A steering wheel control method, device, and vehicle

Abstract

This application provides a steering wheel control method, device, and vehicle, applied in the field of vehicle technology. The method includes: determining the vehicle's collision risk level when the steering wheel is in a displaced state; and controlling the steering wheel to return to a normal state if the collision risk level exceeds a preset threshold. The steering wheel control method provided in this application can promptly return the steering wheel to a normal state when there is a significant collision risk and a high probability of airbag deployment. This ensures that the airbags deploy directly towards the driver, effectively protecting them and thus guaranteeing the safety of vehicles with displaceable steering wheels.

Description

Technical Field

[0001] This 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 Technology

[0002] Currently, variable-position steering wheels are known. When a variable-position steering wheel is in its normal position, the driver can drive the vehicle normally using the steering wheel. When the variable-position steering wheel is in its displaced position, there is a large space between the steering wheel and the driver's seat, which facilitates the driver getting in and out of the vehicle. Furthermore, in the displaced position, the steering wheel can be used as a "table" for the user to eat, entertain, or work.

[0003] While a variable-position steering wheel can expand the driver's range of motion, when the steering wheel is in a variable position, it will cause the airbag to change direction when it deploys, making it unable to face the driver directly and thus failing to provide effective protection, which will significantly reduce the vehicle's safety. Summary of the Invention

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

[0005] Firstly, a steering wheel control method is provided, the method comprising:

[0006] Determine the vehicle's collision risk level when the steering wheel is in a displaced position;

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

[0008] In this embodiment, when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined. If the collision risk level is greater than a preset threshold, the steering wheel is controlled to return from the displaced state to the normal state. The steering wheel control method provided in this embodiment can promptly restore the steering wheel to the normal state when there is a significant collision risk and a high probability of airbag deployment. This ensures that the airbags deploy directly towards the driver, effectively protecting them and thus guaranteeing the safety of vehicles with displaceable steering wheels.

[0009] Moreover, compared to adding additional airbags, this method eliminates the need for extra airbags, thus avoiding increased manufacturing costs and complexity. Furthermore, compared to adjusting the airbag deployment angle, having the steering wheel in its normal position facing the driver ensures that the airbags deploy directly towards the driver, providing a higher level of safety.

[0010] Optionally, controlling the steering wheel to return from the displaced state to the normal state includes: if the steering wheel is carrying an item, controlling the steering wheel to return from the displaced state to the normal state at a first recovery speed with a target travel distance, and outputting a first prompt message; wherein the first prompt message is used to prompt the user to remove the item from the steering wheel; after the steering wheel returns to the normal state with the target travel distance, controlling the steering wheel to return 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 this embodiment, when the vehicle has a high collision risk level and there are items 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 low first recovery speed, and the user is prompted to remove the items on the steering wheel. Then, the steering wheel is controlled to recover to the normal state at a second recovery speed. This can reduce the probability of items falling off the steering wheel and reduce the possible damage to the user, while also allowing the steering wheel to quickly return to the normal state.

[0012] 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: after the steering wheel recovers from the displaced state to a preset half-displaced state, controlling the steering wheel to recover from the current state to the normal state at the second recovery speed; wherein, the half-displaced state is a state between the displaced state and the normal state where it is difficult to carry an object, and the target travel is the travel between the half-displaced state and the normal state; or, after detecting that an object has been removed from the steering wheel, controlling the steering wheel to recover from the current state to the normal state at the second recovery speed; wherein, the target travel is the travel from the displaced state to the current state of the steering wheel.

[0013] In this embodiment, a semi-displaced state that can support items can be preset. When items can be placed on the steering wheel, the steering wheel is controlled to return to the normal state at a lower first recovery speed, and a prompt message is output to remind the user to remove the items on the steering wheel. When items are difficult to place on the steering wheel, the steering wheel is controlled to return to the normal state at a higher second recovery speed. This can reduce the probability of items falling off the steering wheel and reduce potential damage to the user, while also allowing the steering wheel to quickly return to the normal state.

[0014] Optionally, before controlling the steering wheel to return to the normal state from the current state at a second recovery speed, the method includes: determining 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; determining the second recovery speed based on the remaining travel; wherein the second recovery speed is positively correlated with the remaining travel; 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 this embodiment, a second recovery speed is determined based on the remaining steering wheel travel, and the remaining travel is controlled to be positively correlated with the second recovery speed. This allows for faster steering wheel recovery when the remaining travel is large, enabling the steering wheel to quickly return to its normal state. Furthermore, by determining the second recovery speed based on the collision risk level and controlling the collision risk level to be positively correlated with the second recovery speed, the speed at which the steering wheel returns to its normal state can be accelerated when the vehicle's collision risk is high, thereby improving vehicle safety.

