Steering wheel adjusting method and related device

Abstract

The invention provides a steering wheel adjusting method and a related device, and relates to the technical field of vehicles. The method can comprise the steps that under the condition that it is detected that a vehicle meets a target condition, rack force in a steering system of the vehicle is obtained; wherein the target condition is used for representing the situation that rack force in the steering system possibly needs to be released so as to enable a steering wheel to return; under the condition that the rack force is larger than a first rack force threshold value, an adjusting strategy of a steering wheel is determined according to the rack force; wherein the adjusting strategy comprises the step of adjusting the rotating angle and the rotating direction of a steering wheel; and adjusting the steering wheel according to the adjustment strategy. According to the technical scheme, the problem that the steering wheel is not aligned after parking in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, specifically, to the field of vehicle steering system technology, and more particularly to a steering wheel adjustment method and related devices. Background Art

[0002] In daily vehicle use, the steering wheel often fails to return to the center position after parking. If the steering wheel fails to return to the center position after parking, it will affect the service life of the vehicle, such as the service life of the tires and some components in the steering system. On the other hand, it may also pose a potential hazard to driving safety, for example, the vehicle may easily collide with a lateral obstacle when starting again. Summary of the invention

[0003] Based on the above defects and shortcomings of the prior art, the present application proposes a steering wheel adjustment method and related devices, which can solve the problem of the steering wheel not returning to the center position after parking in the prior art.

[0004] According to a first aspect of an embodiment of the present application, a steering wheel adjustment method is provided, the method comprising:

[0005] When it is detected that the vehicle meets a target condition, obtaining a rack force in a steering system of the vehicle; wherein the target condition is used to characterize a situation where it may be necessary to release the rack force in the steering system to return the steering wheel to the center position;

[0006] When the rack force is greater than the first rack force threshold, determining an adjustment strategy for the steering wheel according to the rack force; wherein the adjustment strategy includes: adjusting the rotation angle and rotation direction of the steering wheel;

[0007] The steering wheel is adjusted according to the adjustment strategy.

[0008] According to a second aspect of an embodiment of the present application, a steering wheel adjustment device is provided, the device comprising:

[0009] an acquisition module, configured to acquire a rack force in a steering system of the vehicle when it is detected that the vehicle satisfies a target condition; wherein the target condition is used to characterize a situation where the rack force in the steering system may need to be released to return the steering wheel to the center position;

[0010] A strategy determination module, configured to determine a steering wheel adjustment strategy according to the rack force when the rack force is greater than a first rack force threshold; wherein the adjustment strategy includes: adjusting a steering wheel rotation angle and a steering wheel rotation direction;

[0011] The adjustment module is used to adjust the steering wheel according to the adjustment strategy.

[0012] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including: a memory and a processor;

[0013] The memory is connected to the processor and is used to store programs;

[0014] The processor is used to implement the steering wheel adjustment method as described in the first aspect by running the program in the memory.

[0015] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, the vehicle comprising a controller, the controller being used to implement the steering wheel adjustment method as described in the first aspect.

[0016] According to a fifth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steering wheel adjustment method as described in the first aspect is implemented.

[0017] According to a sixth aspect of the embodiments of the present application, a computer program product or a computer program is provided, wherein the computer program product includes the computer program, and when a processor executes the computer program, the steps in the steering wheel adjustment method as described in the first aspect are implemented. Optionally, the computer program can be stored in a readable storage medium or a cloud of a computer device; the processor of the computer device reads the computer program from the readable storage medium or the cloud.

[0018] In the technical solution provided in the present application, when it is detected that the vehicle may need to release the rack force in the steering system to allow the steering wheel to truly return to the center, the rack force in the steering system at this time can be obtained, and based on the size of the rack force, it can be determined whether additional adjustments to the steering wheel are required, and if additional adjustments to the steering wheel are required, it can be determined how to adjust the steering wheel to release the rack force so that the steering wheel can truly return to the center, thereby solving the problem of the steering wheel not returning to the center after parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of a flow chart of a steering wheel adjustment method provided in an embodiment of the present application;

[0021] Figure 2 A block diagram of a steering wheel adjustment device provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Application Overview

[0025] In daily vehicle use, some drivers may improperly return the steering wheel to the center position when parking due to lack of driving experience, such as directly forcing the steering wheel to the center position. In the automatic parking scenario, the steering wheel rotation angle may also be improperly controlled at 0°, such as controlling the steering wheel at 0° when the steering wheel is not adjusted enough. In these cases, when the steering wheel rotation angle is controlled by the vehicle, the steering wheel will appear to be in the middle position, but due to ground friction, tire deformation force, etc., the vehicle will actually have a large tire lateral force. When the steering wheel rotation angle is not controlled by the vehicle, such as when the steering system stops assisting, it will lose part of the force that balances the tire lateral force, causing the steering wheel to shake and deviate from the center position.

