Steering wheel control method and device and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a steering wheel control method and device and a vehicle. The steering wheel control method comprises the steps that when it is detected that a steering wheel rotates, friction torque is generated, and the friction torque is used for limiting rotation of the steering wheel; and in response to the steering wheel stopping autorotation, controlling the friction torque to remain unchanged so as to keep the steering wheel at the current position or the current angle unchanged. The phenomenon that the steering wheel rotates under the action of no friction torque is effectively avoided, then the driving requirement of a user can be met, and the driving safety is improved.

Description

Technical Field

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

[0002] At present, the steering wheels in most vehicles are equipped with a reduction mechanism, such as a worm gear or a planetary gear, and the reduction ratio is usually 1:11. The friction torque that can be provided is about 0.5 Nm~1 Nm to counteract the torque of the steering wheel rotation, so that the steering wheel can remain at a certain angle or position unchanged even in an asymmetric position to meet the user's driving needs.

[0003] However, for steering wheels that are not equipped with a deceleration mechanism, due to the uneven texture of the steering wheel, when the steering wheel is not in a symmetrical position after the user lets go, the steering wheel will rotate under the influence of gravity, causing the steering wheel to be unable to maintain the angle or position required by the user, and thus unable to meet the user's driving needs. In serious cases, it will affect driving safety. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a steering wheel control method, device and vehicle.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a steering wheel control method, comprising: In response to detecting that the steering wheel rotates, generating a friction torque, wherein the friction torque is used to limit the steering wheel from rotating; In response to the steering wheel stopping its rotation, the friction torque is controlled to remain unchanged.

[0006] Optionally, in response to detecting that the steering wheel rotates, generating a friction torque comprises: In response to detecting that the steering wheel rotates, obtaining an initial rotation angle of the steering wheel; Determining the relationship between the friction torque and the rotation angle according to the initial rotation angle; During the rotation process, the friction torque is generated according to the relationship between the determined friction torque and the rotation angle.

[0007] Optionally, determining the relationship between the friction torque and the rotation angle according to the initial rotation angle includes: Determine, according to the initial rotation angle, a first data group and a second data group of the relationship between the friction torque and the rotation angle, wherein the friction torque in the first data group is zero, and the friction torque in the second data group is the absolute value of the maximum rotation torque of the steering wheel; The relationship between the friction torque and the rotation angle is determined according to the first data set, the second data set and a preset polynomial.

[0008] Optionally, the rotation angle in the first data group is the initial rotation angle, or is the sum of the initial rotation angle and a first preset angle; The rotation angle in the second data group is the sum of the initial rotation angle and a second preset angle, and the absolute value of the second preset angle is greater than the absolute value of the first preset angle.

[0009] Optionally, when the rotation angle in the first data group is the sum of the initial rotation angle and a first preset angle, determining the relationship between the friction torque and the rotation angle according to the initial rotation angle further includes: During the period when the steering wheel rotates from the initial rotation angle to the first preset angle, the friction torque is determined to be zero.

[0010] Optionally, the preset polynomial is a quadratic polynomial.

[0011] Optionally, the steering wheel control method further includes: It is determined that the vehicle on which the steering wheel is located is in a non-driving state and that a current angle of the steering wheel is not zero.

[0012] Optionally, the steering wheel control method further includes: If it is detected that the user does not touch the steering wheel and the steering wheel is in a rotating state, it is determined that the steering wheel rotates.

[0013] According to a second aspect of an embodiment of the present disclosure, there is provided a steering wheel control device, comprising: A generating module, configured to generate a friction torque in response to detecting that the steering wheel rotates, wherein the friction torque is used to limit the steering wheel from rotating; The control module is configured to control the friction torque to remain unchanged in response to the steering wheel stopping its rotation.

[0014] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: processor; a memory for storing processor-executable instructions; steering wheel; Wherein, the processor is configured to execute the instructions so that the vehicle implements the steering wheel control method as described in the first aspect of the embodiment of the present disclosure.

[0015] By adopting the above technical solution, when the steering wheel is detected to be rotating, the friction torque is automatically generated, and when the steering wheel stops rotating, the friction torque is controlled to remain unchanged, so that the steering wheel maintains the current position or current angle unchanged, effectively avoiding the phenomenon of the steering wheel rotating without the action of friction torque, thereby meeting the user's driving needs and improving driving safety.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0018] Figure 1 The figure is a flow chart of a steering wheel control method according to an exemplary embodiment.

