Steering wheel control method and device and vehicle

Abstract

The invention provides a steering wheel control method and device and a vehicle, and is applied to the technical field of vehicles. The method comprises the steps that when a steering wheel is in a displacement state, the collision risk level of a vehicle is determined, and under the condition that the collision risk level is larger than a preset threshold value, the steering wheel is controlled to restore to a normal state from the displacement state. According to the steering wheel control method provided by the embodiment of the invention, the steering wheel can be recovered to the normal state in time when the vehicle has a relatively large collision risk and the safety air bag has a relatively high pop-up probability, so that the safety air bag can directly face a driver when being popped up, the driver is effectively protected, and the safety of the vehicle is improved. And therefore, the safety of the vehicle with the variable steering wheel can be ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a steering wheel control method, device and vehicle in the field of vehicle technology. Background Art

[0002] At present, a variable position steering wheel is known. When the variable position steering wheel is in a normal state, the driver can drive the vehicle normally through the steering wheel. When the variable position steering wheel is in a variable position state, there is a large activity space between the steering wheel and the driver's seat, which can facilitate the driver to get on and off the vehicle, and in the variable position state, the steering wheel can be used as a "table" for the user to eat, entertain or work.

[0003] Although the variable steering wheel can expand the driver's space for movement, when the steering wheel is in a displaced state, the direction of the airbag when it pops out will change, and it will not be able to face the driver directly, making it difficult to provide effective protection for the driver, which will significantly reduce the safety of the vehicle. Summary of the invention

[0004] The present application provides a steering wheel control method, device and vehicle, which can ensure the safety of a vehicle with a variable steering wheel.

[0005] In a first aspect, a steering wheel control method is provided, the method comprising:

[0006] Determine the collision risk level of the vehicle when the steering wheel is in a changed position;

[0007] When the collision risk level is greater than a preset threshold, the steering wheel is controlled to return from the displaced state to a normal state, so that the airbag in the steering wheel pops out toward the driver.

[0008] In the embodiment of the present application, when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined, and when the collision risk level is greater than a preset threshold, the steering wheel is controlled to return to a normal state from the displaced state. The steering wheel control method provided in the embodiment of the present application can restore the steering wheel to a normal state in a timely manner when there is a greater collision risk for the vehicle and the airbag has a higher probability of popping out, so that the airbag can face the driver directly when it pops out, effectively protecting the driver, and thus ensuring the safety of the vehicle with a variable steering wheel.

[0009] Moreover, compared with the method of adding additional airbags, there is no need to add additional airbags, which can avoid increasing the manufacturing cost of the vehicle and increasing the difficulty of manufacturing the vehicle. Compared with the method of adjusting the pop-up angle of the airbag, the steering wheel in a normal state faces the driver, so that the airbag can face the driver when it pops up, which has higher safety.

[0010] Optionally, controlling the steering wheel to recover from the displaced state to the normal state includes: if there is an object on the steering wheel, controlling the steering wheel to recover a target stroke from the displaced state to the normal state at a first recovery speed, and outputting a first prompt message; wherein the first prompt message is used to prompt the user to remove the object on the steering wheel; after the steering wheel recovers the target stroke to the normal state, controlling the steering wheel to recover from the current state to the normal state at a second recovery speed; wherein the second recovery speed is greater than the first recovery speed.

[0011] In an embodiment of the present application, when the collision risk level of the vehicle is high and there are objects on the steering wheel, the steering wheel is first controlled to recover a certain distance from the displaced state to the normal state at a lower first recovery speed, and the user is prompted to remove the objects on the steering wheel. The steering wheel is then controlled to recover to the normal state at a second recovery speed. This can reduce the probability of objects on the steering wheel falling and possible damage to the user, and at the same time enable the steering wheel to quickly recover to its normal state.

[0012] Optionally, after the steering wheel recovers the target stroke to the normal state, the steering wheel is controlled to recover from the current state to the normal state at a second recovery speed, including: after the steering wheel recovers from the displaced state to a preset semi-displaced state, the steering wheel is controlled to recover from the current state to the normal state at the second recovery speed; wherein the semi-displaced state is a state between the displaced state and the normal state in which it is difficult to carry objects, and the target stroke is the stroke between the semi-displaced state and the normal state; or, after detecting that the object on the steering wheel is removed, the steering wheel is controlled to recover from the current state to the normal state at the second recovery speed; wherein the target stroke is the stroke from the displaced state to the current state of the steering wheel.

[0013] In an embodiment of the present application, a semi-displaced state that can carry objects can be pre-set, so that when the steering wheel can be used to place objects, the steering wheel is controlled to recover to a normal state at a lower first recovery speed, and a prompt message is output to remind the user to remove the objects on the steering wheel. When it is difficult to place objects on the steering wheel, the steering wheel is controlled to recover to a normal state at a larger second recovery speed. This can reduce the probability of objects on the steering wheel falling and reduce possible damage to the user, and at the same time enable the steering wheel to quickly recover to a normal state.

[0014] Optionally, before controlling the steering wheel to recover from the current state to the normal state at a second recovery speed, the method includes: determining a remaining stroke of the steering wheel; wherein the remaining stroke is the stroke of the steering wheel from the current state to the normal state; determining the second recovery speed based on the remaining stroke; wherein the second recovery speed is positively correlated with the remaining stroke; or, determining the second recovery speed based on the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level.

[0015] In the embodiment of the present application, the second recovery speed is determined according to the remaining travel of the steering wheel, and the remaining travel is controlled to be positively correlated with the second recovery speed. When the remaining travel is large, the recovery speed of the steering wheel can be accelerated, so that the steering wheel can be quickly restored to a normal state. Also, when the second recovery speed is determined according to the collision risk level, and the collision risk level is controlled to be positively correlated with the second recovery speed, when the collision risk of the vehicle is high, the speed at which the steering wheel returns to a normal state can be accelerated, thereby improving the safety of the vehicle.

[0016] Optionally, before controlling the steering wheel to restore the target stroke from the displaced state to the normal state at a first recovery speed, the method also includes: determining the weight of the items carried on the steering wheel; determining the first recovery speed based on the weight; wherein the first recovery speed is negatively correlated with the weight.