[0026] If the steering wheel is not returned to the center position, it will affect the service life of the vehicle, such as the service life of the tires and some parts of the steering system. On the other hand, it may also pose a potential hazard to driving safety. For example, when the vehicle starts again, it is easy to collide with a lateral obstacle. In addition, when the vehicle is equipped with a long-stroke electric adjustment column, if the steering wheel is not completely returned to the center position, the steering wheel may interfere with the vehicle dashboard when the column retracts.

[0027] Reducing the lateral force of the tire can effectively solve the problem of the steering wheel not returning to the center after parking, but the lateral force of the tire is difficult to measure. Research has found that the lateral force of the tire will cause a large rack force in the steering system, and the rack force is positively correlated with the lateral force of the tire, and is mutually balanced with the lateral force of the tire. The size of the rack force in the steering system can reflect the size of the lateral force of the tire. Therefore, the embodiment of the present application provides a steering wheel adjustment scheme, which can make additional adjustments to the steering wheel with the help of the rack force in the steering system to reduce or eliminate the lateral force of the tire, so that the steering wheel can be truly returned to the center, thereby solving the problem of the steering wheel not returning to the center after parking. The steering wheel adjustment scheme provided in the embodiment of the present application is described in detail as follows.

[0028] The rack force in the steering system refers to the force borne by the rack in the steering system. Specifically, when the steering wheel is turned, the rack of the steering gear will move, thereby changing the direction of the wheel. In this process, the rack will be subjected to forces from the steering system and other components, such as the force of the tire through the steering rod, the force of the steering wheel through the steering shaft, etc. These forces ultimately form the rack force of the steering system.

[0029] Exemplary Methods

[0030] An embodiment of the present application provides a steering wheel adjustment method, which is applied to a vehicle. The vehicle includes a steering system, and the steering system may include a steering wheel, a rack mechanically connected to the steering wheel, etc.

[0031] The method is described in detail below through some embodiments. The following embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0032] like Figure 1 As shown, the method may include steps 101 to 103, as described below:

[0033] Step 101: When it is detected that the vehicle meets the target condition, the rack force in the steering system of the vehicle is obtained.

[0034] The target conditions described here are used to characterize situations where it may be necessary to release the rack force in the steering system to return the steering wheel to the center position when the vehicle is powered off, that is, situations where it may be necessary to reduce or eliminate the lateral force of the tires to return the steering wheel to the center position when the vehicle is powered off.

[0035] Optionally, the target condition may specifically include: when the vehicle completes parking and the steering wheel rotation angle is controlled by the vehicle, the steering wheel is in a return position; or after the vehicle is powered off, the steering wheel is in a non-return position, and the offset from the return position is less than or equal to an offset threshold; or the vehicle receives a passively triggered steering wheel adjustment command.

[0036] The above three conditions are further explained below.

[0037] The first condition: when the vehicle has completed parking and the steering wheel rotation angle is controlled by the vehicle, the steering wheel is in the return position.

[0038] When the vehicle has completed parking and the steering wheel angle is still controlled (such as the steering system still provides power assistance), if it is detected that the steering wheel is in the return position, the steering wheel may be hard-controlled to the return position, that is, at this time it may be necessary to reduce or eliminate the tire lateral force so that the steering wheel can be truly returned. Therefore, at this time, the rack force of the steering system can be obtained to determine whether the steering wheel will deviate from the return position after the steering wheel steering angle loses control based on the size of the rack force, so as to determine whether additional adjustments to the steering wheel are required to release the tire lateral force so that the steering wheel can be truly returned.

[0039] Among them, parking can currently be divided into manual parking and automatic parking.