[0016] Optionally, before controlling the steering wheel to recover the target travel from the displaced state to the normal state at a first recovery speed, the method further includes: determining the weight of the item 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 this embodiment of the application, when there are no items on the steering wheel, directly determining the second recovery speed that is positively correlated with the collision risk level can enable the steering wheel to recover from the displaced state to the normal state at a faster speed, thereby improving vehicle safety.

[0018] Optionally, the method further includes: if the steering wheel is not carrying any items, determining a second recovery speed based on 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 this embodiment, 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 further includes: if an item is detected on the steering wheel when the collision risk level is less than or equal to the preset threshold, outputting a second prompt message to prompt the user to remove the item from the steering wheel; and if the item on the steering wheel is detected to have been removed after the second prompt message is output, controlling the steering wheel to return from the displaced state to the normal state.

[0021] In this embodiment of the 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 has a low collision risk, a prompt message can be output to prompt the user to remove the items on the steering wheel, and then the steering wheel can be controlled to return to normal. This can reduce the risk of items falling and being damaged, and can also allow the steering wheel to return to normal in time, thereby enabling the airbag in the steering wheel to effectively protect the driver.

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

[0023] In this embodiment of the application, after outputting a prompt message to remind the user to remove the items on the steering wheel, if the user does not remove the items on the steering wheel in time, the user can be prompted again to remove the items on the steering wheel. By prompting multiple times, the user can be prompted to remove the items on the steering wheel in time and control the steering wheel to return to normal, so that the airbag in the steering wheel can effectively protect the user in time.

[0024] Secondly, a steering wheel control device is provided, the device comprising:

[0025] The determination module is used to determine the collision risk level of a vehicle when the steering wheel is in a displaced position.

[0026] The control module is used to control the steering wheel to return from the displaced state to the normal state when the collision risk level is greater than a preset threshold, so that the airbag in the steering wheel will deploy towards the driver.

[0027] Thirdly, a vehicle is provided, the vehicle comprising:

[0028] Memory, used to store executable program code;

[0029] A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the method in any possible implementation of the first aspect described above.

[0030] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the method in any possible implementation of the first aspect described above.

[0031] Fifthly, a readable storage medium is provided that stores computer program code, which, when run on a computer, causes the computer to perform the method in any possible implementation of the first aspect described above. Attached Figure Description

[0032] Figure 1 This is a schematic diagram illustrating the state changes of a variable-position steering wheel according to an embodiment of this application;

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

[0034] Figure 3 This is a flowchart illustrating the steps of a steering wheel control method provided in an embodiment of this application;

[0035] Figure 4 This is a flowchart illustrating a steering wheel control method provided in an embodiment of this application;

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

[0037] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0038] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0039] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0040] Currently, some vehicles are equipped with variable-position steering wheels. When the variable-position steering wheel is in the normal position, the driver can drive the vehicle normally by steering the wheel. When the variable-position steering wheel is in the deflected position, there is a large space between the steering wheel and the driver's seat, which makes it easier for the driver to get in and out of the vehicle.

[0041] See Figure 1 , Figure 1 This is a schematic diagram illustrating the state changes of a variable-position steering wheel according to an embodiment of this application. Figure 1 As shown in the left figure, when the steering wheel 10 is in its normal position, it is tilted, roughly facing the driver 20. The deployment direction (also called the deployment angle or burst angle) of the airbag inside the steering wheel 10 is towards the driver 20, direction A, which can effectively protect the driver 20. During vehicle use, if... Figure 1 As shown in the right figure, the driver can control the steering wheel 10 to rotate a certain angle, for example, counterclockwise, to flip the steering wheel to a horizontal position, or to a position between a horizontal and normal position. When the steering wheel 10 is in a horizontal position, it roughly faces the roof, and the airbag deploys in direction B, pointing towards the roof. When the steering wheel 10 is in a position between a horizontal and normal position, it faces, for example, direction C, and the airbag deploys roughly in direction C as well. In these situations, it is difficult to provide effective protection for the driver, significantly reducing vehicle safety.

[0042] The normal state, also known as the conventional state or driving state, refers to the steering wheel facing the user, allowing the user to operate it and control the vehicle's direction. The displaced state, also known as the abnormal state, refers to the state where the steering wheel has shifted and is not in the normal state; in this case, the steering wheel is displaced to its maximum angle or between the maximum angle and the normal state. For example... Figure 1 As shown, when the steering wheel is rotated to its maximum angle, it faces the roof and is in a horizontal position (also known as a flat position). When the steering wheel is rotated to a smaller angle, its orientation, for example, in the C direction, forms a certain angle with the horizontal line. In other words, when the steering wheel is in a rotated position, it may be in a horizontal position or it may form a certain angle with the horizontal line.