[0019] Figure 2A The figure is a schematic diagram showing a curve showing the relationship between a friction torque and a rotation angle according to an exemplary embodiment.

[0020] Figure 2B is a schematic diagram of another relationship curve of friction torque changing with rotation angle according to an exemplary embodiment.

[0021] Figure 3 The figure is a block diagram of a steering wheel control device according to an exemplary embodiment.

[0022] Figure 4 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0023] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0024] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0025] As described in the background technology, a steering wheel that is not equipped with a deceleration mechanism cannot provide the mechanical friction torque required to keep the steering wheel at a current angle or a current position. Therefore, the steering wheel will rotate under the influence of gravity under an asymmetrical situation, resulting in the inability to maintain the current position after the user lets go of the steering wheel, thereby failing to meet the user's driving needs and, in severe cases, affecting driving safety.

[0026] In view of this, the present disclosure provides a steering wheel control method, device and vehicle, which automatically generate friction torque when the steering wheel is detected to be rotating, and control the friction torque to remain unchanged when the steering wheel stops rotating, so that the steering wheel maintains its current position or current angle unchanged, effectively avoiding the phenomenon of the steering wheel rotating without the action of friction torque, thereby meeting the driving needs of users and improving driving safety.

[0027] Figure 1 FIG. 1 is a flow chart of a steering wheel control method according to an exemplary embodiment. Figure 1 As shown, the steering wheel control method may include the following steps.

[0028] In step S11 , in response to detecting that the steering wheel is rotating, a friction torque is generated.

[0029] The friction torque is used to limit the rotation of the steering wheel.

[0030] In step S12, in response to the steering wheel stopping its rotation, the friction torque is controlled to remain unchanged.

[0031] The absolute value of the friction torque generated when the steering wheel stops rotating is equal to the absolute value of the rotation torque of the steering wheel. The rotation torque is used to represent the torque that causes the steering wheel to rotate, and the friction torque is in the opposite direction to the rotation torque.

[0032] Since the mechanical friction torque required to keep the current angle or current position of the steering wheel unchanged cannot be provided by the deceleration mechanism, in order to prevent the steering wheel from rotating, it is necessary to simulate and generate the friction torque to counteract the self-rotation torque of the steering wheel, where the self-rotation torque refers to the torque that causes the steering wheel to rotate. It should be understood that the friction torque in the present disclosure is not the friction torque provided by the deceleration mechanism.

[0033] In the present disclosure, friction torque can be generated at every moment, that is, when the steering wheel rotates to each angle during rotation, until at a certain moment, the absolute value of the generated friction torque is equal to the absolute value of the rotation torque of the steering wheel at that moment, and the friction torque is controlled to remain unchanged to keep the steering wheel in a balanced state.

[0034] By adopting the above technical solution, when the steering wheel is detected to be rotating, the friction torque is automatically generated, and when the steering wheel stops rotating, the friction torque is controlled to remain unchanged, so that the steering wheel maintains the current position or current angle unchanged, effectively avoiding the phenomenon of the steering wheel rotating without the action of friction torque, thereby meeting the user's driving needs and improving driving safety.

[0035] In order to help those skilled in the art to better understand the steering wheel control method provided by the present disclosure, the method is described below with a complete embodiment.

[0036] In one embodiment, the vehicle can be operated in any state. Figure 1 Steering wheel control method shown.

[0037] In order to improve the flexibility of steering wheel control, the user can predefine the use scenario of the steering wheel control method provided by the present disclosure. Therefore, in another embodiment, considering that when the vehicle is in a stationary state, the steering wheel rotation will increase the steering system load, cause tire wear, increase the engine load and other issues, therefore, the method may also include: determining that the vehicle where the steering wheel is located is in a non-driving state, and the current angle of the steering wheel is not zero.

[0038] In this embodiment, when it is determined that the vehicle is not in a driving state, that is, the driving speed is 0 and the steering wheel is not returned to the center, the Figure 1 Steering wheel control method shown.

