Vehicle one-handed mode control method, device, vehicle, medium and product

Abstract

The present invention relates to the field of vehicle assisted driving technology, and discloses a method, device, vehicle, medium, and product for controlling a vehicle's one-handed mode. The method comprises: obtaining a one-handed mode signal, which is used to control the vehicle to switch to one-handed driving mode; and adjusting steering parameters based on the one-handed mode signal, which are control parameters of a steer-by-wire system. The present invention solves the problem of unstable steering operation when a driver inevitably uses the steering wheel with one hand in driving scenarios.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving technology, and in particular to a vehicle one-handed mode control method, device, vehicle, medium and product. Background Art

[0002] As consumer goods, cars are becoming increasingly popular. Many drivers, especially those who have used manual transmission cars, often inevitably need to control the steering wheel with one hand. For example, they need to control the steering wheel with their left hand and the gear lever with their right hand to change gears, or they need to control the steering wheel with their left hand and the window with their right hand to open. These are all situations where one-handed driving is necessary. One-handed driving requires less control force, and the steering wheel can be unstable. Currently, there is little technical discussion on this driving requirement. Solutions for one-handed driving often classify it as a bad driving habit, restricting drivers from driving with one hand through laws and regulations, or prompting drivers with alarms on the vehicle's human-machine interface. These methods do not technically address the safety and controllability requirements of one-handed driving, nor do they address drivers' actual needs for one-handed driving. Summary of the Invention

[0003] In view of this, the present invention provides a vehicle one-handed mode control method, device, vehicle, medium and product to solve the problem of unstable one-handed steering wheel operation.

[0004] In a first aspect, the present invention provides a method for controlling a vehicle's one-handed mode, the method comprising: obtaining a one-handed mode signal, the one-handed mode signal being used to control the vehicle to switch to a one-handed driving mode; and adjusting steering parameters according to the one-handed mode signal, the steering parameters being control parameters of a wire-controlled steering system.

[0005] Based on the above-mentioned technical means, the present invention deploys control parameters of a wire-controlled steering system suitable for one-handed driving vehicles. When the user grasps the steering wheel with one hand, the vehicle is switched to one-handed driving mode through a one-handed mode signal, thereby adjusting the control parameters of the wire-controlled steering system to make the steering wheel's control feel more in line with the torque of one hand, making the steering wheel operation more stable, and solving the problem of unstable steering operation when the driver inevitably uses the steering wheel with one hand in driving scenarios.

[0006] In some optional embodiments, obtaining the one-handed mode signal includes: collecting a driving image of the user; identifying the user's driving status through the driving image; and generating a one-handed mode signal if the driving status indicates that the user is driving with one hand.

[0007] According to the above technical means, the present invention provides a solution for identifying whether the driver is driving with one hand based on the driver's image and then automatically switching to the one-handed driving mode, thereby improving the flexibility of switching the one-handed driving mode.

[0008] In some optional implementations, obtaining the one-handed mode signal includes: detecting whether the one-handed switching control is triggered; and receiving the one-handed mode signal when the one-handed switching control is triggered.

[0009] According to the above technical means, a solution is provided in which the user can manually trigger the one-handed driving mode through the one-handed switching control and then drive one-handed, which further improves the flexibility of switching the one-handed driving mode.

[0010] In some optional embodiments, the steering parameters are adjusted according to the one-handed mode signal, including: determining whether the vehicle meets the switching conditions for the one-handed driving mode; if the switching conditions are met, reducing the damping torque of the steering wheel; reducing the return torque of the steering wheel; obtaining the current vehicle speed, and substituting the current vehicle speed into the transmission ratio curve, calculating the adjusted angular transmission ratio, the angular transmission ratio in the transmission ratio curve decreasing as the vehicle speed increases.

[0011] According to the above technical means, before switching to one-handed driving mode, the vehicle first determines whether it meets the switching conditions for one-handed driving mode. This ensures that the mode switch is performed under the premise of vehicle stability, avoiding unsafe effects caused by switching between modes. If the switching conditions are met, the control parameters of the steer-by-wire system are adjusted to reduce the damping torque of the steering wheel, reduce the steering wheel's return torque, and adjust the steering wheel's angular transmission ratio. This allows the driver to operate the steering wheel stably with less torque using one hand, thereby improving the driver's stability when driving the vehicle with one hand.

[0012] In some optional embodiments, determining whether the vehicle meets the switching conditions for the one-handed driving mode includes: determining whether the current control mode and the one-handed driving mode are the same; if not, determining whether the steering wheel is in a stable return state; if the steering wheel is in a stable return state, determining that the vehicle meets the switching conditions for the one-handed driving mode.

[0013] According to the above technical means, the present invention determines whether the vehicle has switched to the one-handed driving mode and whether the vehicle is in a safe and stable state, ensuring that no sudden danger will be caused by the mode switching. When the above conditions are met, the driving mode can be switched to the one-handed driving mode, thereby improving the safety and reliability of the mode switching.