[0040] In the case of manual parking, the vehicle can collect image information of the surrounding environment and determine whether the vehicle is in a parking state based on the collected image information. For example, based on the collected image information, when it is detected that the vehicle is driving towards a parking space with a parking space mark in an underground garage, parking lot, roadside, etc., or even when a parking action is detected (such as the vehicle speed gradually decreases to 0 and the gear is in P gear), etc., it can be determined that the vehicle is in a parking state; or, based on the collected image information, although no parking space mark is detected, when it is detected that the vehicle has a parking action, etc., it can also be determined that the vehicle is in a parking state. In addition, when it is detected that the vehicle is in a parking state, if the duration of the steering wheel being in the return position is greater than or equal to the duration threshold, it can be determined that the parking is completed. The duration threshold described here can be set according to actual needs.

[0041] In the case of automatic parking, it can be determined whether the vehicle is in a parking state based on whether the parking mode is detected to be turned on, that is, if the parking mode is detected to be turned on, it is determined that the vehicle is in a parking state. In addition, when the parking mode is detected to exit, it can be determined that parking is completed.

[0042] The second condition: after the vehicle is powered off, the steering wheel is in a non-returned position, and the offset from the return position is less than or equal to the offset threshold. The offset threshold here refers to an angle threshold of the deviation from the return position, which is used to indicate that the degree of deviation from the return position is small.

[0043] After the vehicle is powered off, if the steering wheel is in a non-returned position and the angle of deviation from the return position is small, this may be caused by improper steering wheel return operation, that is, after the steering wheel rotation angle is not controlled by the vehicle, part of the force balancing the tire lateral force is lost, causing the steering wheel position to shift. In order to truly return the steering wheel, it may be necessary to reduce or eliminate the tire lateral force at this time. Therefore, the rack force of the steering system can be obtained at this time to determine whether additional adjustments to the steering wheel are needed based on the size of the rack force to truly return the steering wheel to the center.

[0044] The third condition: the vehicle receives a passively triggered steering wheel adjustment command.

[0045] The passive trigger command mentioned here mainly refers to the steering wheel adjustment command triggered manually. When the vehicle receives the passively triggered steering wheel adjustment command, it also means that the rack force in the steering system may need to be released to make the steering wheel return to the center.

[0046] Of course, in order to avoid false touch events, the vehicle can detect the steering wheel rotation angle when receiving the passively triggered steering wheel adjustment command, and determine whether to obtain the rack force of the steering system according to the steering wheel rotation angle, so as to determine whether the steering wheel needs to be additionally adjusted according to the size of the rack force. For example, when the steering system is powered on, if the steering wheel rotation angle is at the rotation angle corresponding to the return position, it can be determined that the triggering of the steering wheel adjustment command is a non-false touch event; if the steering wheel rotation angle is at the rotation angle corresponding to the non-return position, it can be determined that the triggering of the steering wheel adjustment command is a false touch event. For another example, when the steering system is powered off, if the steering wheel rotation angle is at the rotation angle corresponding to the non-return position, and the rotation angle deviates from the return position by less than or equal to the offset threshold, it can be determined that the triggering of the steering wheel adjustment command is a non-false touch event; if the steering wheel rotation angle is at the rotation angle corresponding to the return position, or the steering wheel rotation angle is at the rotation angle corresponding to the non-return position, and the rotation angle deviates from the return position by more than the offset threshold, it can be determined that the triggering of the steering wheel adjustment command is a false touch event.

[0047] In the embodiment of the present application, the return position of the steering wheel may refer to a position corresponding to any angle within the target angle range when the steering wheel is turned. When the steering wheel is turned beyond the target angle range, the steering wheel is considered to be in a non-return position. The target angle range may be set according to actual needs, for example, it may be [-1°, 1°], etc. The offset from the return position mentioned above may be relative to the maximum value (i.e., the maximum value or the minimum value) of the target angle range.

[0048] Optionally, the steering wheel adjustment instruction described here can be triggered by an in-vehicle control. For example, relevant physical controls are provided in the car, and after the relevant physical controls are operated (such as pressed), the steering wheel adjustment instruction can be triggered. For another example, relevant virtual controls are provided in the central control screen, and after the relevant virtual control operations (such as single-click, double-click, etc.) are performed, the steering wheel adjustment instruction can be triggered. Of course, the steering wheel adjustment instruction can also be triggered by a voice command, such as inputting a voice command of "Please start the steering wheel adjustment function" through the in-car voice assistant, thereby triggering the steering wheel adjustment instruction.

[0049] Step 102: When the rack force is greater than a first rack force threshold, a steering wheel adjustment strategy is determined according to the rack force.