[0017] In an embodiment of the present application, when there is no object on the steering wheel, the second recovery speed that is positively correlated with the collision risk level is directly determined, so that the steering wheel can be restored from the displaced state to the normal state at a faster speed, thereby improving the safety of the vehicle.

[0018] Optionally, the method also includes: if there is no object on the steering wheel, determining the second recovery speed according to the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level; and controlling the steering wheel to recover from the displaced state to the normal state at the second recovery speed.

[0019] In an embodiment of the present application, controlling the first recovery speed of the steering wheel is negatively correlated with the weight of the item carried on the steering wheel. This can reduce the probability of the item falling off the steering wheel when the item is heavy, thereby reducing the risk of damage to the item.

[0020] Optionally, the method also includes: when the collision risk level is less than or equal to the preset threshold, if it is detected that there is an object on the steering wheel, outputting a second prompt message to prompt the user to remove the object on the steering wheel through the second prompt message; after outputting the second prompt message, if it is detected that the object on the steering wheel is removed, controlling the steering wheel to return from the displaced state to the normal state.

[0021] In an embodiment of the present application, when it is determined that the collision risk level of the vehicle is less than or equal to a preset threshold and the vehicle is at a low collision risk, a prompt message can be output first to prompt the user to remove items on the steering wheel, and then the steering wheel can be controlled to return to a normal state. This can not only reduce the risk of items falling and being damaged, but also restore the steering wheel to a normal state in a timely manner, thereby allowing the airbag in the steering wheel to effectively protect the driver.

[0022] Optionally, after outputting the second prompt information, the method further includes: after a preset time interval, if it is detected that the object on the steering wheel has not been removed, outputting the second prompt information again; wherein the intensity of the second prompt information output each time is positively correlated with the number of times the second prompt information is output.

[0023] In an embodiment of the present application, after outputting a prompt message to prompt the user to remove the items on the steering wheel, if the user fails to remove the items on the steering wheel in time, the user can be prompted again to remove the items on the steering wheel. Multiple prompts can enable the user to remove the items on the steering wheel in time and control the steering wheel to return to normal, so that the user can be effectively protected by the airbag in the steering wheel in time.

[0024] In a second aspect, a steering wheel control device is provided, the device comprising:

[0025] A determination module, used to determine the collision risk level of the vehicle when the steering wheel is in a changed state;

[0026] The control module is used for controlling the steering wheel to return from the displacement state to the normal state when the collision risk level is greater than a preset threshold value, so that the airbag in the steering wheel pops out toward the driver.

[0027] In a third aspect, a vehicle is provided, the vehicle comprising:

[0028] A memory for storing executable program codes;

[0029] A processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in any possible implementation of the first aspect above.

[0030] In a fourth aspect, a computer program product is provided, the computer program product comprising: a computer program code, when the computer program code is run on a computer, the computer executes the method in any possible implementation manner of the above-mentioned first aspect.

[0031] In a fifth aspect, a readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of state changes of a variable position steering wheel provided in an embodiment of the present application;

[0033] Figure 2 It is a schematic diagram of the control principle of a steering wheel provided in an embodiment of the present application;

[0034] Figure 3 is a flowchart of a steering wheel control method provided by an embodiment of the present application;

[0035] Figure 4 is a flow chart of a steering wheel control method provided in an embodiment of the present application;

[0036] Figure 5 is a structural schematic diagram of a steering wheel control device provided in an embodiment of the present application;

[0037] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0039] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0040] At present, some vehicles are equipped with variable position steering wheels. When the variable position steering wheel is in a normal state, the driver can drive the vehicle normally through the steering wheel. When the variable position steering wheel is in a variable state, there is a large space for movement between the steering wheel and the driver's seat, which makes it easier for the driver to get on and off the vehicle.

[0041] See also Figure 1 , Figure 1 Schematic diagram of the state change of a variable position steering wheel provided in an embodiment of the present application. Figure 1 As shown in the left figure in FIG, when the steering wheel 10 is in a normal state, the steering wheel 10 is in a tilted state, roughly facing the driver 20, and the pop-up direction (also called the pop-up angle or the explosion angle) of the airbag in the steering wheel 10 is in the direction A pointing to the driver 20, which can effectively protect the driver 20. Figure 1 As shown in the right figure in the figure, the driver can control the steering wheel 10 to rotate a certain angle in the counterclockwise direction, for example, to flip the steering wheel to a horizontal state, or to place the steering wheel in a position between the horizontal state and the normal state. When the steering wheel 10 is in a horizontal state, the steering wheel 10 is generally facing the roof of the vehicle, and the pop-up direction of the airbag is direction B pointing to the top of the vehicle. When the steering wheel 10 is in a position between the horizontal state and the normal state, the steering wheel 10 is facing, for example, direction C, and the pop-up direction of the airbag is generally direction C. In such cases, it is difficult to effectively protect the driver, which will significantly reduce the safety of the vehicle.

[0042] The normal state is also called the regular state or driving state, which means that the steering wheel faces the user and can be operated by the user to control the direction of the vehicle. The shifted state is also called the abnormal state, which means that the steering wheel is shifted and not in the normal state. At this time, the direction is shifted to the maximum angle or between the maximum angle and the normal state. Figure 1 As shown, when the steering wheel is displaced to the maximum angle, it faces the roof and is in a horizontal state (also called a flat state). When the steering wheel is displaced to a smaller angle, the direction of the steering wheel, for example, direction C, forms a certain angle with the horizontal line. In other words, when the steering wheel is in a displaced state, it may be in a horizontal state or may form a certain angle with the horizontal line.

[0043] In the related art, in order to effectively protect the driver when the steering wheel is in a displaced state, one method is to install an additional airbag on the steering wheel, which pops out when the steering wheel is in a displaced state, and the pop-up direction is facing the driver, which can effectively protect the driver. This method requires the addition of an additional airbag, which not only increases the cost of the vehicle, but also increases the difficulty of manufacturing the vehicle. Another method is to adjust the pop-up angle of the airbag when the steering wheel is in a displaced state. The problem with this method is that due to the limitation of the mechanical structure, the adjustment range of the pop-up direction is small, and it is difficult to make the pop-up direction of the airbag completely facing the driver, and the protection effect on the driver is low.