[0014] In some optional embodiments, determining whether the steering wheel is in a stable return state includes: determining whether the user hand torque is less than a preset hand torque threshold; when the user hand torque is less than the preset hand torque threshold, determining whether the steering wheel speed is less than a preset speed threshold; when the steering wheel speed is less than the preset speed threshold, determining whether the steering wheel steering angle is less than a preset angle threshold; when the steering wheel steering angle is less than the preset angle threshold, determining whether the vehicle speed is less than a preset vehicle speed threshold; when the vehicle speed is less than the preset vehicle speed threshold, identifying whether the duration of the one-handed mode signal is greater than a preset time threshold; if it is greater than the preset time threshold, determining that the steering wheel is in a stable return state.

[0015] According to the above technical means, the present invention analyzes whether the steering wheel is in a stable return state through the user's hand torque, steering wheel speed, steering wheel steering angle, and vehicle speed, thereby judging whether the vehicle is in a safe and stable state, ensuring that no sudden danger will be caused by mode switching. When all the conditions are met and it is detected that the user has been driving the steering wheel with one hand for a period of time, the driving mode can be switched to the one-handed driving mode, thereby improving the safety and reliability of the mode switching.

[0016] In some optional implementations, the preset angle threshold is obtained by: obtaining the current vehicle speed; taking a value in the angle threshold curve according to the current vehicle speed to obtain the preset angle threshold, and the value in the angle threshold curve decreases as the vehicle speed increases.

[0017] According to the above technical means, in order to judge the stability of the steering wheel, when the steering wheel steering angle is less than the preset angle threshold, the preset angle threshold needs to be set according to the vehicle speed. When the vehicle speed is higher, the judgment of the steering wheel stability is more stringent, so that the smaller the steering wheel steering angle is, the more it indicates the stability of the vehicle, thereby improving the recognition accuracy of whether the steering wheel is in a stable return state.

[0018] In some optional embodiments, the method further includes: determining whether the duration of the one-handed driving mode exceeds a preset alarm time; when the preset alarm time is exceeded, issuing an alarm prompt to prompt the user to drive with both hands.

[0019] According to the above technical means, although the safety of users driving vehicles is improved through the one-handed driving mode, there are still risks in driving with one hand for a long time. Therefore, after entering the one-handed driving mode, the present invention also detects the duration of the one-handed driving mode. If the time is too long and exceeds the preset alarm time, an alarm prompt is issued to remind the user to drive with both hands, thereby further improving the reliability and safety of the driver's driving of the vehicle.

[0020] In a second aspect, the present invention provides a vehicle one-handed mode control device, the device comprising: a one-handed signal acquisition module, for acquiring a one-handed mode signal, the one-handed mode signal being used to control the vehicle to switch to a one-handed driving mode; a switching condition determination module, for determining whether the vehicle meets the switching conditions for the one-handed driving mode; and a one-handed mode switching module, for adjusting steering parameters according to the one-handed mode signal if the switching conditions are met, the steering parameters being control parameters of the wire-controlled steering system.

[0021] In a third aspect, the present invention provides a vehicle comprising: a vehicle host computer, a vehicle steering-by-wire controller, a motor controller, a steering motor, a road feel feedback controller, a road feel feedback motor, a steering wheel, and a steering-by-wire system; the vehicle host computer executes any one of the methods in the first aspect by executing computer instructions to send a control signal to the vehicle steering-by-wire controller, so that the vehicle steering-by-wire controller outputs signals to the motor controller and the road feel feedback controller, respectively; the motor controller is used to control the steering motor, the motor is used to control the steering motor, the torque output by the steering motor acts on the steering-by-wire system, the road feel feedback controller is used to control the road feel feedback motor, and the torque output by the road feel feedback motor acts on the steering wheel.

[0022] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0023] In a fifth aspect, the present invention provides a computer program product comprising computer instructions for causing a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0024] The technical solution provided by the present invention has the following advantages:

[0025] (1) Based on the above technical means, the present invention deploys control parameters of a steer-by-wire system suitable for a one-handed driving vehicle. When the user grasps the steering wheel with one hand, the vehicle is notified to switch to the one-handed driving mode through a one-handed mode signal, thereby adjusting the control parameters of the steer-by-wire system to make the steering wheel feel more consistent with the torque of one hand, making the steering wheel operation more stable, and solving the problem of unstable steering operation when the driver inevitably uses the steering wheel with one hand in driving scenarios.

[0026] (2) Based on the above technical means, the present invention provides a solution for identifying whether the driver is driving with one hand based on the driver's image and then automatically switching to the one-handed driving mode, thereby improving the flexibility of switching the one-handed driving mode.

[0027] (3) Based on the above technical means, a solution is provided in which a user can manually trigger the one-handed driving mode through a one-handed switching control and then drive with one hand, thereby further improving the flexibility of switching the one-handed driving mode.