[0050] The adjustment strategy described herein may include: adjusting the rotation angle and rotation direction of the steering wheel.

[0051] Under the conditions described in step 101, if the rack force is detected to be less than the first rack force threshold (which can be denoted as F rack1 kN), indicating that the lateral force of the tire is relatively small, and the lateral force of the tire at this time has little effect on the steering angle of the steering wheel. Therefore, in this case, the steering wheel does not need to be adjusted, and the current state of the steering wheel can be maintained. For example, under the first condition mentioned above, if the rack force in the steering system is less than the first rack force threshold, it means that even if the steering wheel rotation angle is not controlled by the vehicle, it is difficult to change relatively greatly under the action of the lateral force of the tire, that is, the probability of deviation from the return position is small, so the steering wheel does not need to be adjusted. For another example, under the second condition mentioned above, if the rack force in the steering system is less than the first rack force threshold, it means that the steering wheel is in a non-return position, which may not be caused by improper return operation, so the steering wheel does not need to be adjusted.

[0052] It should be noted that the first rack force threshold used under the first condition is different from the first rack force threshold used under the second condition. The first rack force threshold used under the first condition is greater than the first rack force threshold used under the second condition. The first rack force threshold may be obtained by pre-calibration based on vehicle experiments. In addition, based on vehicle experiments, it is found that the first rack force threshold is positively correlated with the front axle load of the vehicle, that is, the greater the front axle load of the vehicle, the greater the first rack force threshold.

[0053] Under the conditions described in step 101, if the rack force is detected to be greater than the first rack force threshold, it means that the rack force is relatively large, and the tire lateral force at this time has a greater impact on the steering wheel rotation angle. Therefore, in this case, the steering wheel can be adjusted to reduce or eliminate the rack force, thereby reducing the tire lateral force, and then the steering wheel is truly returned to the center. For example, under the first condition described above, if the rack force in the steering system is greater than the first rack force threshold, it means that when the steering wheel rotation angle is not controlled by the vehicle, the steering wheel may undergo a relatively large change under the action of the tire lateral force, that is, the probability of the steering wheel deviating from the return position is relatively large, so the steering wheel can be adjusted to reduce or eliminate the tire lateral force to avoid the steering wheel from deviating from the return position under the action of the tire lateral force when the steering wheel rotation angle is not controlled by the vehicle. For another example, under the second condition mentioned above, if the rack force in the steering system is greater than the first rack force threshold, it means that the steering wheel is in a non-centering position, which may be caused by improper centering operation. Therefore, the steering wheel can be adjusted to reduce or eliminate the lateral force of the tire so that the steering wheel can be truly centering.

[0054] It should be noted that when the rack force is equal to the first rack force threshold, the steering wheel can be adjusted, that is, when the rack force is greater than or equal to the first rack force threshold, the steering wheel adjustment strategy is determined according to the rack force; the steering wheel may not be adjusted, that is, when the rack force is less than or equal to the first rack force threshold, no additional adjustment is required for the steering wheel. The specific setting can be based on actual needs.

[0055] Step 103: Adjust the steering wheel according to the determined adjustment strategy.

[0056] After the adjustment strategy of the steering wheel is determined in step 102, the steering wheel can be adjusted based on the adjustment strategy, for example, the steering wheel is rotated a certain angle in the opposite direction of the rack force and then returned to the normal direction to release the rack force.

[0057] In an embodiment of the present application, when it is detected that the vehicle may need to release the lateral force of the tire to truly return the steering wheel to the center, the rack force in the steering system at this time can be obtained, and based on the size of the rack force, it is determined whether additional adjustments to the steering wheel are required, and if additional adjustments to the steering wheel are required, it is determined how to adjust the steering wheel to release the rack force so that the steering wheel can be truly returned to the center, thereby solving the problem of the steering wheel not being returned to the center after parking.

[0058] In some optional embodiments, step 101: obtaining the rack force of the steering system when it is detected that the vehicle meets the target condition may include:

[0059] When it is detected that the vehicle meets the target conditions and the surrounding space of the vehicle meets the space required for steering wheel adjustment, the rack force of the steering system is obtained.

[0060] When it is detected that the vehicle meets the target conditions, in order to ensure the safety of the vehicle, it can be determined whether the space around the vehicle meets the space requirements for steering wheel adjustment. For example, it can be detected whether there are obstacles close to the wheels that affect the rotation of the wheels.