[0039] In this way, the above steering wheel control method can be executed in a targeted manner to improve the flexibility of steering wheel control. In addition, when it is determined that the vehicle is not in a driving state and the current angle of the steering wheel is not zero, the steering wheel control method is executed. Figure 1 The steering wheel control method shown effectively avoids the problem of increased steering system load and engine load and tire wear caused by steering wheel rotation, thereby extending the service life of the vehicle.

[0040] In one embodiment, the method may further include: if it is detected that the user does not touch the steering wheel and the steering wheel is in a rotating state, determining that the steering wheel rotates.

[0041] In the present disclosure, when it is detected that the user does not touch the steering wheel but the steering wheel is in a rotating state, that is, the user takes his hands off the steering wheel and the steering wheel is not in a stationary state, it is determined that the steering wheel has rotated.

[0042] Below Figure 1 In step S11 , a specific manner of generating friction torque in response to detecting that the steering wheel rotates is described.

[0043] In one embodiment, the friction torque can be generated according to the size of the friction torque that can be provided by the existing reduction mechanism on the market. For example, assuming that the maximum friction torque provided by the reduction mechanism is 1Nm, the friction torque can be randomly generated in order from small to large, and the maximum friction torque generated is 1Nm.

[0044] However, since the randomly generated friction torque may not necessarily ensure that the friction torque generated at a certain moment is equal to the rotation torque of the steering wheel at that moment, in another embodiment, the rotation torque of the steering wheel corresponding to different rotation angles can be counted in advance, and then the friction torque equal to the absolute value of the rotation torque corresponding to the current rotation angle is generated based on the rotation torque corresponding to the different rotation angles counted in advance. For example, the rotation torque corresponding to different rotation angles can be determined in advance, and when the steering wheel is detected to rotate, the current rotation angle is obtained, and the current rotation torque corresponding to the current rotation angle is determined, and then the friction torque with the opposite direction to the current rotation torque and the same absolute value is generated. However, this method requires counting the rotation torque corresponding to different rotation angles for different steering wheels, which is a large workload.

[0045] Therefore, in another embodiment, generating a friction torque in response to detecting that the steering wheel has rotated may include: obtaining an initial rotation angle of the steering wheel in response to detecting that the steering wheel has rotated; determining the relationship between the friction torque and the rotation angle based on the initial rotation angle; and generating a friction torque during the rotation process based on the relationship between the friction torque and the rotation angle.

[0046] The initial rotation angle of the steering wheel may refer to the angle of the steering wheel when the user lets go of the steering wheel. After obtaining the initial rotation angle of the steering wheel, the relationship between the friction torque and the rotation angle is determined according to the initial rotation angle, and then during the rotation process, the friction torque is generated according to the relationship between the friction torque and the rotation angle.

[0047] In this embodiment, the electronic device or vehicle executing the steering wheel control method determines the relationship between the friction torque and the rotation angle according to the initial rotation angle, that is, for different initial rotation angles, the relationship between the friction torque and the rotation angle corresponding to the initial rotation angle can be determined, so that when the user turns the steering wheel to any angle and lets go, the corresponding relationship between the friction torque and the rotation angle can be generated, and then the friction torque is generated according to the relationship between the friction torque and the rotation angle during the rotation process. In this way, for any steering wheel and any initial rotation angle, the friction torque can be generated according to the relationship between the friction torque and the rotation angle to stop the steering wheel from rotating.

[0048] Among them, the specific implementation method of determining the relationship between the friction torque and the rotation angle according to the initial rotation angle can be: determining the first data group and the second data group in the relationship between the friction torque and the rotation angle according to the initial rotation angle, wherein the friction torque in the first data group is zero, and the friction torque in the second data group is the absolute value of the maximum rotation torque of the steering wheel; determining the relationship between the friction torque and the rotation angle according to the first data group, the second data group and a preset polynomial.

[0049] In order to ensure that the absolute value of the friction torque generated at a certain moment according to the relationship between the friction torque and the rotation angle can be equal to the absolute value of the rotation torque at that moment, in this embodiment, the friction torque in the first data group determined in the relationship between the friction torque and the rotation angle is 0, and the friction torque in the second data group is the absolute value of the maximum rotation torque of the steering wheel. That is, the range of the absolute value of the generated friction torque is limited to between 0Nm and the absolute value of the maximum rotation torque. In this way, in the process of generating the friction torque according to this relationship, it can be ensured that at a certain moment, the absolute value of the generated friction torque is equal to the absolute value of the rotation torque of the steering wheel, that is, it can be ensured that the steering wheel stops rotating by using the generated friction torque.