[0028] (4) According to the above technical means, before switching to the one-handed driving mode, it is first determined whether the vehicle meets the switching conditions of the one-handed driving mode, so that the mode switching is performed under the premise of vehicle stability, avoiding the unsafe impact caused by direct mode switching. If the switching conditions are met, the control parameters of the wire-controlled steering system are adjusted to reduce the damping torque of the steering wheel, reduce the steering wheel's return torque, and adjust the steering wheel's angular transmission ratio, so that the steering wheel can be stably operated with a smaller torque with one hand, thereby improving the driver's stability in driving the vehicle with one hand.

[0029] (5) Based on the above technical means, the present invention determines whether the vehicle has switched to the one-handed driving mode and whether the vehicle is in a safe and stable state, ensuring that no sudden danger will be caused by the mode switching. When the above conditions are met, the driving mode can be switched to the one-handed driving mode, thereby improving the safety and reliability of the mode switching.

[0030] (6) According to the above technical means, the present invention analyzes whether the steering wheel is in a stable return state through the user's hand torque, steering wheel speed, steering wheel steering angle, and vehicle speed, thereby judging whether the vehicle is in a safe and stable state, ensuring that no sudden danger will be caused by mode switching. When all the conditions are met and it is detected that the user has been driving the steering wheel with one hand for a period of time, the driving mode can be switched to the one-handed driving mode, thereby improving the safety and reliability of mode switching.

[0031] (7) According to the above technical means, in order to judge the stability of the steering wheel, when the steering wheel steering angle is less than the preset angle threshold, the preset angle threshold needs to be set according to the vehicle speed. When the vehicle speed is higher, the judgment of the steering wheel stability is more stringent, so that the smaller the steering wheel steering angle is, the more it indicates the stability of the vehicle, thereby improving the recognition accuracy of whether the steering wheel is in a stable return state.

[0032] (8) According to the above technical means, although the safety of users driving vehicles is improved by the one-handed driving mode, there are still risks in long-term one-handed driving. Therefore, after entering the one-handed driving mode, the present invention also detects the duration of the one-handed driving mode. If the time is too long and exceeds the preset alarm time, an alarm prompt is issued to remind the user to drive with both hands, thereby further improving the reliability and safety of the driver's driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a structural diagram of a related art automotive steer-by-wire system;

[0035] Figure 2 is a flow chart of a vehicle one-handed mode control method according to an embodiment of the present invention;

[0036] Figure 3 is another flowchart of a vehicle one-handed mode control method according to an embodiment of the present invention;

[0037] Figure 4 is another flowchart of a vehicle one-handed mode control method according to an embodiment of the present invention;

[0038] Figure 5 is a structural block diagram of a vehicle one-handed mode control device according to an embodiment of the present invention;

[0039] Figure 6 4 is a schematic diagram of the hardware structure of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0041] With the vigorous development of the automobile industry and the acceleration of automobile intelligence, the wire-controlled steering system has been favored by major companies in the automotive industry because it eliminates the mechanical connection between the steering wheel and the steering actuator, has strong customizability, and especially can realize variable transmission ratio control.

[0042] like Figure 1As shown in the figure, a vehicle's steer-by-wire system consists of three main components: the main controller (Electronic Control Unit, ECU), the steering wheel assembly, and the steering actuator assembly. Its basic operating principle is that when the driver turns the steering wheel, the torque and angle sensor detects the steering wheel torque and angle signals. It also receives information such as wheel angle and speed from the vehicle and the vehicle controller. Based on this information, the ECU calculates the steering motor's output torque and controls its movement to steer the vehicle. Simultaneously, it calculates the road feel feedback motor's output torque and feeds it back to the steering wheel, providing the driver with road feel.

[0043] Many drivers, especially those used to driving manual transmission vehicles, often need to control the steering wheel with their left hand and the shift lever with their right hand to shift gears. This is especially true when switching gears in automatic transmission vehicles. Driver fatigue, other physiological or lifestyle factors, or even sudden injuries to the other hand often lead to the need for short periods of one-handed driving. Therefore, simply prohibiting one-handed driving by law will not completely resolve the unsafe driving situation. Technical solutions are needed to address the instability of one-handed driving. One-handed driving primarily addresses the issue of driver torque and angle. When driving a vehicle in a straight line or turning, the driver's hand torque is low. At low speeds or when turning in place, such as when reversing, parallel parking, or in unusual terrain, the wheels require a wide angle of steering, making it difficult to achieve a full 180-degree turn with one hand. Furthermore, at high speeds, vehicle stability is desirable, and steering wheel rotation should minimize wheel movement to ensure optimal straight-line driving conditions.