[0044] In order to solve the above technical problems, the embodiment of the present application provides a steering wheel control method, in which when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined, and when the collision risk level is greater than a preset threshold, the steering wheel is controlled to return to a normal state from the displaced state. In this way, when there is a greater collision risk in the vehicle and the airbag has a higher probability of popping out, the steering wheel can be restored to a normal state in time, so that the airbag can face the driver directly when it pops out, effectively protecting the driver, and thus ensuring the safety of vehicles with variable steering wheels.

[0045] Moreover, compared with the method of adding additional airbags, there is no need to add additional airbags, which can avoid increasing the manufacturing cost of the vehicle and increasing the difficulty of manufacturing the vehicle. Compared with the method of adjusting the pop-up angle of the airbag, the steering wheel in a normal state faces the driver, so that the airbag can face the driver when it pops up, which has higher safety.

[0046] See also Figure 2 , Figure 2 Schematic diagram of the control principle of a steering wheel provided in an embodiment of the present application. Figure 2 As described above, the steering system of the vehicle includes a steering wheel 21 and a steering column 22, as well as other components not shown, and an electronic control unit (ECU) 23 for controlling various components in the steering system.

[0047] The electronic control unit 23 is connected to the Advanced Driver Assistance System (ADAS) 24. The advanced driver assistance system 24 can be installed in the head unit terminal (HUT) of the vehicle. The advanced driver assistance system 24 is connected to sensors such as a radar 25 and a camera 26 in the vehicle. The radar 25 and the camera 26 can detect the environment around the vehicle to obtain environmental data, and determine the collision risk level of the vehicle based on the environmental data, and provide the collision risk level to the electronic control unit 23. After the electronic control unit 23 obtains the collision risk level of the vehicle from the advanced driver assistance system 24, when the collision risk level is greater than a preset threshold, the steering wheel is controlled to return to a normal state from a displacement state. Among them, the method for ADAS to determine the collision risk level based on environmental data can be specifically set according to needs, and this embodiment does not limit this.

[0048] like Figure 2 As shown, a driving mechanism may be provided on the steering column 2, and the driving mechanism may include a motor and gears, etc. The electronic control unit 23 may control the action of the driving mechanism to drive the steering wheel to rotate counterclockwise or clockwise. When the steering wheel is rotated to position N, it is in a normal state, and when the steering wheel is rotated to position M, it is in a displaced state.

[0049] See also Figure 3 , Figure 3 is a flowchart of the steps of a steering wheel control method provided by an embodiment of the present application. The execution subject of the method may be an ECU in a steering system, such as Figure 3 As shown, the method may include step 301 and step 302.

[0050] Step 301: When the steering wheel is in a displaced state, determine the collision risk level of the vehicle.

[0051] For example, an angle sensor is provided in the steering system, and the angle sensor is connected to the ECU. The angle sensor is used to detect the rotation angle of the steering wheel. During the operation of the ECU, if the angle sensor detects that the rotation angle of the steering wheel corresponds to Figure 2 If the steering wheel is in the normal state, the steering wheel is in the position N shown in the figure. If the steering wheel is in the normal state, the steering wheel is in the normal state. Figure 2 The steering wheel is determined to be in a shifted state if the steering wheel is at the position M shown or a position between the corresponding position M and the position N (for example, position W).

[0052] In one implementation, when it is determined that the steering wheel is in a shifted state, the ECU may send a data request to the ADAS. After receiving the data request, the ADAS may detect the external environment of the vehicle through sensors to obtain environmental data, and then determine the collision risk level of the vehicle at the current moment according to the environmental data, and then send the collision risk level to the ECU.

[0053] In another embodiment, during the operation of the vehicle, ADAS can periodically detect and obtain environmental data, and determine the collision risk level of the vehicle based on the environmental data. ADAS can send the collision risk level to ECU after determining the collision risk level of the vehicle each time, or send the most recently determined collision risk level to ECU upon receiving a data request sent by ECU.

[0054] For example, the collision risk level of the vehicle can be divided into collision risk level 0, collision risk level 1, collision risk level 2, collision risk level 3, collision risk level 4 and collision risk level 5 in sequence, where collision risk level 0 indicates that the vehicle has no collision risk, and the probability of a vehicle collision increases gradually from collision risk level 1 to collision risk level 5. In practical applications, the collision risk level of the vehicle can be divided in a known manner such as disclosed in CN114248794A, or in other division methods, which is not limited in this embodiment.

[0055] Step 302: When the collision risk level is greater than a preset threshold, the steering wheel is controlled to return to a normal state from a displaced state, so that the airbag in the steering wheel pops out toward the driver.

[0056] For example, after obtaining the collision risk level of the vehicle at the current moment, the ECU can compare the collision risk level with a preset threshold value, such as collision risk level 3. When the collision risk level is greater than the preset threshold value, it indicates that the probability of the vehicle colliding is greater, that is, the probability of the airbag deploying is greater. When it is determined that the collision risk level at the current moment is greater than the preset threshold value, the ECU can control the steering wheel to return to the normal state from the displacement state.

[0057] like Figure 2 As shown, when the collision risk level sent by ADAS is 4 or 5, the ECU can determine that the collision risk level 4 is greater than the preset threshold (i.e., the collision risk level 3). At this time, the ECU can control the driving mechanism installed on the steering column 22 to drive the steering wheel to rotate from position M to position N, so that the steering wheel returns to the normal state from the displaced state.

[0058] Optionally, when it is determined that the collision risk level is greater than a preset threshold, the ECU can also control the vehicle to output a prompt message, and prompt the user through the prompt message that the vehicle has a greater collision risk, and the state of the steering wheel needs to be restored to a normal state. For example, the ECU is connected to the host terminal, and when it is determined that the collision risk level is greater than a preset threshold, the ECU can send an early warning notification to the host terminal. After receiving the early warning notification, the host terminal can control the loudspeaker in the vehicle to output a voice prompt message, and prompt the user through the voice prompt message that the vehicle has a greater collision risk, and the state of the steering wheel needs to be restored to a normal state. Alternatively, a vibration motor can be installed on the driver's seat and / or the steering wheel, and the ECU is connected to the vibration motor. When it is determined that the collision risk level is greater than a preset threshold, the ECU can control the vibration motor to vibrate, so that the driver's seat and / or the steering wheel vibrate, and output a vibration signal (i.e., a prompt message) to the user, and prompt the user through the vibration signal that the vehicle has a greater collision risk, and the state of the steering wheel needs to be restored to a normal state.