[0043] In related technologies, to effectively protect the driver when the steering wheel is in a displaced position, one method is to install an additional airbag on the steering wheel. This airbag deploys when the steering wheel is in a displaced position, and the deployment direction is directly towards the driver, providing effective protection. This method requires an additional airbag, increasing both the vehicle's cost and manufacturing complexity. Another method is to adjust the airbag's deployment angle when the steering wheel is in a displaced position. The problem with this method is that, limited by the mechanical structure, the adjustment range of the deployment direction is small, making it difficult to ensure the airbag deploys perfectly directly towards the driver, resulting in lower protection effectiveness.

[0044] To address the aforementioned technical problems, this application provides a steering wheel control method. In this method, when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined. If the collision risk level exceeds a preset threshold, the steering wheel is controlled to return from the displaced state to the normal state. This allows the steering wheel to be promptly returned to the normal state when there is a significant collision risk and a high probability of airbag deployment. This ensures that the airbags deploy directly towards the driver, effectively protecting them and thus guaranteeing the safety of vehicles with displaced steering wheels.

[0045] Moreover, compared to adding additional airbags, this method eliminates the need for extra airbags, thus avoiding increased manufacturing costs and complexity. Furthermore, compared to adjusting the airbag deployment angle, having the steering wheel facing the driver in its normal position ensures the airbags deploy directly towards the driver, providing a higher level of safety.

[0046] See Figure 2 , Figure 2 This is a schematic diagram illustrating the control principle of a steering wheel according to an embodiment of this application. Figure 2 The vehicle's steering system 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 the various components of the steering system.

[0047] The electronic control unit 23 is connected to the Advanced Driver Assistance Systems (ADAS) 24. The ADAS 24 can be installed in the vehicle's Head Unit Terminal (HUT). The ADAS 24 connects to sensors such as radar 25 and cameras 26 in the vehicle, and can detect the surrounding environment using these sensors to obtain environmental data. Based on this data, the ADAS determines the vehicle's collision risk level and provides this level to the electronic control unit 23. After obtaining the collision risk level from the ADAS 24, the electronic control unit 23, if the collision risk level exceeds a preset threshold, controls the steering wheel to return from a displaced state to a normal state. The method by which the ADAS determines the collision risk level based on environmental data can be configured according to specific requirements; this embodiment does not impose any limitations on this.

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

[0049] See Figure 3 , Figure 3 This is a flowchart illustrating the steps of a steering wheel control method provided in an embodiment of this application. The executing entity of this method can be an ECU in the steering system, such as... Figure 3 As shown, the method may include steps 301 and 302.

[0050] Step 301: Determine the collision risk level of the vehicle while the steering wheel is in a displaced position.

[0051] For example, the steering system includes an angle sensor connected to the ECU. The angle sensor detects the rotation angle of the steering wheel. During operation, if the ECU detects a corresponding rotation angle of the steering wheel via the angle sensor... Figure 2 If the position N shown indicates that the steering wheel is in a normal state, then the steering wheel rotation angle detected by the angle sensor corresponds to... Figure 2 If the position M shown is a position between M and N (e.g., position W), then the steering wheel is determined to be in a displaced state.

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

[0053] In another implementation, during vehicle operation, ADAS can periodically detect and acquire environmental data, and determine the vehicle's collision risk level based on the environmental data. ADAS can send the collision risk level to the ECU after each determination, or it can send the most recently determined collision risk level to the ECU when it receives a data request from the ECU.

[0054] For example, the collision risk level of a vehicle can be sequentially 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. Collision risk level 0 indicates that the vehicle has no collision risk, and the probability of a collision gradually increases from collision risk level 1 to collision risk level 5. In practical applications, the collision risk level of a vehicle can be divided using known methods such as those disclosed in CN114248794A, or other methods can be used. This embodiment does not impose any restrictions on this.

[0055] Step 302: If the collision risk level is greater than the preset threshold, control the steering wheel to return from the displaced state to the normal state so that the airbag in the steering wheel deploys towards 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, such as a collision risk level of 3. When the collision risk level is greater than the preset threshold, it indicates that the probability of a collision is high, that is, the probability of the airbags deploying is high. When it is determined that the collision risk level at the current moment is greater than the preset threshold, the ECU can control the steering wheel to return from the displaced state to the normal 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., collision risk level 3). At this time, the ECU can control the drive mechanism installed on the steering column 22 to drive the steering wheel from position M to position N, so that the steering wheel returns from the displaced state to the normal state.

