehicle enters the power-on state, the vehicle is in a target state.

4. The method according to claim 2, characterized in that: When the vehicle enters a power-on state, a current vehicle speed is less than a target vehicle speed threshold, and a current gear position is a target gear position, the vehicle is in a target state.

5. The method according to claim 2, characterized in that: When the vehicle enters a power-on state, the current vehicle speed is less than a target vehicle speed threshold, the current gear is the target gear, the vehicle steering system initialization is completed normally, and no fault is detected in the vehicle, the vehicle is in a target state.

6. The method according to claim 1, characterized in that The steering angle deviation parameter includes a steering angle deviation of the steering wheel from before the vehicle is powered off to after the vehicle is powered on.

7. The method according to claim 6, characterized in that The first state sub-information includes a first current steering angle, the second state sub-information includes a second current steering angle, and the method further includes: The steering angle deviation of the steering wheel is determined based on the first current steering angle and the estimated power-down steering angle of the steering wheel, wherein the estimated power-down steering angle of the steering wheel is determined based on the second current steering angle and the steering wheel-steering wheel transmission relationship.

8. The method according to claim 1, characterized in that The controlling the rotation of the steering wheel according to the steering angle deviation parameter so that the steering angle of the steering wheel matches the steering angle of the steering wheel comprises: When the steering angle deviation parameter is greater than or equal to the target parameter threshold, the steering wheel is controlled to rotate according to the steering angle deviation parameter so that the steering angle deviation parameter is less than the target parameter threshold.

9. The method according to claim 8, characterized in that The method further comprises: When the steering angle deviation parameter is less than the target parameter threshold, the vehicle is controlled to switch to a target operating mode, wherein when the vehicle is in the target operating mode, the steering angle of the steering wheel changes with the steering angle of the steering wheel.

10. The method according to claim 1, characterized in that The method further comprises: During the rotation of the steering wheel, obtaining a current force parameter of the target object on the steering wheel; When the current force parameter is greater than or equal to the target force parameter threshold, the force when the steering wheel is turned is reduced.

11. The method according to claim 10, characterized in that When the current force parameter is greater than or equal to the target force parameter threshold, reducing the force when the steering wheel is rotated includes: When the current force parameter is greater than or equal to the target force parameter threshold, the force when the steering wheel is turned is reduced according to the current force parameter.

12. The method according to claim 11, characterized in that The steering angle deviation parameter includes a steering angle deviation of a steering wheel, and the steering angle deviation of the steering wheel is determined according to a change in a steering angle of a steering wheel from before the vehicle is powered off to when the steering wheel stops rotating.

13. The method according to claim 12, characterized in that The first state sub-information includes a third current steering angle when the steering wheel stops rotating, and the second state sub-information includes a second current steering angle. The method further includes: The steering angle deviation of the steering wheel is determined according to the second current steering angle and the steering angle estimate of the steering wheel, wherein the steering angle estimate of the steering wheel is determined according to the third current steering angle and the steering wheel-steering wheel transmission relationship.

14. A control device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 1 to 13 is implemented.

15. An electronic device, characterized in that: Comprising a control device as claimed in claim 14.

16. A vehicle, characterized in that: Includes the control device according to claim 14, or includes the electronic device according to claim 15.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 13 is implemented.

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