[0061] If the space around the vehicle meets the space required for steering wheel adjustment, the rack force of the steering system can be obtained to determine whether the steering wheel needs to be additionally adjusted according to the size of the rack force. If the space around the vehicle does not meet the space required for steering wheel adjustment, the method is stopped and a reminder message can be output to inform the driver why the adjustment cannot be made.

[0062] Optionally, the space conditions around the vehicle can be obtained by analyzing image information collected by a camera outside the vehicle, or by analyzing point cloud data collected by a radar device outside the vehicle, or by combining the two, that is, combining the image information collected by the camera with the point cloud data collected by the radar device to determine whether there are any close obstacles near the wheels.

[0063] In some optional embodiments, step 102: when the rack force is greater than the first rack force threshold, determining the adjustment strategy of the steering wheel according to the rack force may include step A1 and step A2, as described below:

[0064] Step A1: when the rack force is greater than a first rack force threshold and less than a second rack force threshold, determining that the adjustment strategy of the steering wheel is to rotate in a first direction by a first angle and then return to a return position.

[0065] The first direction is the opposite direction of the rack force. For example, when the rack force acts in the left direction of the vehicle, the first direction is the right direction of the vehicle, that is, turning the steering wheel to the right.

[0066] Step A2: When the rack force is greater than the second rack force threshold, the steering wheel adjustment strategy is determined to be rotating in the first direction by a second angle, then rotating in the second direction by a third angle, and then returning to the home position.

[0067] The second direction is opposite to the first direction. The first angle (which can be denoted as θ pos1 ° ) and the third angle (which can be recorded as θ pos3 ° ) are smaller than the second angle (which can be denoted by θ pos2 °), the first angle and the third angle may be the same or different. The first angle, the second angle and the third angle may all be obtained in advance based on vehicle experimental calibration.

[0068] Among them, the second rack force threshold (which can be recorded as F rack2 KN) is greater than the first rack force threshold. It should be noted that the second rack force threshold used under the first condition is different from the second rack force threshold used under the second condition. The second rack force threshold used under the first condition is greater than the second rack force threshold used under the second condition. The second rack force threshold described here may also be pre-calibrated based on vehicle experiments, for example, based on vehicle experiments, determining the minimum rack force threshold for adjusting the steering wheel using the adjustment method described in step A2. Based on vehicle experiments, it was found that the second rack force threshold is positively correlated with the front axle load of the vehicle, that is, the greater the front axle load of the vehicle, the greater the second rack force threshold.

[0069] In the embodiment of the present application, different steering wheel adjustment strategies can be set based on the magnitude of different rack forces to better release the rack force and reduce unnecessary adjustment actions.

[0070] For example, when the rack force>F rack1 kN and less than F rack2 kN, the rack force is relatively small in the rack force that needs to be adjusted, and the steering wheel can be adjusted by a relatively simple adjustment operation, such as first controlling the steering wheel to turn in the opposite direction of the rack force (i.e., the first direction) to -θ pos1 ° Then control the steering wheel to return to the correct position (preferably control the steering wheel's rotation angle to be at 0 °). Through this adjustment, the purpose of reducing or eliminating the rack force (i.e. tire lateral force) at this time can be achieved so that the steering wheel can be truly returned to the correct position.

[0071] For example, when the rack force>F rack2 kN, the rack force is relatively large among the rack forces that need to be adjusted, and the steering wheel can be adjusted by more complex adjustment operations, such as controlling the steering wheel to be turned in the opposite direction (i.e., the first direction) to θ pos2 ° Then, drive it in the same direction as the rack force to +θ pos3 ° , and finally the steering wheel is controlled to return to the correct position (preferably the steering wheel is controlled to rotate at an angle of 0°). Through this adjustment operation, the rack force (i.e. the tire lateral force) can be eliminated more so that the steering wheel can be truly returned to the correct position.

[0072] It should be noted that, when the rack force is equal to the second rack force threshold, the steering wheel can be adjusted based on the adjustment method described in step A1, or based on the adjustment method described in step A2, and the specific setting can be based on actual needs.

[0073] In some optional embodiments, after the steering wheel is adjusted based on the adjustment strategy determined in step 102 in step 103, the method may further include step B1 and step B2, as described below:

[0074] Step B1: Obtain the rack force in the steering system after each steering wheel adjustment.