[0058] Optionally, when the collision risk level is determined to be greater than a preset threshold, the ECU can also control the vehicle to output a warning message, alerting the user that the vehicle faces a significant collision risk and that the steering wheel needs to be returned to its normal position. For example, if the ECU is connected to a host terminal, it can send a warning notification to the host terminal when the collision risk level is determined to be greater than the preset threshold. After receiving the warning notification, the host terminal can control the vehicle's speakers to output a voice prompt, alerting the user that the vehicle faces a significant collision risk and that the steering wheel needs to be returned to its normal position. Alternatively, a vibration motor can be installed on the driver's seat and / or steering wheel. The ECU is connected to the vibration motor, and when the collision risk level is determined to be greater than the preset threshold, the ECU can control the vibration motor to vibrate, causing the driver's seat and / or steering wheel to vibrate and output a vibration signal (i.e., a warning message) to the user, alerting them that the vehicle faces a significant collision risk and that the steering wheel needs to be returned to its normal position.

[0059] Optionally, during the process of controlling the steering wheel to return from a displaced state to a normal state, the ECU can first determine the recovery speed based on the collision risk level. The higher the collision risk level, the faster the recovery speed. Then, the ECU controls the steering wheel to return from the displaced state to a normal state based on the recovery speed. For example, corresponding recovery speeds can be set for collision risk levels 1, 2, 3, 4, and 5. The higher the collision risk level, the faster the corresponding recovery speed. The recovery speed can specifically be the rotation angle of the steering wheel per unit time. For instance, when the collision risk level is 4, it can be determined that the collision risk level is greater than a preset threshold (i.e., collision risk level 3). At this time, the ECU can determine the recovery speed corresponding to collision risk level 4, and then control the steering wheel to rotate from position M to position N at the recovery speed corresponding to collision risk level 4, so that the steering wheel returns from the displaced state to a normal state.

[0060] In this embodiment, when the steering wheel is in a displaced state, the collision risk level of the vehicle is determined. If the collision risk level is greater than a preset threshold, the steering wheel is controlled to return from the displaced state to the normal state. The steering wheel control method provided in this embodiment can promptly restore the steering wheel to the normal state when there is a significant collision risk and a high probability of airbag deployment. This ensures that the airbags deploy directly towards the driver, effectively protecting them and thus guaranteeing the safety of vehicles with displaceable steering wheels.

[0061] Moreover, compared to adding additional airbags, this method eliminates the need for extra airbags, thus avoiding increased manufacturing costs and complexity. Furthermore, compared to adjusting the airbag deployment angle, having the steering wheel in its normal position facing the driver ensures that the airbags deploy directly towards the driver, providing a higher level of safety.

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

[0063] If there are items on the steering wheel, the steering wheel is controlled to return to the normal position from the displaced state at a first recovery speed, and a first prompt message is output; the first prompt message is used to prompt the user to remove the items on the steering wheel.

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

[0065] In practical applications, when the steering wheel is in the displaced position, the driver may place items such as a water bottle, mobile phone, or laptop on it. If the steering wheel is then moved back to its normal position, these items may fall off, potentially damaging them or causing injury to the driver (i.e., the user).

[0066] In this embodiment, after determining that the vehicle's collision risk level 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 installed inside the vehicle, and the steering wheel is within the camera's field of view. When the collision risk level is determined to be greater than the preset threshold, the ECU can send a request message to the HUT. After receiving the request message, the HUT can take an image of the steering wheel's location using the camera, and then perform image recognition based on the captured image to determine whether there is an object on the steering wheel. If there is an object on the steering wheel, it sends a first identification message to the ECU; if there is no object on the steering wheel, it sends a second identification message to the ECU. The ECU determines that there is an object on the steering wheel when it receives the first identification message, and determines that there is no object on the steering wheel when it receives the second identification message.

[0067] For example, a load cell is installed on the steering wheel, and the ECU is connected to the load cell. After determining that the vehicle's collision risk level is greater than a preset threshold, the ECU can use the load cell to detect the weight of an item placed on the steering wheel. When the detected weight is greater than the weight of the steering wheel itself, it is determined that an item is being carried on the steering wheel. The above are just examples; specific methods for determining whether an item is being carried on the steering wheel may include, but are not limited to, the examples above.

[0068] In one implementation, the first recovery speed can be a preset recovery speed, and the target stroke can be a preset fixed stroke. For example... Figure 2 As shown, when the steering wheel is in position W, the item cannot be stably placed on the steering wheel. The travel distance between position W and position M can be set as the target travel distance, which is angle X2. After determining that the steering wheel is carrying an item, 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, so as to rotate to position W, so that the steering wheel recovers the target travel distance from the displaced state to the normal state.

[0069] During the process of controlling the steering wheel to return to its target travel from the displaced state to the normal state at a first recovery speed, the ECU can simultaneously output a first prompt message, such as a voice prompt and a vibration signal, to remind the user to remove any items placed on the steering wheel as soon as possible. The ECU can output the first prompt message first, and then immediately control the steering wheel to return to its normal state at the first recovery speed; alternatively, it can output the first prompt message simultaneously with controlling the steering wheel to return to its normal state at the first recovery speed.