[0059] Optionally, in the process of controlling the steering wheel to recover from the displaced state to the normal state, the ECU may first determine the recovery speed according to the collision risk level. The higher the collision risk level, the faster the recovery speed. Then, the steering wheel may be controlled to recover from the displaced state to the normal state according to the recovery speed. Exemplarily, corresponding recovery speeds may be set for collision risk levels 1, 2, 3, 4, and 5, respectively. The higher the collision risk level, the faster the corresponding recovery speed. The recovery speed may specifically be the rotation angle of the steering wheel per unit time. For example, when the collision risk level is 4, it may be determined that the collision risk level is greater than a preset threshold value (i.e., collision risk level 3). At this time, the ECU may determine the recovery speed corresponding to the collision risk level 4. Then, the steering wheel may be controlled to rotate from position M to position N at the recovery speed corresponding to the collision risk level 4, so that the steering wheel recovers from the displaced state to the normal state.

[0060] In the embodiment of the present application, when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined, and when the collision risk level is greater than a preset threshold, the steering wheel is controlled to return to a normal state from the displaced state. The steering wheel control method provided in the embodiment of the present application can restore the steering wheel to a normal state in a timely manner when there is a greater collision risk for the vehicle and the airbag has a higher probability of popping out, so that the airbag can face the driver directly when it pops out, effectively protecting the driver, and thus ensuring the safety of the vehicle with a variable steering wheel.

[0061] Moreover, compared with the method of adding additional airbags, there is no need to add additional airbags, which can avoid increasing the manufacturing cost of the vehicle and increasing the difficulty of manufacturing the vehicle. Compared with the method of adjusting the pop-up angle of the airbag, the steering wheel in a normal state faces the driver, so that the airbag can face the driver when it pops up, which has higher safety.

[0062] Optionally, controlling the steering wheel to return to a normal state from a displaced state includes:

[0063] If there is an object on the steering wheel, the steering wheel is controlled to restore the target travel from the displacement state to the normal state at a first restoration speed, and a first prompt message is output; the first prompt message is used to prompt the user to remove the object on the steering wheel;

[0064] After the steering wheel recovers the target travel to the normal state, the steering wheel is controlled to recover from the current state to the normal state at a second recovery speed; wherein the second recovery speed is greater than the first recovery speed.

[0065] In actual applications, when the steering wheel is in a displaced state, the driver may place some items on the steering wheel, such as a cup, a mobile phone, and a notebook. At this time, if the steering wheel is controlled to return to the normal state from the displaced state, the items on the steering wheel may fall off, which may damage the items and may also cause harm to the driver (i.e., the user).

[0066] In this embodiment, after determining that the collision risk level of the vehicle is greater than a preset threshold, the ECU can first detect whether there is an object on the steering wheel. For example, a camera is provided inside the vehicle, and the steering wheel is within the field of view of the camera. When it is determined that the collision risk level of the vehicle is greater than the preset threshold, the ECU can send a request message to the HUT. After receiving the request message, the HUT can obtain an image by photographing the position of the steering wheel through the camera, and then perform image recognition based on the photographed image to determine whether there is an object on the steering wheel. If there is an object on the steering wheel, the first identification information is sent to the ECU, and if there is no object on the steering wheel, the second identification information is sent to the ECU. When the ECU receives the first identification information, it determines that there is an object on the steering wheel, and when the ECU receives the second identification information, it determines that there is no object on the steering wheel.

[0067] For another example, a weighing sensor is installed on the steering wheel, and the ECU is connected to the weighing sensor. After determining that the collision risk level of the vehicle is greater than a preset threshold, the ECU can detect the weight of the object placed on the steering wheel through the weighing sensor. When the detected weight is greater than the weight of the steering wheel, it is determined that there is an object on the steering wheel. The above is only an illustrative example, and specific methods for determining whether there is an object on the steering wheel may include but are not limited to the above examples.

[0068] In one embodiment, the first recovery speed may be a preset recovery speed, and the target stroke may be a preset fixed stroke. Figure 2 As shown, when the steering wheel is in position W, the object cannot be stably placed on the steering wheel, and the travel between position W and position M can be set as the target travel, which is the angle X2. After determining that there is an object on the steering wheel, the ECU can obtain the first recovery speed pre-stored in the ECU, and then control the steering wheel to rotate from position M to position N by angle X2 at the first recovery speed to rotate to position W, so that the steering wheel recovers the target travel from the displacement state to the normal state.

[0069] In the process of controlling the steering wheel to restore the target travel from the displacement state to the normal state at the first recovery speed, the ECU can simultaneously output the first prompt information, such as voice prompt information and vibration signal, to remind the user to remove the items carried on the steering wheel as soon as possible through the first prompt information. Among them, the ECU can first output the first prompt information, and then control the steering wheel to restore from the displacement state to the normal state at the first recovery speed, or can output the first prompt information while controlling the steering wheel to restore from the displacement state to the normal state at the first recovery speed.

[0070] In one embodiment, the second recovery speed may also be a preset recovery speed, which may be pre-stored in the ECU, and the second recovery speed is greater than the first recovery speed. Exemplarily, when controlling the steering wheel to recover from the displaced state to the semi-displaced state at the first recovery speed, the ECU may monitor the steering wheel rotation angle, and when the rotation angle reaches angle W2, determine that the steering wheel has reached position W, and the current state of the steering wheel is the state at position W. At this time, the ECU may obtain the pre-stored second recovery speed, switch the steering wheel recovery speed from the first recovery speed to the second recovery speed, and then control the steering wheel to rotate from position W to position N at an angle X1 at the second recovery speed, so that the steering wheel is completely restored to a normal state.