[0075] Step B2: When the rack force is still greater than the first rack force threshold, continue to determine the steering wheel adjustment strategy according to the rack force, and adjust the steering wheel according to the adjustment strategy.

[0076] In the embodiment of the present application, after each adjustment of the steering wheel, the magnitude of the rack force of the steering system can be determined again. If the rack force is still greater than the first rack force threshold, the steering wheel adjustment strategy is continued to be determined according to the rack force, and the steering wheel is adjusted according to the re-determined adjustment strategy.

[0077] For example, if the rack force at this time is greater than the first rack force threshold and less than the second rack force threshold, the steering wheel is adjusted according to the adjustment method described in step A1; if the rack force at this time is greater than the second rack force threshold, the steering wheel is adjusted according to the adjustment method described in step A2.

[0078] Optionally, in order to avoid the problem that the system cannot converge, that is, the problem that the steering wheel needs to be adjusted all the time because the rack force is always greater than the first rack force threshold, a threshold for the number of steering wheel adjustments can be set. When the number of steering wheel adjustments reaches the threshold, if the rack force is still greater than the first rack force threshold, it is determined to make the last steering wheel adjustment to make the steering wheel as straight as possible.

[0079] Optionally, during the last steering wheel adjustment process, the steering wheel may be controlled to rotate in the first direction by a fourth angle and then return to the normal position.

[0080] Since the rack force has been released to a certain extent after multiple adjustments, the steering wheel only needs to be turned a smaller angle for the last adjustment. Therefore, in the embodiment of the present application, the fourth angle described here is smaller than the first angle.

[0081] Optionally, the fourth angle may be half of the first angle, that is, the fourth angle = θ pos1 / 2°. For example, in the last steering wheel adjustment process, first control the steering wheel to the opposite direction of the rack force (i.e., the first direction) to -θpos1 / 2°, and then control the steering wheel back to the center.

[0082] Finally, it should be noted that in the case where the steering wheel is adjusted after the vehicle is powered off, after the vehicle is powered off, at least the steering system can continue to be powered on, or at least the steering system can be powered on again, so as to implement the technical solution provided in the embodiments of the present application.

[0083] To summarize, the steering wheel adjustment method provided in the embodiment of the present application can obtain the rack force in the steering system at this time when it is detected that the vehicle may need to release the lateral force of the tire to make the steering wheel truly return to the center, and determine whether additional adjustments to the steering wheel are required based on the size of the rack force. In addition, if additional adjustments to the steering wheel are required, it can determine how to adjust the rack force to release the rack force so that the steering wheel can be truly returned to the center, thereby solving the problem of the steering wheel not being returned to the center after parking.

[0084] Exemplary Devices

[0085] Correspondingly, an embodiment of the present application also provides a steering wheel adjustment device, which is applied to a vehicle. The vehicle includes a steering system, which may include a steering wheel, a rack mechanically connected to the steering wheel, a steering gear connected to the rack, etc.

[0086] like Figure 2 As shown, the device may include:

[0087] The acquisition module 201 is used to acquire the rack force in the steering system of the vehicle when it is detected that the vehicle meets the target condition, wherein the target condition is used to represent the situation where the rack force in the steering system may need to be released to return the steering wheel to the normal position.

[0088] The strategy determination module 202 is used to determine the steering wheel adjustment strategy according to the rack force when the rack force is greater than the first rack force threshold, wherein the adjustment strategy includes: adjusting the steering wheel rotation angle and rotation direction.

[0089] The adjustment module 203 is used to adjust the steering wheel according to the adjustment strategy.

[0090] Optionally, the target condition may include: when the vehicle completes parking and the steering wheel rotation angle is controlled by the vehicle, the steering wheel is in a return position; or after the vehicle is powered off, the steering wheel is in a non-return position, and the offset from the return position is less than or equal to an offset threshold; or the vehicle receives a passively triggered steering wheel adjustment instruction.

[0091] Optionally, the acquisition module 201 may be specifically used for:

[0092] When it is detected that the vehicle meets the target condition and the surrounding space of the vehicle meets the space requirement for steering wheel adjustment, a rack force of a steering system is acquired.

[0093] Optionally, the policy determination module 202 may be specifically configured to:

[0094] When the rack force is greater than the first rack force threshold and less than the second rack force threshold, the adjustment strategy of the steering wheel is determined to be rotating in a first direction by a first angle and then returning to the normal position; wherein the first direction is the opposite direction of the rack force.