[0050] In this embodiment, in the relationship between the friction torque and the rotation angle, the horizontal coordinate of the data group can be the rotation angle, that is, the horizontal coordinate of the first data group can be the initial rotation angle, or the sum of the initial rotation angle and the first preset angle.

[0051] In one embodiment, if the rotation angle in the first data set is the initial rotation angle, that is, the friction torque is generated at the initial moment when the steering wheel rotates to resist the rotation torque. However, considering that the friction torque is provided to resist the rotation torque at the beginning of the rotation, the steering wheel may swing back and forth between the previous angle and the next angle of the initial rotation angle, that is, the steering wheel may swing left and right.

[0052] Therefore, in another embodiment, the rotation angle in the first data set may be the sum of the initial rotation angle and the first preset angle.

[0053] It should be understood that, assuming that the first preset angle is a positive value when the steering wheel rotates clockwise, the first preset angle is a negative value when the steering wheel rotates counterclockwise. For example, the absolute value of the first preset angle may range from 0 deg to 1 deg. Assuming that the absolute value of the first preset angle is 1 deg and the steering wheel rotates clockwise, the rotation angle in the first data set may be expressed as (w0+1, 0), where w0 represents the initial rotation angle.

[0054] In addition, when the rotation angle in the first data group is the sum of the initial rotation angle and the first preset angle, the relationship between the friction torque and the rotation angle is determined based on the initial rotation angle, and also includes: during the period when the steering wheel rotates from the initial rotation angle to the first preset angle, the friction torque is determined to be zero.

[0055] That is, in the process of rotating from the initial rotation angle to the first preset angle, no friction torque is generated to counter the rotation torque, so as to prevent the counter disk from frequently swinging left and right.

[0056] The rotation angle in the second data set is the sum of the initial rotation angle and the second preset angle, and the absolute value of the second preset angle is greater than the absolute value of the first preset angle. Similarly, assuming that the second preset angle is a positive value when the steering wheel rotates clockwise, the second preset angle is a negative value when the steering wheel rotates counterclockwise. For example, the second preset angle is 1 deg to 2deg, assuming that the absolute value of the second preset angle is 2 deg, and the steering wheel rotates clockwise, the rotation angle in the second data set can be expressed as (w0+2, Mmax), where Mmax represents the absolute value of the maximum rotation torque of the steering wheel.

[0057] First, it should be understood that the maximum rotation torque of the steering wheel refers to the rotation torque when the mass of the steering wheel on one side is the largest and the mass of the steering wheel on the other side is the smallest when the steering wheel is turned. Secondly, it should be understood that the second preset angle can be set according to the maximum acceptable rotation angle change. If the maximum acceptable rotation angle change is 2 deg, the absolute value of the second preset angle is 2 deg. If the maximum acceptable rotation angle change is 4 deg, the absolute value of the second preset angle can be 4 deg, and so on. The present disclosure does not make specific limitations on this.

[0058] In addition, in this embodiment, the preset polynomial can be one of a first-order polynomial, a second-order polynomial, a third-order polynomial, etc. For example, in the present disclosure, the polynomial can be a second-order polynomial, that is, the relationship curve function of the generated friction torque changing with the rotation angle is a second-order polynomial function.

[0059] In the present disclosure, the determined relationship between the friction torque and the rotation angle can be a plurality of discrete points, i.e., a plurality of data groups, or a relationship curve of the friction torque changing with the rotation angle. When the relationship between the friction torque and the rotation angle is a relationship curve of the friction torque changing with the rotation angle, the first data group can be the first endpoint, the second data group can be the second endpoint, and the rotation angle in the data group is the horizontal coordinate, and the friction torque in the data group is the vertical coordinate.

[0060] For example, Figure 2A FIG. 1 is a schematic diagram showing a curve of the relationship between a friction torque and a rotation angle according to an exemplary embodiment. Figure 2A As shown, assuming that the steering wheel rotates clockwise, the initial rotation angle of the steering wheel is w0, the first preset angle is 1 deg, and the second preset angle is 2 deg, then the first endpoint coordinate is (w0+1,0), the second endpoint coordinate is (w0+2, Mmax), and the preset polynomial is a quadratic polynomial, then the relationship curve of the generated friction torque with the rotation angle is shown as curve A. In this way, during the rotation process, the friction torque is generated in sequence according to the relationship shown in curve A.