[0070] In one implementation, the second recovery speed can also be a preset recovery speed, which can be pre-stored in the ECU. The second recovery speed is greater than the first recovery speed. For example, when controlling the steering wheel to recover from a displaced state to a half-displaced state at the first recovery speed, the ECU can monitor the steering wheel's rotation angle. When the rotation angle reaches angle W2, it determines 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 can obtain the pre-stored second recovery speed, switch the steering wheel's 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 by angle X1 at the second recovery speed, so that the steering wheel is fully restored to its normal state.

[0071] like Figure 2 As shown, the first recovery speed can be a smaller value, so that the steering wheel moves at a lower speed from position M to position W, which reduces the probability of items falling off the steering wheel and provides the user with more reaction time to remove the items. The second recovery speed can be a larger value, so that the steering wheel can be returned to its normal state in a timely manner, ensuring that the airbags deploy directly towards the user in the event of a collision, effectively protecting the user.

[0072] In this embodiment, when the vehicle has a high collision risk level and there are items 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 low first recovery speed, and the user is prompted to remove the items on the steering wheel. Then, the steering wheel is controlled to recover to the normal state at a second recovery speed. This can reduce the probability of items falling off the steering wheel and reduce the possible damage to the user, while also allowing the steering wheel to quickly return to the normal state.

[0073] Optionally, after the steering wheel returns to its target travel from the current state to the normal state, the steering wheel is controlled to return to the normal state from the current state at a second recovery speed, including:

[0074] After the steering wheel returns from the displaced state to the preset half-displaced state, control the steering wheel to return to the normal state from the current state at a second recovery speed; or, after detecting that an item has been removed from the steering wheel, control the steering wheel to return to the normal state from the current state at a second recovery speed.

[0075] The semi-displaced state is a state between the fully displaced state and the normal state. When the steering wheel is in the semi-displaced state, it is difficult for the steering wheel to support an object. The target travel distance at this time is the travel distance between the semi-displaced state and the normal state. Figure 2 For example, if the semi-displacement state is the state when the steering wheel is in position W, then the target travel is a fixed travel, i.e., angle W2. Optionally, the semi-displacement state can be an intermediate position between the displacement state and the normal state. In practical applications, the semi-displacement state can be set according to the structure of the steering wheel. When the steering wheel is in the displacement state and the semi-displacement state, it is possible to place items; when it is in the semi-displacement state and the normal state, it is difficult to place items.

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

[0077] In one implementation, the target travel distance can be dynamic. After the ECU controls the steering wheel to return to its normal state at a first recovery speed and outputs a first prompt message, it can detect items on the steering wheel in real time. If it detects that an item has been removed from the steering wheel, it controls the steering wheel's recovery speed to switch from the first recovery speed to a second recovery speed, and then controls the steering wheel to return to its normal state at the second recovery speed. In this case, the state of the steering wheel at the moment the ECU detects that an item has been removed from the steering wheel is the current state, and the target travel distance is the distance from the displaced state to the moment the removal of the item from the steering wheel is detected.

[0078] For example, the ECU first controls the steering wheel to rotate from position M to position N at a first recovery speed, while simultaneously detecting whether an item on the steering wheel has been removed. During the rotation of the steering wheel, if at some point the steering wheel detects that an item has been removed, it can start controlling the steering wheel to continue rotating towards position N at a second recovery speed from that moment.

[0079] In this embodiment, a semi-displaced state that can support items can be preset. When items can be placed on the steering wheel, the steering wheel is controlled to return to the normal state at a lower first recovery speed, and a prompt message is output to remind the user to remove the items on the steering wheel. When items are difficult to place on the steering wheel, the steering wheel is controlled to return to the normal state at a higher second recovery speed. This can reduce the probability of items falling off the steering wheel and reduce potential damage to the user, while also allowing the steering wheel to quickly return to the normal state.

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

[0081] Determine the remaining travel of the steering wheel; wherein the remaining travel is the distance the steering wheel travels from its current state to its 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 a 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 implementation, during the process of controlling the steering wheel to return to its normal state at a second recovery speed, the ECU first determines the remaining travel of the steering wheel, and then determines the second recovery speed corresponding to the remaining travel. The larger the remaining travel, the larger the second recovery speed. For example, during the process of controlling the steering wheel to return to its normal state at a first recovery speed, if an item on the steering wheel is detected to be removed at a certain moment, the angle between the position of the steering wheel at that moment and position N can be determined, and this angle can be used as the remaining travel.

[0083] For example, a starting value for the second recovery speed can be set, and an initial remaining stroke corresponding to the starting value can be set, wherein 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, then it determines the second recovery speed as the starting value; if it determines that the actual remaining stroke is greater than the initial remaining stroke, then it calculates the difference between the actual remaining stroke and the initial remaining stroke, and calculates the product between the difference and a preset proportional coefficient, and then sums the starting value and the product 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 methods for determining the second recovery speed based on the remaining journey may include, but are not limited to, the examples above.