[0095] When the rack force is greater than the second rack force threshold, the adjustment strategy of the steering wheel is determined to be rotating in the first direction by a second angle, then rotating in the second direction by a third angle, and then returning to the original position; the second direction is opposite to the first direction, and the first angle and the third angle are both smaller than the second angle.

[0096] Optionally, the acquisition module 201 can also be used to obtain the rack force in the steering system after each steering wheel adjustment; the strategy determination module 202 can also be used to continue to determine the steering wheel adjustment strategy based on the rack force when the rack force is still greater than the first rack force threshold; the adjustment module 203 can also be used to adjust the steering wheel according to the re-determined adjustment strategy.

[0097] Optionally, the adjustment module 203 may also be configured to: when the number of steering wheel adjustments reaches a number threshold, if the rack force is still greater than the first rack force threshold, perform a final steering wheel adjustment.

[0098] Optionally, the adjustment module 203 may be specifically configured to: control the steering wheel to rotate in the first direction by a fourth angle and then return to a normal position; wherein the fourth angle is smaller than the first angle.

[0099] The steering wheel adjustment device provided in this embodiment belongs to the same application concept as the steering wheel adjustment method provided in the above embodiments of this application, and can execute the steering wheel adjustment method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the steering wheel adjustment method provided in the above embodiments of this application, and will not be repeated here.

[0100] Exemplary Electronic Devices

[0101] The present application also provides an electronic device, such as Figure 3 As shown, the electronic device includes: a memory 300 and a processor 310 .

[0102] The memory 300 is connected to the processor 310 and is used to store programs.

[0103] The processor 310 is used to implement the steering wheel adjustment method in the above embodiment by running the program stored in the memory 300.

[0104] Specifically, the electronic device may further include: a communication interface 320 , an input device 330 , an output device 340 and a bus 350 .

[0105] The processor 310, the memory 300, the communication interface 320, the input device 330 and the output device 340 are connected to each other via a bus.

[0106] Bus 350 may include a pathway for transferring information between the various components of the computer system.

[0107] The processor 310 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0108] The processor 310 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0109] The memory 300 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 300 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0110] The input device 330 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0111] Output device 340 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0112] The communication interface 320 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0113] The processor 310 executes the program stored in the memory 300 and calls other devices, which can be used to implement the various steps of the steering wheel adjustment method provided in the above embodiments of the present application.

[0114] Example Vehicles

[0115] The embodiment of the present application further provides a vehicle, the vehicle includes a steering system, the steering system may include a steering wheel, a rack mechanically connected to the steering wheel, etc. The vehicle also includes a controller, the controller may be a domain controller, such as a chassis domain controller.

[0116] The controller is used to:

[0117] When it is detected that the vehicle meets the target conditions, the rack force in the steering system of the vehicle is obtained; when the rack force is greater than a first rack force threshold, an adjustment strategy for the steering wheel is determined according to the rack force; wherein the adjustment strategy includes: adjusting the rotation angle and rotation direction of the steering wheel; and adjusting the steering wheel according to the adjustment strategy.

[0118] Optionally, the target condition includes: when the vehicle completes parking and the steering wheel rotation angle is controlled by the vehicle, the steering wheel is in a return position;

[0119] or after the vehicle is powered off, the steering wheel is in a non-returning position, and the offset from the returning position is less than or equal to the offset threshold;

[0120] Or the vehicle receives a passively triggered steering wheel adjustment instruction.

[0121] Optionally, the controller is further configured to:

[0122] When it is detected that the vehicle satisfies the target condition and the surrounding space of the vehicle satisfies the space required for steering wheel adjustment, a rack force of a steering system is acquired.

[0123] Optionally, the controller is further configured to:

[0124] When the rack force is greater than the first rack force threshold and less than the second rack force threshold, the adjustment strategy of the steering wheel is determined to be rotating in the first direction by a first angle and then returning to the return position; wherein, the first direction is the opposite direction of the rack force; when the rack force is greater than the second rack force threshold, the adjustment strategy of the steering wheel is determined to be rotating in the first direction by a second angle, then rotating in the second direction by a third angle, and then returning to the return position; the second direction is opposite to the first direction, and the first angle and the third angle are both smaller than the second angle.

[0125] Optionally, the controller is further configured to:

[0126] Acquire the rack force in the steering system after each steering wheel adjustment; when the rack force is still greater than the first rack force threshold, continue to determine the steering wheel adjustment strategy based on the rack force, and adjust the steering wheel according to the adjustment strategy.