[0061] Figure 2B FIG. 1 is a schematic diagram showing another relationship curve of friction torque versus rotation angle according to an exemplary embodiment. Figure 2B As shown, assuming that the steering wheel rotates counterclockwise, the initial rotation angle of the steering wheel is w0, the first preset angle is -1 deg, and the second preset angle is -2 deg, then the first endpoint coordinate is (w0-1,0), the second endpoint coordinate is (w0-2,Mmax), and the preset polynomial is a quadratic polynomial, then the relationship curve between the generated friction torque and the rotation angle is shown in curve B. In this way, during the rotation process, the friction torque is generated sequentially according to the relationship shown in curve B.

[0062] It should be understood that when the absolute value of the generated friction torque is equal to the absolute value of the rotation torque of the steering wheel, that is, when the steering wheel stops rotating, the friction torque is no longer generated according to the relationship shown in curve A or curve B, but the friction torque is controlled to remain unchanged. Figure 2A As shown, assuming that the absolute value of the friction torque generated at point P is equal to the absolute value of the steering wheel rotation torque, when the rotation angle is greater than the horizontal coordinate Px corresponding to point P, the friction torque generated is the vertical coordinate Py corresponding to point P, as shown in Figure 2A As shown by the dotted line in .

[0063] By adopting the above technical solution, when the steering wheel is detected to be rotating, the friction torque is automatically generated, and when the steering wheel stops rotating, the friction torque is controlled to remain unchanged, so that the steering wheel maintains the current position or current angle unchanged, effectively avoiding the phenomenon of the steering wheel rotating without the action of friction torque, thereby meeting the user's driving needs and improving driving safety.

[0064] Based on the same inventive concept, the present disclosure also provides a steering wheel control device. Figure 3 FIG. 1 is a block diagram of a steering wheel control device according to an exemplary embodiment. Figure 3 As shown, the steering wheel control device 300 may include: A generating module 301 is configured to generate a friction torque in response to detecting that the steering wheel rotates, wherein the friction torque is used to limit the steering wheel rotation; The control module 302 is configured to control the friction torque to remain unchanged in response to the steering wheel stopping its rotation.

[0065] Optionally, the generating module 301 may include: an acquisition submodule, configured to acquire an initial rotation angle of the steering wheel in response to detecting that the steering wheel rotates; A first determination submodule is configured to determine a relationship between the friction torque and the rotation angle according to the initial rotation angle; The first generating submodule is configured to generate the friction torque according to the relationship between the friction torque and the rotation angle during the rotation process.

[0066] Optionally, the first determining submodule is configured to: Determine, according to the initial rotation angle, a first data group and a second data group of the relationship between the friction torque and the rotation angle, wherein the friction torque in the first data group is zero, and the friction torque in the second data group is the absolute value of the maximum rotation torque of the steering wheel; The relationship between the friction torque and the rotation angle is determined according to the first data set, the second data set and a preset polynomial.

[0067] Optionally, the rotation angle in the first data group is the initial rotation angle, or is the sum of the initial rotation angle and a first preset angle; The rotation angle in the second data group is the sum of the initial rotation angle and a second preset angle, and the absolute value of the second preset angle is greater than the absolute value of the first preset angle.

[0068] Optionally, when the rotation angle in the first data group is the sum of the initial rotation angle and a first preset angle, the first determination submodule is further configured to: determine that the friction torque is zero during the period when the steering wheel rotates from the initial rotation angle to the first preset angle.

[0069] Optionally, the preset polynomial is a quadratic polynomial.

[0070] Optionally, the steering wheel control device 300 may further include: The first determination module is configured to determine that the vehicle where the steering wheel is located is in a non-driving state and that a current angle of the steering wheel is not zero.

[0071] Optionally, the steering wheel control device 300 may further include: The second determination module is configured to determine that the steering wheel rotates if it is detected that the user does not touch the steering wheel and the steering wheel is in a rotating state.

[0072] Regarding the steering wheel control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0073] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the steps of the steering wheel control method provided by the present disclosure are implemented.