[0085] In another implementation, the second recovery speed can be determined directly based on the collision risk level, which 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, with higher collision risk levels corresponding to higher recovery speeds. In determining the second recovery speed, if the collision risk level is 4, the recovery speed corresponding to collision risk level 4 can be determined as the second recovery speed.

[0086] In this embodiment, a second recovery speed is determined based on the remaining steering wheel travel, and the remaining travel is controlled to be positively correlated with the second recovery speed. This allows for faster steering wheel recovery when the remaining travel is large, enabling the steering wheel to quickly return to its normal state. Furthermore, by determining the second recovery speed based on the collision risk level and controlling the collision risk level to be positively correlated with the second recovery speed, the speed at which the steering wheel returns to its normal state can be accelerated when the vehicle's collision risk is high, thereby improving vehicle safety.

[0087] Optionally, the method may further include:

[0088] If there are no objects on the steering wheel, a second recovery speed is determined based on the collision risk level; 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 recovery speed.

[0089] In one implementation, when it is determined that the steering wheel is not carrying any objects, the ECU can directly determine the corresponding second recovery speed based on the collision risk level, and then control the steering wheel to directly return from the displaced state to the normal state at the second recovery speed. The method for determining the second recovery speed based on the collision risk level can be referred to the example above, and this embodiment does not limit it.

[0090] In this embodiment of the application, when there are no items on the steering wheel, directly determining the second recovery speed that is positively correlated with the collision risk level can enable the steering wheel to recover from the displaced state to the normal state at a faster speed, thereby improving vehicle safety.

[0091] Optionally, before controlling the steering wheel to recover the target travel from the displaced state to the normal state at a first recovery speed, the method may further include:

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

[0093] The first recovery rate is determined based on weight; wherein, the first recovery rate is negatively correlated with weight.

[0094] In one implementation, during the process of controlling the steering wheel to recover 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 item on the steering wheel, determine the corresponding first recovery speed based on the weight of the item on the steering wheel, and control the first recovery speed to be negatively correlated with the weight of the item, that is, the heavier the item, the slower the first recovery speed.

[0095] For example, multiple consecutive weight ranges can be preset, with the upper limit of the previous weight range being the lower limit of the next weight range between two adjacent weight ranges. Simultaneously, a corresponding recovery speed is set for each weight range, with the recovery speed of the previous weight range being greater than that of the next. In controlling the steering wheel to recover its target travel from the displaced state to the normal state at the first recovery speed, the ECU first detects and determines the weight of the item on the steering wheel using a load cell, and then identifies the target weight range from the multiple weight ranges, using the recovery speed corresponding to the target weight range as the first recovery speed. Then, the steering wheel can be controlled to recover its target travel from the displaced state to the normal state at the first recovery speed.

[0096] It should be understood that the above are merely illustrative examples, and specific methods for controlling the negative correlation between the first recovery speed and the weight of the item may include, but are not limited to, the examples above.

[0097] In this embodiment, 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 travel from the displaced state to the normal state at a first recovery speed, the method may further include: determining the type of the item carried on the steering wheel, and determining the first recovery speed based on the item type.

[0099] In another implementation, multiple item types can be pre-set for items carried on the steering wheel. During the determination of the first recovery speed, the corresponding first recovery speed can be determined based on the item type. For example, based on the potential damage an item on the steering wheel might cause to the user, the item types can be categorized as low-risk, high-risk, and non-risk items. Different recovery speeds can be set for each of these categories. During the determination of the first recovery speed, the ECU can send a data request to the HUT. After receiving the data request, the HUT takes an image of the steering wheel's location using a camera, then uses image recognition to determine the item type on the steering wheel. The determined item type is one of low-risk, high-risk, or non-risk. The recovery speed corresponding to the determined item type is then used as the first recovery speed, and the steering wheel is controlled to recover the target travel from the displaced state to the normal state at the first recovery speed.

[0100] Optionally, the method may further include:

[0101] If an item is detected on the steering wheel when the collision risk level is less than or equal to a preset threshold, a second prompt message is output to prompt the user to remove the item from the steering wheel.

[0102] After the second prompt message is output, if it is detected that an item has been removed from the steering wheel, the steering wheel is controlled to return from the displaced state to the normal state.