[0044] Currently, there is little technical discussion of this driving need. Conventional approaches to addressing this need often classify one-handed driving as a bad driving habit, requiring regulatory oversight through education in driver qualification exams and warnings on human-machine interfaces. These approaches fail to address the technical safety and controllability requirements of single-handed driving, nor do they address the practical needs of drivers. The present invention aims to provide one-handed driving assistance within the vehicle-mounted system and steering system to meet the driver's needs for single-handed driving.

[0045] According to an embodiment of the present invention, an embodiment of a vehicle one-handed mode control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0046] In this embodiment, a vehicle one-handed mode control method is provided. Figure 24 is a flow chart of a vehicle one-handed mode control method according to an embodiment of the present invention, the flow chart comprising the following steps:

[0047] Step S101, obtaining a one-handed mode signal, where the one-handed mode signal is used to control the vehicle to switch to a one-handed driving mode;

[0048] Step S102 : adjusting a steering parameter according to the one-handed mode signal, where the steering parameter is a control parameter of a steer-by-wire system.

[0049] Specifically, based on the aforementioned technical means, the present invention deploys control parameters for a steer-by-wire system suitable for single-handed driving. When the user controls the steering wheel with one hand, a single-handed mode signal is used to switch the vehicle to single-handed driving mode, thereby adjusting the control parameters of the steer-by-wire system. The adjusted control parameters of the steer-by-wire system include, but are not limited to, damping torque, steering wheel aligning torque, angular transmission ratio, etc. By adjusting the aforementioned parameters, the steer-by-wire system feeds back the corresponding parameters to the steering motor and road feel feedback motor, making the steering wheel's handling feel more consistent with the torque of a single hand and making the steering wheel operation more stable. This solves the problem of unstable steering operation when the driver inevitably uses the steering wheel with one hand in driving scenarios, and significantly improves the driver's safety and reliability when driving the vehicle.

[0050] In some optional implementations, the above step S101 includes:

[0051] Step a1, collecting driving images of the user;

[0052] Step a2, identifying the user's driving status through the driving image;

[0053] Step a3: If the driving status indicates that the user is driving with one hand, a one-handed mode signal is generated.

[0054] Specifically, an embodiment of the present invention provides a solution for automatically switching to a one-handed driving mode. When the vehicle turns on the function of automatically switching to a one-handed driving mode, the in-car camera is turned on and a photo of the driver's driving posture is taken. The vehicle control system has a built-in trained image detection algorithm, such as a YOLO image detection model. The algorithm detects the driver's image and classifies the image into a one-handed driving posture or a normal (two-handed) driving posture, and outputs the driver's driving status. In order to save resources of the vehicle control system, a 2s (adjustable) delay time can be set for delayed detection to avoid the loss of CPU resources caused by cyclic detection. When the driving status indicates that the user is driving with one hand, a one-handed mode signal is generated, triggering the vehicle control system to switch the current driving mode to the one-handed driving mode. The solution for automatically switching to the one-handed driving mode provided by the embodiment of the present invention improves the flexibility of switching the one-handed driving mode.

[0055] In some optional implementations, the above step S101 further includes:

[0056] Step a4, detecting whether the one-handed switching control is triggered;

[0057] Step a5: When the one-handed switching control is triggered, a one-handed mode signal is received.

[0058] Specifically, an embodiment of the present invention further provides a solution for automatically switching to one-handed driving mode. In this case, a one-handed switching control can be set in the vehicle control system for being triggered by the user. The user can trigger the one-handed switching control by touch screen, voice control, or a button on the vehicle center console. When the one-handed switching control is triggered, a one-handed mode signal is generated. The vehicle control system receives the one-handed mode signal and assumes that the user has manually activated the one-handed driving mode.

[0059] In particular, in some optional implementations, a "one-handed mode manual / automatic switch" can be provided on the center console of the vehicle control system. If the "one-handed mode manual / automatic switch" is turned on, the automatic switching to one-handed mode function in steps a1-a3 can be activated. If the "one-handed mode manual / automatic switch" is turned off, the automatic switching to one-handed mode function in steps a1-a3 cannot be executed. One-handed driving mode can only be manually activated using the one-handed switching control. The solution provided by the embodiments of the present invention further improves the flexibility of switching one-handed driving modes.

[0060] In some optional implementations, the above step S102 includes:

[0061] Step b1, determining whether the vehicle meets the switching conditions for the one-handed driving mode;

[0062] Step b2: if the switching condition is met, reducing the damping torque of the steering wheel;

[0063] Step b3, reducing the steering wheel's return torque;

[0064] Step b4: Obtain the current vehicle speed and substitute the current vehicle speed into the transmission ratio curve to calculate the adjusted angular transmission ratio. The angular transmission ratio in the transmission ratio curve decreases as the vehicle speed increases.