[0071] like Figure 2 As shown, the first recovery speed can be a smaller value, so that the speed of the steering wheel when moving from position M to position W is lower, which can reduce the probability of objects falling off the steering wheel, and at the same time provide the user with a longer reaction time to remove the objects on the steering wheel. The second recovery speed can be a larger value, so that the steering wheel can be restored to a normal state in time, so that when the vehicle actually collides, the pop-up direction of the airbag can be directly facing the user, thereby effectively protecting the user.

[0072] In an embodiment of the present application, when the collision risk level of the vehicle is high and there are objects on the steering wheel, the steering wheel is first controlled to recover a certain distance from the displaced state to the normal state at a lower first recovery speed, and the user is prompted to remove the objects on the steering wheel. The steering wheel is then controlled to recover to the normal state at a second recovery speed. This can reduce the probability of objects on the steering wheel falling and possible damage to the user, and at the same time enable the steering wheel to quickly recover to its normal state.

[0073] Optionally, after the steering wheel recovers the target travel to the normal state, controlling the steering wheel to recover from the current state to the normal state at a second recovery speed includes:

[0074] After the steering wheel recovers from the displaced state to the preset semi-displaced state, the steering wheel is controlled to recover from the current state to the normal state at a second recovery speed; or, after detecting that the object on the steering wheel is removed, the steering wheel is controlled to recover from the current state to the normal state at the second recovery speed.

[0075] The semi-displaced state is a state between the displaced state and the normal state. When the steering wheel is in the semi-displaced state, it is difficult for the steering wheel to carry objects. At this time, the target stroke is the stroke between the semi-displaced state and the normal state. Figure 2 For example, if the semi-displaced state is the state when the steering wheel is in position W, the target stroke is a fixed stroke, that is, angle W2. Optionally, the semi-displaced state can be an intermediate position between the displaced state and the normal state. In practical applications, the semi-displaced state can be set according to the structure of the steering wheel. When the steering wheel is between the displaced state and the semi-displaced state, objects can be placed, and when it is between the semi-displaced state and the normal state, it is difficult to place objects.

[0076] like Figure 2 As shown, when the semi-displaced state corresponds to position W, the target travel is angle W2. When the steering wheel is controlled to recover from the displaced state to the semi-displaced state at the first recovery speed, the ECU can monitor the steering wheel rotation angle, and when the rotation angle reaches angle W2, it is determined that the steering wheel reaches the semi-displaced state. At this time, the second recovery speed can be obtained, and the steering wheel can continue to be controlled to rotate at the second recovery speed until the steering wheel rotates to position N and reaches the normal state.

[0077] In one embodiment, the target stroke may be a dynamic stroke. After the ECU controls the steering wheel to recover to a normal state at a first recovery speed and outputs a first prompt message, the ECU may detect the object on the steering wheel in real time. If it is detected that the object on the steering wheel is removed, the steering wheel recovery speed is controlled to switch from the first recovery speed to the second recovery speed, and then the steering wheel is controlled to recover to a normal state at the second recovery speed. In this case, the state of the steering wheel at the moment when the ECU detects that the object on the steering wheel is removed is the current state, and the target stroke is the stroke from the displacement state to the moment when the object on the steering wheel is detected to be removed.

[0078] For example, the ECU first controls the steering wheel to rotate from position M to position N at the first recovery speed, and at the same time detects whether the object on the steering wheel has been removed. During the rotation of the steering wheel, if the steering wheel detects that the object on the steering wheel has been removed at a certain moment, the steering wheel can be controlled to continue to rotate to position N at the second recovery speed from that moment.

[0079] In an embodiment of the present application, a semi-displaced state that can carry objects can be pre-set, so that when the steering wheel can be used to place objects, the steering wheel is controlled to recover to a normal state at a lower first recovery speed, and a prompt message is output to remind the user to remove the objects on the steering wheel. When it is difficult to place objects on the steering wheel, the steering wheel is controlled to recover to a normal state at a larger second recovery speed. This can reduce the probability of objects on the steering wheel falling and reduce possible damage to the user, and at the same time enable the steering wheel to quickly recover to a normal state.

[0080] Optionally, before controlling the steering wheel to recover from the current state to the normal state at the second recovery speed, the method may further include:

[0081] Determine the remaining travel of the steering wheel; wherein the remaining travel is the travel of the steering wheel from the current state to the normal state; determine a second recovery speed based on the remaining travel; wherein the second recovery speed is positively correlated with the remaining travel; or, determine the second recovery speed based on the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level.

[0082] In one embodiment, in the process of controlling the steering wheel to return to the normal state at the second recovery speed, the ECU may first determine the remaining travel of the steering wheel, and then determine the second recovery speed corresponding to the remaining travel, and the larger the remaining travel, the larger the second recovery speed. For example, in the process of controlling the steering wheel to return to the normal state at the first recovery speed, if it is detected at a certain moment that an object on the steering wheel is removed, the angle between the position of the steering wheel at that moment and the position N may be determined, and the angle may be used as the remaining travel.

[0083] Exemplarily, a starting value of the second recovery speed can be set, and an initial remaining stroke corresponding to the starting value can be set, and the starting value is greater than the first recovery speed. After determining the actual remaining stroke, if the ECU determines that the actual remaining stroke is less than or equal to the initial remaining stroke, the second recovery speed is determined as the starting value; if the ECU determines that the actual remaining stroke is greater than the initial remaining stroke, the difference between the actual remaining stroke and the initial remaining stroke is calculated, and the product between the difference and the preset proportional coefficient is calculated, and then the starting value and the product are summed to obtain the second recovery speed, so that the second recovery speed is positively correlated with the remaining stroke.

[0084] It should be understood that the above are merely illustrative examples, and the specific method for determining the second recovery speed based on the remaining stroke may include but is not limited to the above examples.

[0085] In another embodiment, the second recovery speed can be directly determined according to the collision risk level, and the second recovery speed is positively correlated with the collision risk level. For example, corresponding recovery speeds can be set for collision risk levels 1, 2, 3, 4, and 5, respectively, and the higher the collision risk level, the greater the corresponding recovery speed. In the process of determining the second recovery speed, if the collision risk level is 4, the recovery speed corresponding to the collision risk level 4 can be determined as the second recovery speed.