[0103] A collision risk level less than or equal to a preset threshold indicates that the vehicle poses a collision risk, but the probability of a collision is low. For example, if collision risk levels are sequentially 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 is set to 3, then when the collision risk level is 1, 2, or 3, the vehicle's collision risk level is determined to be less than the preset threshold, meaning the vehicle poses 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 is an object on the steering wheel. If there is no object on the steering wheel, the ECU can directly control the steering wheel to return from the displaced state to the normal state. Conversely, if there is an object on the steering wheel, the ECU can first output a second prompt message to prompt the user to remove the object from the steering wheel. After outputting the second prompt message, the ECU can detect whether there is an object on the steering wheel again. If an object is detected, it is determined that the object has not been removed; if no object is detected, it is determined that the object has been removed by the user. After determining that the object has been removed by the user, the ECU can control the steering wheel to return from the displaced state to the normal state. The method of outputting the second prompt message is similar to the method of outputting the first prompt message, and will not be described in detail here.

[0105] Optionally, after outputting the second prompt message and detecting that an item has been removed from the steering wheel, the ECU can first determine the recovery speed corresponding to the collision risk level, where the collision risk level is positively correlated with the recovery speed. Then, the ECU can control the steering wheel to return from the displaced state to its normal state at the recovery speed corresponding to the collision risk level.

[0106] In this embodiment of the 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 has a low collision risk, a prompt message can be output to prompt the user to remove the items on the steering wheel, and then the steering wheel can be controlled to return to normal. This can reduce the risk of items falling and being damaged, and can also allow the steering wheel to return to normal in time, thereby enabling the airbag in the steering wheel to effectively protect the driver.

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

[0108] If, after a preset time interval, the item on the steering wheel is not removed, a second prompt message is output again; the intensity of each second prompt message is positively correlated with the number of times the second prompt message is output.

[0109] In one implementation, after outputting the second prompt message, the ECU can wait for a preset interval (e.g., 3 seconds) and then check again to determine whether the item on the steering wheel has been removed by the user. If the item has been removed, the ECU controls the steering wheel to return from the displaced state to the normal state. Conversely, if the item has not been removed, the ECU outputs the second prompt message again to prompt the user to remove the item, and the intensity of the second prompt message can be increased. For example, if the second prompt message is a vibration signal, the vibration intensity can be increased; if the second prompt message is a voice prompt, the volume can be increased. Furthermore, 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 can repeat the above process, and after each output of the second prompt message and a preset interval, it will check 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 from the displaced state to the normal 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 this embodiment of the application, after outputting a prompt message to remind the user to remove the items on the steering wheel, if the user does not remove the items on the steering wheel in time, the user can be prompted again to remove the items on the steering wheel. By prompting multiple times, the user can be prompted to remove the items on the steering wheel in time and control the steering wheel to return to normal, so that the airbag in the steering wheel can effectively protect the user in time.

[0112] See Figure 4 , Figure 4 This is a flowchart illustrating a steering wheel control method provided in an embodiment of this application. The execution entity of this method can be an ECU, such as... Figure 4 As shown, the method may include steps 401 to 407:

[0113] Step 401: Determine if the steering wheel is in a displaced position.

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

[0115] In this embodiment, after the ECU starts running, 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 the 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 if there is a risk of collision.

[0119] In this embodiment, after determining the collision risk level of the vehicle, if the collision risk level is less than or equal to a preset threshold, the ECU can continue to determine whether the vehicle has a collision risk based on the collision risk level. Referring to the above example, when the collision risk levels are 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; if the collision risk level is any one of 1, 2, and 3, it can be determined that the vehicle has a collision risk. In this case, steps 405, 406, and 407 can be executed sequentially.

[0120] Step 405: Output the second prompt message.

[0121] Step 406: Determine if the item has been removed.

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

[0123] In this embodiment, when the vehicle's collision risk level is less than or equal to a preset threshold, and a collision risk is determined, the ECU can first output a second warning message, then detect whether the item on the steering wheel has been removed. If the item on the steering wheel has been removed, step 407 is executed, controlling the steering wheel to return from the displaced state to the normal state. If the item on the steering wheel has not been removed, step 405 is executed again, and the second warning message is output again, until the item on the steering wheel is removed and the steering wheel returns to the normal state.

[0124] See Figure 5 , Figure 5 This is a schematic diagram of the structure of a steering wheel control device provided in an embodiment of this application. Figure 5 As shown, the steering wheel control device 500 is located in the ECU and may include:

[0125] The determination module 501 is used to determine the 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 displaced state to the normal state when the collision risk level is greater than a preset threshold, so that the airbag in the steering wheel will deploy towards the driver.

[0127] Optionally, the control module 502 is specifically configured to, if there is an item on the steering wheel, control the steering wheel to recover the target travel from the displaced state to the normal state at a first recovery speed, and output a first prompt message; wherein, the first prompt message is used to prompt the user to remove the item on the steering wheel; after the steering wheel recovers the target travel to the normal state, control 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.