[0074] Figure 4 4 is a block diagram of a vehicle according to an exemplary embodiment. For example, vehicle 400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. Vehicle 400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0075] Reference Figure 4 , the vehicle 400 may include various subsystems, for example, an infotainment system 410, a perception system 420, a decision control system 430, a drive system 440, and a computing platform 450. The vehicle 400 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 400 may be interconnected by wire or wireless means. The vehicle 400 also includes a steering wheel (not shown in the figure).

[0076] In some embodiments, the infotainment system 410 may include a communication system, an entertainment system, and a navigation system, among others.

[0077] The perception system 420 may include several sensors for sensing information about the environment around the vehicle 400. For example, the perception system 420 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0078] The decision control system 430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0079] The drive system 440 may include components that provide power movement for the vehicle 400. In one embodiment, the drive system 440 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0080] Some or all functions of the vehicle 400 are controlled by a computing platform 450. The computing platform 450 may include at least one processor 451 and a memory 452, and the processor 451 may execute instructions 453 stored in the memory 452.

[0081] The processor 451 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0082] The memory 452 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0083] In addition to instructions 453 , memory 452 may also store data, such as road maps, route information, and data such as the location, direction, and speed of the vehicle. The data stored in memory 452 may be used by computing platform 450 .

[0084] In the embodiment of the present disclosure, the processor 451 may execute the instruction 453 to complete all or part of the steps of the above-mentioned steering wheel control method.

[0085] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned steering wheel control method when executed by the programmable device.

[0086] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0087] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0088] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0089] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A steering wheel control method, characterized in that: include: In response to detecting that the steering wheel rotates, generating a friction torque, wherein the friction torque is used to limit the steering wheel from rotating; In response to the steering wheel stopping its rotation, the friction torque is controlled to remain unchanged.

2. The steering wheel control method according to claim 1, characterized in that: In response to detecting that the steering wheel rotates, generating a friction torque comprises: In response to detecting that the steering wheel rotates, obtaining an initial rotation angle of the steering wheel; Determining the relationship between the friction torque and the rotation angle according to the initial rotation angle; During the rotation process, the friction torque is generated according to the relationship between the friction torque and the rotation angle.

3. The steering wheel control method according to claim 2, characterized in that: Determining the relationship between the friction torque and the rotation angle according to the initial rotation angle includes: Determine, according to the initial rotation angle, a first data group and a second data group of the relationship between the friction torque and the rotation angle, wherein the friction torque in the first data group is zero, and the friction torque in the second data group is the absolute value of the maximum rotation torque of the steering wheel; The relationship between the friction torque and the rotation angle is determined according to the first data set, the second data set and a preset polynomial.

4. The steering wheel control method according to claim 3, characterized in that: The rotation angle in the first data group is the initial rotation angle, or the sum of the initial rotation angle and a first preset angle; The rotation angle in the second data group is the sum of the initial rotation angle and a second preset angle, and the absolute value of the second preset angle is greater than the absolute value of the first preset angle.

5. The steering wheel control method according to claim 4, characterized in that: When the rotation angle in the first data group is the sum of the initial rotation angle and the first preset angle, determining the relationship between the friction torque and the rotation angle according to the initial rotation angle further includes: During the period when the steering wheel rotates from the initial rotation angle to the first preset angle, the friction torque is determined to be zero.

6. The steering wheel control method according to claim 3, characterized in that: The preset polynomial is a quadratic polynomial.

7. The steering wheel control method according to any one of claims 1 to 6, characterized in that: The steering wheel control method further includes: It is determined that the vehicle on which the steering wheel is located is in a non-driving state and that a current angle of the steering wheel is not zero.

8. The steering wheel control method according to any one of claims 1 to 6, characterized in that: The steering wheel control method further includes: If it is detected that the user does not touch the steering wheel and the steering wheel is in a rotating state, it is determined that the steering wheel rotates.

9. A steering wheel control device, characterized in that: include: A generating module, configured to generate a friction torque in response to detecting that the steering wheel rotates, wherein the friction torque is used to limit the steering wheel from rotating; The control module is configured to control the friction torque to remain unchanged in response to the steering wheel stopping its rotation.

10. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; steering wheel; The processor is configured to execute the instructions to enable the vehicle to implement the steering wheel control method as described in any one of claims 1-8.

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