[0086] In the embodiment of the present application, the second recovery speed is determined according to the remaining travel of the steering wheel, and the remaining travel is controlled to be positively correlated with the second recovery speed. When the remaining travel is large, the recovery speed of the steering wheel can be accelerated, so that the steering wheel can be quickly restored to a normal state. Also, when the second recovery speed is determined according to the collision risk level, and the collision risk level is controlled to be positively correlated with the second recovery speed, when the collision risk of the vehicle is high, the speed at which the steering wheel returns to a normal state can be accelerated, thereby improving the safety of the vehicle.

[0087] Optionally, the method may further include:

[0088] If there is no object on the steering wheel, a second recovery speed is determined according to the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level; and the steering wheel is controlled to recover from the displaced state to the normal state at the second recovery speed.

[0089] In one implementation, when it is determined that there is no object on the steering wheel, the ECU can directly determine the corresponding second recovery speed according to the collision risk level, and then control the steering wheel to directly recover from the displacement state to the normal state at the second recovery speed. The method for determining the second recovery speed according to the collision risk level can refer to the above example, and this embodiment does not limit this.

[0090] In an embodiment of the present application, when there is no object on the steering wheel, the second recovery speed that is positively correlated with the collision risk level is directly determined, so that the steering wheel can be restored from the displaced state to the normal state at a faster speed, thereby improving the safety of the vehicle.

[0091] Optionally, before controlling the steering wheel to restore the target stroke from the displacement state to the normal state at the first restoration speed, the method may further include:

[0092] Determine the weight of the items being carried on the steering wheel;

[0093] A first recovery speed is determined according to the weight; wherein the first recovery speed is negatively correlated with the weight.

[0094] In one embodiment, in the process of controlling the steering wheel to restore the target stroke from the displaced state to the normal state at a first recovery speed, the ECU can first determine the weight of the items on the steering wheel, determine the corresponding first recovery speed according to the weight of the items carried on the steering wheel, and control the first recovery speed to be negatively correlated with the weight of the items, that is, the heavier the item, the slower the first recovery speed.

[0095] For example, multiple continuous weight intervals can be pre-set, and between two adjacent weight intervals, the upper limit value of the previous weight interval is the lower limit value of the next weight interval. At the same time, a corresponding recovery speed is set for each weight interval, and the recovery speed corresponding to the previous weight interval is greater than the recovery speed corresponding to the next weight interval. In controlling the steering wheel to restore the target stroke from the displaced state to the normal state at the first recovery speed, the ECU first determines the weight of the items carried on the steering wheel through the weighing sensor, and determines the target weight interval where the weight of the items is located from multiple weight intervals, and uses the recovery speed corresponding to the target weight interval as the first recovery speed. Then, the steering wheel can be controlled to restore the target stroke from the displaced state to the normal state at the first recovery speed.

[0096] It should be understood that the above are only illustrative examples, and specific methods for controlling the first recovery speed to be negatively correlated with the weight of the object may include but are not limited to the above examples.

[0097] In an embodiment of the present application, controlling the first recovery speed of the steering wheel is negatively correlated with the weight of the item carried on the steering wheel. This can reduce the probability of the item falling off the steering wheel when the item is heavy, thereby reducing the risk of damage to the item.

[0098] Optionally, before controlling the steering wheel to restore the target stroke from the displaced state to the normal state at the first restoration speed, the method may further include: determining the type of the article carried on the steering wheel, and determining the first restoration speed according to the type of the article.

[0099] In another embodiment, a plurality of item types may be pre-set for items carried on the steering wheel, and in the process of determining the first recovery speed, the corresponding first recovery speed may be determined according to the item type of the items carried on the steering wheel. For example, the item types of items that may be carried on the steering wheel may be divided into low-risk items, high-risk items, and non-risk items according to the size of the damage that the items on the steering wheel may cause to the user, and different recovery speeds may be set for low-risk items, high-risk items, and non-risk items, respectively. In the process of determining the first recovery speed, the ECU may send a data request to the HUT. After receiving the data request, the HUT uses a camera to capture an image of the location of the steering wheel, and then determines the item type of the items carried on the steering wheel through image recognition, and the determined item type is one of the low-risk items, high-risk items, and non-risk items. After that, the recovery speed corresponding to the determined item type may be used as the first recovery speed, and the steering wheel is controlled to restore the target travel from the displacement state to the normal state at the first recovery speed.

[0100] Optionally, the method may further include:

[0101] When the collision risk level is less than or equal to the preset threshold, if it is detected that there is an object on the steering wheel, a second prompt message is output to prompt the user to remove the object on the steering wheel through the second prompt message;

[0102] After the second prompt information is output, if it is detected that the object on the steering wheel is removed, the steering wheel is controlled to return to a normal state from the displaced state.

[0103] Among them, the collision risk level is less than or equal to the preset threshold value, which means that the vehicle has a collision risk, but the probability of a collision is low. For example, when the collision risk level is divided into collision risk level 0, collision risk level 1, collision risk level 2, collision risk level 3, collision risk level 4 and collision risk level 5, and the preset threshold value is set to 3, when the collision risk level is 1, 2 and 3, it is determined that the collision risk level of the vehicle is less than the preset threshold value, and the vehicle has a collision risk, but the probability of a collision is low.

[0104] In this embodiment, when the collision risk level is less than or equal to a preset threshold, the ECU can detect whether there are objects on the steering wheel. When there are no objects on the steering wheel, the ECU can directly control the steering wheel to return to a normal state from a displacement state. On the contrary, when there are objects on the steering wheel, the ECU can first output a second prompt message, and prompt the user to remove the objects on the steering wheel through the second prompt message. After outputting the second prompt message, the ECU can detect again whether there are objects on the steering wheel. If it is detected that there are objects on the steering wheel, it is determined that the objects on the steering wheel have not been removed. If it is detected that there are no objects on the steering wheel, it is determined that the objects on the steering wheel have been removed by the user. After determining that the objects on the steering wheel have been removed by the user, the ECU can control the steering wheel to return to a normal state from a displacement state. Among them, the method of outputting the second prompt message is similar to the method of outputting the first prompt message, and this embodiment will not be repeated here.