[0127] Optionally, the controller is further configured to:

[0128] When the number of steering wheel adjustments reaches the number threshold, if the rack force is still greater than the first rack force threshold, the last steering wheel adjustment is performed.

[0129] Optionally, the controller is further configured to:

[0130] The steering wheel is controlled to rotate in the first direction to a fourth angle and then return to a normal position; wherein the fourth angle is smaller than the first angle.

[0131] Exemplary computer program products and storage media

[0132] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the steering wheel adjustment method described in the embodiment of the present application.

[0133] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0134] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0135] In addition, the embodiments of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the steering wheel adjustment method described in the embodiments of the present application.

[0136] In addition, the embodiment of the present application may also be a chip, which includes a processor and a data interface. The processor reads instructions stored in the memory through the data interface to execute the steps in the point of interest query method described in the embodiment of the present application.

[0137] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0138] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0139] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0140] The modules and sub-modules in the devices and terminals in the embodiments of the present application can be combined, divided and deleted according to actual needs.

[0141] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0142] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0143] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0144] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0145] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0146] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A steering wheel adjustment method, characterized in that: The method comprises: When it is detected that the vehicle meets a target condition, obtaining a rack force in a steering system of the vehicle; wherein the target condition is used to characterize a situation where it may be necessary to release the rack force in the steering system to return the steering wheel to the center position; When the rack force is greater than the first rack force threshold, determining an adjustment strategy for the steering wheel according to the rack force; wherein the adjustment strategy includes: adjusting the rotation angle and rotation direction of the steering wheel; The steering wheel is adjusted according to the adjustment strategy.

2. The steering wheel adjustment method according to claim 1, characterized in that: The target condition includes: when the vehicle completes parking and the steering wheel rotation angle is controlled by the vehicle, the steering wheel is in the return position; or after the vehicle is powered off, the steering wheel is in a non-returning position, and the offset from the returning position is less than or equal to the offset threshold; Or the vehicle receives a passively triggered steering wheel adjustment instruction.

3. The steering wheel adjustment method according to claim 1 or 2, characterized in that: The step of obtaining a rack force in a steering system of the vehicle when it is detected that the vehicle meets a target condition comprises: When it is detected that the vehicle satisfies the target condition and the surrounding space of the vehicle satisfies the space required for steering wheel adjustment, a rack force of a steering system is acquired.

4. The steering wheel adjustment method according to claim 1, characterized in that: When the rack force is greater than a first rack force threshold, determining a steering wheel adjustment strategy according to the rack force includes: When the rack force is greater than the first rack force threshold and less than the second rack force threshold, determining that the adjustment strategy of the steering wheel is to rotate in a first direction by a first angle and then return to a return position; wherein the first direction is the opposite direction of the rack force; When the rack force is greater than the second rack force threshold, the adjustment strategy of the steering wheel is determined to be rotating in the first direction by a second angle, then rotating in the second direction by a third angle, and then returning to the original position; the second direction is opposite to the first direction, and the first angle and the third angle are both smaller than the second angle.

5. The steering wheel adjustment method according to claim 2 or 4, characterized in that: After adjusting the steering wheel according to the adjustment strategy, the method further includes: obtaining a rack force in the steering system after each steering wheel adjustment; When the rack force is still greater than the first rack force threshold, the steering wheel adjustment strategy continues to be determined according to the rack force, and the steering wheel is adjusted according to the adjustment strategy.

6. The steering wheel adjustment method according to claim 5, characterized in that: After adjusting the steering wheel according to the adjustment strategy, the method further includes: When the number of steering wheel adjustments reaches the number threshold, if the rack force is still greater than the first rack force threshold, the last steering wheel adjustment is performed.

7. The steering wheel adjustment method according to claim 6, characterized in that: The last steering wheel adjustment includes: The steering wheel is controlled to rotate in the first direction to a fourth angle and then return to a normal position; wherein the fourth angle is smaller than the first angle.

8. A vehicle, characterized in that: The vehicle comprises a controller, and the controller is used to implement the steering wheel adjustment method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the steering wheel adjustment method according to any one of claims 1 to 7 by running the program in the memory.

10. A computer program product, characterized in that The computer program product stores a computer program, and when the computer program is executed by a processor, the steering wheel adjustment method according to any one of claims 1 to 7 is implemented.

Images