[0065] Specifically, the embodiment of the present invention also defines the switching conditions of the one-handed driving mode, which is used to determine whether the vehicle is allowed to switch to the one-handed driving mode. Therefore, before switching to the one-handed driving mode, it is first determined whether the vehicle meets the switching conditions of the one-handed driving mode. Due to the complex environmental factors such as the vehicle's driving road conditions and pedestrians, if the vehicle is directly switched to the one-handed driving mode after receiving the one-handed mode signal in any scenario, it may cause unsafe accidents. If the vehicle is a faulty vehicle or there are many pedestrians in the current scene, it can be defined as the switching condition of the one-handed driving mode according to actual needs. Mode switching is allowed only when the switching conditions are met to indicate a safe and stable driving state of the vehicle. Mode switching is performed under the premise of vehicle stability, avoiding unsafe effects caused by mode switching.

[0066] If the switching conditions are met, such as Figure 3 As shown, the embodiment of the present invention further adjusts the control parameters of the wire-controlled steering system, including reducing the damping torque of the steering wheel and reducing the return torque of the steering wheel, so that the user can use less hand force to stably control the steering wheel. The specific reduction amount of parameters such as the damping torque and the return torque can be defined according to expert experience and user habits, and is not specifically limited in this embodiment. In addition, the angular transmission ratio is adjusted. The angular transmission ratio is the ratio of the steering wheel angle to the corresponding angle of the steering arm, which is called the angular transmission ratio of the steering gear. The larger the angular transmission ratio, the less effort is required to operate. However, when turning sharply, the steering wheel needs to be turned too many times, resulting in poor response and insensitive control. If the angular transmission ratio is too small, the response is good, but the operation is laborious.

[0067] The method for adjusting the transmission ratio in the embodiment of the present invention is to substitute the current vehicle speed into the transmission ratio curve and calculate the adjusted angular transmission ratio. The transmission ratio in the transmission ratio curve decreases as the vehicle speed increases. Therefore, when the vehicle speed is low or turning in place, such as reversing, parallel parking, special terrain, etc., a large angle of steering is required. The one-handed driving mode can provide a larger angular transmission ratio to adapt to the problem that it is difficult to turn across 180 degrees with one hand. At the same time, when the vehicle is traveling at high speed, the one-handed driving mode can provide a smaller angular transmission ratio, allowing the user to turn the steering wheel to obtain a smaller wheel swing amplitude, thereby obtaining better straight-line driving conditions and improving high-speed driving stability. In normal mode, the angular transmission ratio is a fixed value. The specific configuration of the angular transmission ratio can refer to the following formula:

[0068]

[0069] Among them, G is the angular transmission ratio, v is the vehicle speed, and in normal mode, the angular transmission ratio is a constant value G norm In one-handed mode, the angular transmission ratio is a calibrated curve G(v) that changes with vehicle speed. Its basic trend is that the greater the vehicle speed, the smaller the angular transmission ratio. If the current mode is one-handed and the target is normal mode, the controller module parameters of the steer-by-wire system are switched to those corresponding to normal mode.

[0070] In some optional implementations, the above step b1 includes:

[0071] Step b11, determining whether the current control mode is the same as the one-handed driving mode;

[0072] Step b12: If they are not the same, determine whether the steering wheel is in a stable return state;

[0073] Step b13: If the steering wheel is in a stable return state, it is determined that the vehicle meets the switching conditions for the one-handed driving mode.

[0074] Specifically, the system first determines the direction of the driving mode switch. If the current driving mode is already one-handed, the operation is ignored and the mode switch is not performed. If the current driving mode is not one-handed, the system proceeds to the next step when a driving mode switch is required. It then determines whether the steering wheel is in a stable return state. Only when the steering wheel is in a stable return state will the switch to one-handed driving mode be allowed, ensuring that no sudden danger may be caused by the mode switch. When all the above conditions are met, the driving mode is switched to one-handed, improving the safety and reliability of the mode switch.

[0075] In some optional implementations, the above step b12 includes:

[0076] Step c1, determining whether the user's hand torque is less than a preset hand torque threshold;

[0077] Step c2: when the user's hand torque is less than the preset hand torque threshold, determining whether the steering wheel speed is less than the preset speed threshold;

[0078] Step c3: when the steering wheel speed is less than the preset speed threshold, determining whether the steering wheel steering angle is less than the preset angle threshold;

[0079] Step c4: when the steering wheel angle is less than the preset angle threshold, determining whether the vehicle speed is less than the preset vehicle speed threshold;

[0080] Step c5: when the vehicle speed is less than the preset vehicle speed threshold, identifying whether the duration of the one-handed mode signal is greater than a preset time threshold;

[0081] Step c6: If the time is greater than the preset time threshold, determine that the steering wheel is in a stable return state.