[0105] Optionally, after outputting the second prompt information, after detecting that the object on the steering wheel has been removed, the ECU may first determine a recovery speed corresponding to the collision risk level, where the collision risk level is positively correlated with the recovery speed. Thereafter, the ECU may control the steering wheel to recover from the displaced state to the normal state at the recovery speed corresponding to the collision risk level.

[0106] In an embodiment of the present application, when it is determined that the collision risk level of the vehicle is less than or equal to a preset threshold and the vehicle is at a low collision risk, a prompt message can be output first to prompt the user to remove items on the steering wheel, and then the steering wheel can be controlled to return to a normal state. This can not only reduce the risk of items falling and being damaged, but also restore the steering wheel to a normal state in a timely manner, thereby allowing the airbag in the steering wheel to effectively protect the driver.

[0107] Optionally, after outputting the second prompt information, the method may further include:

[0108] After a preset time interval, if it is detected that the object on the steering wheel has not been removed, the second prompt information is output again; wherein the intensity of the second prompt information output each time is positively correlated with the number of times the second prompt information is output.

[0109] In one embodiment, after outputting the second prompt message, the ECU may detect again to determine whether the item on the steering wheel has been removed by the user after waiting for a preset interval (e.g., 3 seconds). If the item on the steering wheel has been removed by the user, the steering wheel is controlled to return to a normal state from a displaced state. On the contrary, if the item on the steering wheel has not been removed by the user, the second prompt message is output again to prompt the user to remove the item on the steering wheel, and the intensity of the second prompt message may be increased. For example, if the second prompt message is a vibration signal, the vibration intensity of the vibration signal may be increased, and if the second prompt message is a voice prompt message, the volume of the voice prompt message may be increased. At the same time, when outputting the second prompt message, each time the second prompt message is output, the intensity of the vibration signal and / or the voice prompt signal increases by a certain amount.

[0110] Afterwards, the ECU may repeat the above process, each time outputting the second prompt message and waiting for a preset interval to detect again to determine whether the item on the steering wheel has been removed by the user; if the item on the steering wheel has been removed by the user, the ECU will control the steering wheel to return to the normal state from the displaced state; if the item on the steering wheel has not been removed by the user, the ECU will output the second prompt message again to prompt the user to remove the item on the steering wheel until the user removes the item on the steering wheel and the steering wheel returns to the normal state.

[0111] In an embodiment of the present application, after outputting a prompt message to prompt the user to remove the items on the steering wheel, if the user fails to remove the items on the steering wheel in time, the user can be prompted again to remove the items on the steering wheel. Multiple prompts can enable the user to remove the items on the steering wheel in time and control the steering wheel to return to normal, so that the user can be effectively protected by the airbag in the steering wheel in time.

[0112] See also Figure 4 , Figure 4 is a flow chart of a steering wheel control method provided in an embodiment of the present application. The execution subject of the method may be an ECU, such as Figure 4 As shown, the method may include steps 401 to 407:

[0113] Step 401: Determine whether the steering wheel is in a shift state.

[0114] Step 402: Determine the collision risk level of the vehicle.

[0115] In this embodiment, after the ECU is started, it can periodically detect the state of the steering wheel to determine whether the steering wheel is in a displaced state. When the steering wheel is in a displaced state, step 402 is executed to determine the collision risk level of the vehicle.

[0116] Step 403: Determine whether the collision risk level is greater than a preset threshold.

[0117] In this embodiment, after determining the collision risk level of the vehicle, it can be determined whether the collision risk level is greater than a preset threshold. If it is greater than the preset threshold, step 407 is executed to control the steering wheel to return from the displaced state to the normal state. If it is less than or equal to the preset threshold, step 404 is executed.

[0118] Step 404: Determine whether there is a collision risk.

[0119] In this embodiment, after determining the collision risk level of the vehicle, if it is determined that the collision risk level is less than or equal to the preset threshold, the ECU can continue to determine whether the vehicle has a collision risk according to the collision risk level. In combination with the above example, when the collision risk level is divided into 0, 1, 2, 3, 4 and 5, and the preset threshold is 3, if the collision risk level is 0, it can be determined that the vehicle has no collision risk, and if the collision risk level is any one of 1, 2 and 3, it can be determined that the vehicle has a collision risk, and at this time, steps 405, 406 and 407 can be executed in sequence.

[0120] Step 405: output the second prompt information.

[0121] Step 406: Determine whether the item is removed.

[0122] Step 407: Control the steering wheel to return from the displaced state to the normal state.

[0123] In this embodiment, when the collision risk level of the vehicle is less than or equal to the preset threshold value and it is determined that the vehicle has a collision risk, the ECU may first output the second prompt information, and then detect whether the object on the steering wheel is removed. When the object on the steering wheel is removed, step 407 is executed to control the steering wheel to return to the normal state from the displacement state. When the object on the steering wheel is not removed, the process returns to step 405 and outputs the second prompt information again until the object on the steering wheel is removed and the steering wheel returns to the normal state.

[0124] See also Figure 5 , Figure 5 Schematic diagram of the structure of a steering wheel control device provided in an embodiment of the present application. Figure 5 As shown, the steering wheel control device 500 is arranged in the ECU and may include:

[0125] A determination module 501, for determining a collision risk level of the vehicle when the steering wheel is in a displaced state;

[0126] The control module 502 is used to control the steering wheel to return from the displacement state to the normal state when the collision risk level is greater than a preset threshold, so that the airbag in the steering wheel pops out toward the driver.

[0127] Optionally, the control module 502 is specifically used to control the steering wheel to restore the target stroke from the displaced state to the normal state at a first recovery speed and output a first prompt message if there is an object on the steering wheel; wherein the first prompt message is used to prompt the user to remove the object on the steering wheel; after the steering wheel restores the target stroke to the normal state, control the steering wheel to restore from the current state to the normal state at a second recovery speed; wherein the second recovery speed is greater than the first recovery speed.