[0128] Optionally, the control module 502 is specifically configured to, after the steering wheel recovers from the displaced state to a preset half-displaced state, control the steering wheel to recover from the current state to the normal state at a second recovery speed; wherein, the half-displaced state is a state between the displaced state and the normal state where it is difficult to carry an object, and the target travel distance is the travel distance between the half-displaced state and the normal state; or, after detecting that an object has been removed from the steering wheel, control the steering wheel to recover from the current state to the normal state at the second recovery speed; wherein, the target travel distance is the travel distance from the displaced state to the current state of the steering wheel.

[0129] Optionally, the control module 502 is further configured 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 further configured to determine the weight of the item carried on the steering wheel before controlling the steering wheel to recover the target stroke from the displaced state to the normal state at a first recovery speed; and 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 further configured to determine the second recovery speed according to the collision risk level if the steering wheel is not carrying any items; 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 further configured to, if the collision risk level is less than or equal to the preset threshold, output a second prompt message to prompt the user to remove the item from the steering wheel if an item is detected on the steering wheel, and after outputting the second prompt message, if the item on the steering wheel is detected to have been removed, control the steering wheel to return from the displaced state to the normal state.

[0133] Optionally, the control module 502 is further configured to output the second prompt information again after a preset time interval if it is detected that the item 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 Figure 6 , Figure 6 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. For example... Figure 6 As shown, the vehicle 600 includes a memory 601 and a processor 602. The memory 601 stores 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] Furthermore, embodiments of this application also protect 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 perform a steering wheel control method provided in embodiments of this application.

[0136] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0137] When the functional modules are divided according to their respective functions, the device may also include a determining module, a replacing module, and a controlling module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced to the functional descriptions of the corresponding functional modules, and will not be repeated here.

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

[0139] When using an integrated unit, the device may include a determination module and a control module. Specifically, when the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code, etc.

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

[0141] This embodiment also provides a readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned related method steps to implement the steering wheel control method provided in the above embodiment.

[0142] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a steering wheel control method provided in the above embodiment.

[0143] In this embodiment, the device, readable storage medium, computer program product or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0144] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0146] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A steering wheel control method, characterized in that, The method includes: Determine the vehicle's collision risk level when the steering wheel is in a displaced position; If the collision risk level is greater than a preset threshold, the steering wheel is controlled to return from the displaced state to the normal state so that the airbag in the steering wheel deploys toward the driver.

2. The method as described in claim 1, characterized in that, The control of the steering wheel to return from the displaced state to the normal state includes: If the steering wheel is carrying an item, the steering wheel is controlled to recover the target travel from the displaced state to the normal state at a first recovery speed, and a first prompt message is output; wherein, the first prompt message is used to prompt the user to remove the item from the steering wheel; After the steering wheel resumes the target travel to the normal state, the steering wheel is controlled to resume 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 as described in claim 2, characterized in that, After the steering wheel returns to the target travel from the current state to the normal state, controlling the steering wheel to return to the normal state at a second recovery speed includes: After the steering wheel recovers from the displaced state to a preset half-displaced state, the steering wheel is controlled to recover from the current state to the normal state at the second recovery speed; wherein, the half-displaced state is a state between the displaced state and the normal state that is difficult to carry an object, and the target travel is the travel between the half-displaced state and the normal state; Alternatively, after detecting that an item has been removed from the steering wheel, the steering wheel is controlled to return from its current state to the normal state at the second recovery speed; wherein the target travel distance is the travel distance from the displaced state to the current state of the steering wheel.

4. The method as described in claim 2, characterized in that, Before controlling the steering wheel to return to the normal state from the current state at a second recovery speed, the method includes: Determine the remaining travel of the steering wheel; wherein the remaining travel is the distance the steering wheel travels from its current state to its normal state; determine the second recovery speed based on the remaining travel; wherein the second recovery speed is positively correlated with the remaining travel; Alternatively, the second recovery speed may be determined based on the collision risk level; wherein the second recovery speed is positively correlated with the collision risk level.

5. The method as described in claim 2, characterized in that, Before controlling the steering wheel to return to the target travel from the displaced state to the normal state at a first recovery speed, the method further includes: Determine the weight of the items carried on the steering wheel; The first recovery rate is determined based on the weight; wherein the first recovery rate is negatively correlated with the weight.

6. The method as described in claim 2, characterized in that, The method further includes: If the steering wheel is not carrying any items, the second recovery speed is determined based on 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 recovery speed.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: If the collision risk level is less than or equal to the preset threshold, and an item is detected on the steering wheel, a second prompt message is output to prompt the user to remove the item from the steering wheel. After outputting the second prompt message, if it is detected that an item has been removed from the steering wheel, the steering wheel is controlled to return from the displaced state to the normal state.

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

9. A steering wheel control device, characterized in that, The device includes: The determination module is used to determine the collision risk level of a vehicle when the steering wheel is in a displaced position. The control module is used to control the steering wheel to return from the displaced state to the normal state when the collision risk level is greater than a preset threshold, so that the airbag in the steering wheel will deploy towards the driver.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

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