[0082] Specifically, the present embodiment determines whether the vehicle is in a stable steering wheel return state based on five conditions. First, it determines whether the hand torque is less than a preset hand torque threshold. When the hand torque is greater than the threshold, the driver may be steering. At this point, switching to one-handed mode increases the power assist torque, which can make the driving feel less comfortable, affecting the driving experience and potentially even safety issues. Next, it determines whether the steering wheel speed is less than a preset speed threshold. When the steering wheel speed is greater than the preset speed threshold, it indicates that the steering wheel is rotating. Switching to one-handed mode at this point will also affect the driving feel and increase the speed, impacting the driving experience. Next, it determines whether the steering wheel angle is less than a preset angle threshold. Since switching to one-handed mode changes the angular transmission ratio, a steering wheel angle greater than the preset angle threshold indicates that the steering wheel is not in the return position. To ensure that the wheels and steering wheel match the angular transmission ratio, the steering wheel needs to rotate a certain angle to align immediately upon changing the angular transmission ratio, which can seriously affect driving safety. Next, it determines whether the vehicle speed is less than a preset time threshold. To ensure safe driving, to avoid switching to one-handed mode at excessive speeds, this threshold can be set to a relatively high value. Finally, determine whether the duration of the one-handed mode signal is greater than a preset time threshold, such as 20ms. If it is greater than 20ms, it indicates that the user is driving with one hand, preventing the user from misjudging the operation as one-handed driving by simply raising the hand for a moment. When all the above conditions are passed, it indicates that the steering wheel of the vehicle is in a stable return state, and the one-handed driving mode can be switched, ensuring the safety and reliability of the user's driving. It should be noted that the preset hand torque threshold, the preset speed threshold, the preset angle threshold, the preset vehicle speed threshold and the preset time threshold can all be calibrated according to the actual needs of the user, and the embodiment of the present invention does not specifically limit the specific values.

[0083] In some optional implementations, the preset angle threshold in step c4 is obtained by:

[0084] Step d1, obtaining the current vehicle speed;

[0085] Step d2: Taking a value from the angle threshold curve according to the current vehicle speed to obtain a preset angle threshold. The value in the angle threshold curve decreases as the vehicle speed increases.

[0086] Specifically, in an embodiment of the present invention, when setting a preset angle threshold to determine whether the steering wheel is in a return-to-center state, the preset angle threshold is a value that changes with the vehicle speed. When the vehicle speed increases, the preset angle threshold becomes smaller, and the judgment on the steering wheel stability becomes stricter. Therefore, a smaller steering wheel steering angle indicates the stability of the vehicle, thereby improving the recognition accuracy of whether the steering wheel is in a stable return-to-center state.

[0087] In some optional implementations, the vehicle one-handed mode control method provided by the present invention further includes:

[0088] Step e1, determining whether the duration of the one-handed driving mode exceeds a preset alarm time;

[0089] Step e2: When the preset alarm time is exceeded, an alarm prompt is issued to remind the user to drive with both hands.

[0090] Specifically, although the embodiment of the present invention improves the safety of users driving vehicles through the one-handed driving mode, there are still risks in driving with one hand for a long time. Therefore, after entering the one-handed driving mode, the present invention also detects the duration of the one-handed driving mode. If the time is too long and exceeds the preset alarm time (for example, 5 minutes), an alarm prompt is issued to remind the user to drive with both hands, further improving the reliability and safety of the driver's driving the vehicle.

[0091] In a specific application scenario embodiment, Figure 4 As shown, the technical solution provided by the present invention includes the following complete steps:

[0092] 1. Identify the "One-handed Mode Manual / Auto Switch." If the "One-handed Mode Manual / Auto Switch" is on, the automatic switch to one-handed mode is activated. The in-car camera captures the driver's image and analyzes the driver's driving status. When the driver is driving with one hand, a one-handed mode signal is generated. When the driver is driving with both hands, a normal mode signal is generated. If the "One-handed Mode Manual / Auto Switch" is off, one-handed driving mode is manually activated using the one-handed switch control.

[0093] 2. Determine the mode switching direction based on the mode switching signal and the current driving mode. Switching is performed only when the current driving mode and the target driving mode are different. In other words, it is necessary to determine whether the current mode is switching from normal driving mode to one-handed driving mode, or from one-handed driving mode to normal driving mode, or whether the current driving mode remains unchanged.

[0094] 3. When switching modes, it is necessary to determine whether stable switching conditions are met based on parameters such as hand torque and steering wheel speed.

[0095] 4. If the switching conditions are met, the mode is switched; if the switching conditions are not met, an alarm is issued.

[0096] 5. When switching from normal driving mode to one-handed driving mode, the damping torque and steering wheel return torque are reduced, and the angular transmission ratio is adjusted to an angular transmission ratio that changes with vehicle speed.

[0097] 6. When switching from one-handed driving mode to normal driving mode, the damping torque and steering wheel return torque are increased, the angular transmission ratio is adjusted to a fixed value, and a report indicating switching to normal mode is issued when the switch is successful.

[0098] 7. In one-handed driving mode, the duration of one-handed driving mode is counted. If it exceeds 5 minutes, an alarm will be issued to notify the user to use both hands to drive as soon as possible.