[0128] Optionally, the control module 502 is specifically used to control the steering wheel to recover from the current state to the normal state at the second recovery speed after the steering wheel recovers from the displaced state to a preset semi-displaced state; wherein the semi-displaced state is a state between the displaced state and the normal state in which it is difficult to carry objects, and the target stroke is the stroke between the semi-displaced state and the normal state; or, after detecting that the object on the steering wheel is removed, control the steering wheel to recover from the current state to the normal state at the second recovery speed; wherein the target stroke is the stroke from the displaced state to the current state of the steering wheel.

[0129] Optionally, the control module 502 is also used to determine the remaining travel of the steering wheel; wherein the remaining travel is the travel of the steering wheel from the current state to the normal state; determine the second recovery speed based on the remaining travel; wherein the second recovery speed is positively correlated with the remaining travel; or, determine the second recovery speed based on the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level.

[0130] Optionally, the control module 502 is also used to determine the weight of the items carried on the steering wheel before controlling the steering wheel to restore the target stroke from the displaced state to the normal state at a first recovery speed; determine the first recovery speed based on the weight; wherein the first recovery speed is negatively correlated with the weight.

[0131] Optionally, the control module 502 is also used to determine the second recovery speed according to the collision risk level if there is no object on the steering wheel; wherein the second recovery speed is positively correlated with the collision risk level; and control the steering wheel to recover from the displacement state to the normal state at the second recovery speed.

[0132] Optionally, the control module 502 is also used to output a second prompt message if it is detected that there is an object on the steering wheel when the collision risk level is less than or equal to the preset threshold, so as to prompt the user to remove the object on the steering wheel through the second prompt message; after outputting the second prompt message, if it is detected that the object on the steering wheel is removed, the steering wheel is controlled to return from the displaced state to the normal state.

[0133] Optionally, the control module 502 is further used to output the second prompt information again after a preset time interval if it is detected that the object on the steering wheel has not been removed; wherein the intensity of the second prompt information output each time is positively correlated with the number of times the second prompt information is output.

[0134] See also Figure 6 , Figure 6 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 6011, and the processor 602 is used to call and execute the executable program code 6011 to perform a seat adjustment method.

[0135] In addition, an embodiment of the present application also protects a steering wheel control device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to execute a steering wheel control method provided by an embodiment of the present application.

[0136] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0137] In the case of dividing each functional module according to each function, the device may also include a determination module, a replacement module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0138] It should be understood that the device provided in this embodiment is used to execute the above-mentioned steering wheel control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0139] In the case of an integrated unit, the device may include a determination module and a control module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0140] The processing module may be a processor or a vehicle body setting module, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0141] This embodiment also provides a readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a steering wheel control method provided by the above-mentioned embodiment.

[0142] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a steering wheel control method provided in the above embodiment.

[0143] Among them, the device, readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0144] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0145] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0146] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A steering wheel control method, characterized in that: The method comprises: Determine the collision risk level of the vehicle when the steering wheel is in a changed position; When the collision risk level is greater than a preset threshold, the steering wheel is controlled to return from the displaced state to a normal state, so that the airbag in the steering wheel pops out toward the driver.

2. The method according to claim 1, characterized in that The controlling the steering wheel to return from the displacement state to the normal state comprises: If there is an object on the steering wheel, the steering wheel is controlled to restore the target travel from the displacement state to the normal state at a first restoration speed, and a first prompt message is output; wherein the first prompt message is used to prompt the user to remove the object on the steering wheel; After the steering wheel recovers the target stroke to the normal state, the steering wheel is controlled to recover from the current state to the normal state at a second recovery speed; wherein the second recovery speed is greater than the first recovery speed.

3. The method according to claim 2, characterized in that After the steering wheel returns to the normal state to the target stroke, controlling the steering wheel to return to the normal state from the current state at a second return speed includes: After the steering wheel is restored from the displacement state to the preset semi-displacement state, the steering wheel is controlled to be restored from the current state to the normal state at the second restoration speed; wherein the semi-displacement state is a state between the displacement state and the normal state where it is difficult to carry items, and the target stroke is the stroke between the semi-displacement state and the normal state; Alternatively, after detecting that the object on the steering wheel is removed, the steering wheel is controlled to recover from the current state to the normal state at the second recovery speed; wherein the target stroke is the stroke from the displacement state to the current state of the steering wheel.

4. The method according to claim 2, characterized in that Before controlling the steering wheel to recover from the current state to the normal state at the second recovery speed, the method includes: Determine the remaining travel of the steering wheel; wherein the remaining travel is the travel of the steering wheel from the current state to the normal state; determine the second recovery speed according to the remaining travel; wherein the second recovery speed is positively correlated with the remaining travel; Alternatively, the second recovery speed is determined according to the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level.

5. The method according to claim 2, characterized in that Before controlling the steering wheel to restore the target stroke from the displacement state to the normal state at a first restoration speed, the method further includes: determining the weight of an item carried on the steering wheel; The first recovery speed is determined according to the weight; wherein the first recovery speed is negatively correlated with the weight.

6. The method according to claim 2, characterized in that The method further comprises: If there is no object on the steering wheel, the second recovery speed is determined according to the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level; The steering wheel is controlled to return from the displaced state to the normal state at the second return speed.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the collision risk level is less than or equal to the preset threshold, if it is detected that an object is carried on the steering wheel, outputting a second prompt message to prompt the user to remove the object on the steering wheel through the second prompt message; After the second prompt information is output, if it is detected that the object on the steering wheel is removed, the steering wheel is controlled to return from the displaced state to the normal state.

8. The method according to claim 7, characterized in that After outputting the second prompt information, the method further includes: After a preset time interval, if it is detected that the object on the steering wheel has not been removed, the second prompt information is output again; wherein the intensity of the second prompt information output each time is positively correlated with the number of times the second prompt information is output.

9. A steering wheel control device, characterized in that: The device comprises: A determination module, used to determine the collision risk level of the vehicle when the steering wheel is in a changed state; The control module is used for controlling the steering wheel to return from the displacement state to the normal state when the collision risk level is greater than a preset threshold value, so that the airbag in the steering wheel pops out toward the driver.

10. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

Images