[0099] This embodiment also provides a vehicle one-handed mode control device, which is used to implement the above-mentioned embodiments and preferred implementations. Details already described will not be repeated here. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0100] This embodiment provides a vehicle one-handed mode control device, such as Figure 5 Shown, including:

[0101] A one-handed signal acquisition module 501 is used to acquire a one-handed mode signal, which is used to control the vehicle to switch to a one-handed driving mode;

[0102] The one-handed mode switching module 502 is configured to adjust steering parameters according to the one-handed mode signal, where the steering parameters are control parameters of the steer-by-wire system.

[0103] In some optional implementations, the single-hand signal acquisition module 501 includes:

[0104] An image acquisition unit, used to acquire driving images of the user;

[0105] An image recognition unit, configured to recognize a user's driving status through a driving image;

[0106] The first signal generating unit is configured to generate a one-handed mode signal if the driving status indicates that the user is driving with one hand.

[0107] A manual detection unit, used to detect whether the one-hand switching control is triggered;

[0108] The second signal generating unit is configured to receive a one-handed mode signal when the one-handed switching control is triggered.

[0109] In some optional implementations, the one-handed mode switching module 502 includes:

[0110] A condition judgment unit, used to judge whether the vehicle meets the switching conditions of the one-handed driving mode;

[0111] a damping adjustment unit, configured to reduce the damping torque of the steering wheel if a switching condition is met;

[0112] A return torque adjustment unit, used to reduce the return torque of the steering wheel;

[0113] The angular transmission ratio adjustment unit is used to obtain the current vehicle speed, substitute the current vehicle speed into the transmission ratio curve, and calculate the adjusted angular transmission ratio. The angular transmission ratio in the transmission ratio curve decreases as the vehicle speed increases.

[0114] In some optional implementations, the condition judgment unit includes:

[0115] A switching direction judgment unit is used to judge whether the current control mode is the same as the one-handed driving mode;

[0116] a stable return state judgment unit, for judging whether the steering wheel is in a stable return state if they are not the same;

[0117] The switching permission state determination unit is used to determine that the vehicle meets the switching conditions of the one-handed driving mode if the steering wheel is in a stable return state.

[0118] In some optional implementations, the stable return state judgment unit includes:

[0119] A hand torque analysis unit, used to determine whether the user's hand torque is less than a preset hand torque threshold;

[0120] a steering wheel speed analysis unit, configured to determine whether the steering wheel speed is less than a preset speed threshold when the user's hand torque is less than a preset hand torque threshold;

[0121] a steering wheel angle analysis unit, configured to determine whether a steering wheel steering angle is less than a preset angle threshold when the steering wheel speed is less than a preset speed threshold;

[0122] A vehicle speed analysis unit, configured to determine whether the vehicle speed is less than a preset vehicle speed threshold when the steering wheel angle is less than a preset angle threshold;

[0123] a one-handed mode duration analysis unit, configured to identify whether the duration of the one-handed mode signal is greater than a preset time threshold when the vehicle speed is less than a preset vehicle speed threshold;

[0124] The state determination unit is used to determine that the steering wheel is in a stable return state if the time is greater than a preset time threshold.

[0125] In some optional implementations, the vehicle one-handed mode control device further includes:

[0126] an alarm analysis unit, used to determine whether the duration of the one-handed driving mode exceeds a preset alarm time;

[0127] The alarm unit is used to issue an alarm prompt when the preset alarm time is exceeded to remind the user to drive with both hands.

[0128] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0129] The vehicle one-handed mode control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0130] The embodiment of the present invention further provides a vehicle having the above Figure 5 Vehicle's one-handed mode controls shown.

[0131] See also Figure 6 , Figure 6 This is a schematic diagram of a vehicle provided by an optional embodiment of the present invention, including a vehicle host computer, a vehicle wire-controlled steering controller, a motor controller, a steering motor, a road feel feedback controller, a road feel feedback motor, a steering wheel and a wire-controlled steering system; the vehicle host computer executes the control method of the aforementioned method embodiment by executing computer instructions to send a control signal to the vehicle wire-controlled steering controller, so that the vehicle wire-controlled steering controller outputs signals to the motor controller and the road feel feedback controller respectively; the motor controller is used to control the steering motor, the motor is used to control the steering motor, the torque output by the steering motor acts on the wire-controlled steering system, the road feel feedback controller is used to control the road feel feedback motor, and the torque output by the road feel feedback motor acts on the steering wheel.

[0132] The vehicle host computer may be a central processing unit (CPU), a network processor (NPU), or a combination thereof. The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device (PLD) may be a complex programmable logic device (CPLD), a field programmable gate array (FPGA), a general purpose array logic (GAL), or any combination thereof.

[0133] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0134] A portion of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the form in which the computer program instruction exists in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc. Accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by the computer.

[0135] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle one-handed mode control method, characterized in that: The method comprises: Acquire a one-handed mode signal, where the one-handed mode signal is used to control the vehicle to switch to a one-handed driving mode; determining whether the vehicle satisfies a switching condition for a one-handed driving mode based on the one-handed mode signal, the determining whether the vehicle satisfies the switching condition for the one-handed driving mode comprising: determining whether a current control mode and the one-handed driving mode are the same; if not, determining whether the steering wheel is in a stable return-to-center state; if the steering wheel is in the stable return-to-center state, determining that the vehicle satisfies the switching condition for the one-handed driving mode; determining whether the steering wheel is in the stable return-to-center state comprises: determining whether a user hand torque is less than a preset hand torque threshold; when the user hand torque is less than the preset hand torque threshold, determining whether a steering wheel speed is less than a preset speed threshold; when the steering wheel speed is less than the preset speed threshold, determining whether a steering wheel steering angle is less than a preset angle threshold; when the steering wheel steering angle is less than the preset angle threshold, determining whether a vehicle speed is less than a preset vehicle speed threshold; when the vehicle speed is less than the preset vehicle speed threshold, identifying whether a duration of the one-handed mode signal is greater than a preset time threshold; if the duration is greater than the preset time threshold, determining that the steering wheel is in the stable return-to-center state; When the switching condition is met, a steering parameter is adjusted, where the steering parameter is a control parameter of a steer-by-wire system.

2. The method according to claim 1, characterized in that Acquiring the one-handed mode signal includes: Collecting user's driving images; identifying the user's driving status through the driving image; If the driving status indicates that the user is driving with one hand, a one-handed mode signal is generated.

3. The method according to claim 1, characterized in that Acquiring the one-handed mode signal includes: Detect whether the one-handed switching control is triggered; When the one-handed switching control is triggered, the one-handed mode signal is received.

4. The method according to claim 1, wherein The adjusting of the steering parameters includes: If the switching condition is met, the damping torque of the steering wheel is reduced; Reduce the steering wheel's return torque; The current vehicle speed is obtained and substituted into a transmission ratio curve to calculate an adjusted angular transmission ratio, wherein the angular transmission ratio in the transmission ratio curve decreases as the vehicle speed increases.

5. The method according to claim 1, wherein The preset angle threshold is obtained in the following manner: Get the current vehicle speed; The preset angle threshold is obtained by taking a value in the angle threshold curve according to the current vehicle speed, and the value in the angle threshold curve decreases as the vehicle speed increases.

6. The method according to claim 1, characterized in that The method further comprises: Determine whether the duration of the one-handed driving mode exceeds the preset alarm time; When the preset alarm time is exceeded, an alarm prompt is issued to remind the user to drive with both hands.

7. A vehicle one-hand mode control device, characterized in that: The device comprises: A one-handed signal acquisition module is used to acquire a one-handed mode signal, wherein the one-handed mode signal is used to control the vehicle to switch to a one-handed driving mode; The one-handed mode switching module is used to determine whether the vehicle meets the switching conditions of the one-handed driving mode according to the one-handed mode signal. The determination of whether the vehicle meets the switching conditions of the one-handed driving mode includes: determining whether the current control mode and the one-handed driving mode are the same; if they are not the same, determining whether the steering wheel is in a stable return state; if the steering wheel is in the stable return state, determining that the vehicle meets the switching conditions of the one-handed driving mode; the determination of whether the steering wheel is in a stable return state includes: determining whether the user's hand torque is less than a preset hand torque threshold; when the user's hand torque is less than the preset hand torque threshold, , determine whether the steering wheel speed is less than a preset speed threshold; when the steering wheel speed is less than the preset speed threshold, determine whether the steering wheel steering angle is less than a preset angle threshold; when the steering wheel steering angle is less than the preset angle threshold, determine whether the vehicle speed is less than a preset speed threshold; when the vehicle speed is less than the preset speed threshold, identify whether the duration of the one-handed mode signal is greater than a preset time threshold; if it is greater than the preset time threshold, determine that the steering wheel is in the stable return state; when the switching condition is met, adjust the steering parameter, which is the control parameter of the wire-controlled steering system.

8. A vehicle, characterized in that: include: Vehicle host computer, vehicle steer-by-wire controller, motor controller, steering motor, road feel feedback controller, road feel feedback motor, steering wheel and steer-by-wire system; The vehicle host computer executes the method according to any one of claims 1 to 6 by executing computer instructions to send a control signal to the vehicle wire-controlled steering controller, so that the vehicle wire-controlled steering controller outputs signals to the motor controller and the road feel feedback controller respectively; the motor controller is used to control the steering motor, the motor is used to control the steering motor, the torque output by the steering motor acts on the wire-controlled steering system, and the road feel feedback controller is used to control the road feel feedback motor, and the torque output by the road feel feedback motor acts on the steering wheel.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 6.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 6.

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