Method and device for controlling steering of vehicle, vehicle and storage medium

Abstract

The invention provides a method and device for controlling vehicle steering, a vehicle and a storage medium, the method is applied to the field of vehicle steering, and the method comprises the steps that under the condition that a steering wheel of the vehicle is folded, state parameters of the vehicle are obtained, and the state parameters are used for representing the running state of the vehicle; under the condition that the state parameters meet the starting condition of an auxiliary steering control mode, a vehicle surrounding environment image with the vehicle as the center is displayed, the auxiliary steering control mode is activated, and the auxiliary steering control mode is used for simulating rotation operation on a steering wheel; and controlling the vehicle to steer through the auxiliary steering control mode. According to the method, in the vehicle with the steer-by-wire function, under the condition that the steering wheel is folded, the vehicle can be controlled to complete steering through an auxiliary steering control mode except the steering wheel, the problem that the process is tedious due to the fact that the steering wheel needs to be lifted for steering is solved, the steering process of the vehicle is simple and convenient, and the steering efficiency is improved. And the driving experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle steering, and more specifically, to a method, device, vehicle and storage medium for controlling vehicle steering in the field of vehicle steering. Background Art

[0002] With the continuous development of science and technology and Internet technology, the functions on vehicles are also constantly upgraded and improved.

[0003] With the development and application of wire-controlled steering function, users can be provided with steering methods other than steering wheel.

[0004] The steer-by-wire function mainly replaces the mechanical connection between the steering wheel and the wheel with a data bus, and the steering is completely achieved by electrical energy. In vehicles equipped with the steer-by-wire function, users can fold the steering wheel as needed to increase the space inside the car, making it easier for users to entertain or work in the car.

[0005] In a possible implementation, when the steering wheel is folded and the vehicle is in a parked state, if the user needs to move the vehicle, the user first needs to control the steering wheel to rise. After the steering wheel is raised, the steering wheel is used to control the vehicle to turn.

[0006] The repetitive folding and raising of the steering wheel may cause the steering process to take a long time and be inconvenient, thereby reducing the user experience. Summary of the invention

[0007] The present application provides a method, device, vehicle and storage medium for controlling vehicle steering. The method can control the vehicle to complete steering by auxiliary steering control methods other than the steering wheel in a vehicle equipped with a wire-controlled steering function when the steering wheel is folded, thereby avoiding the cumbersome process caused by the need to raise the steering wheel for steering, making the vehicle steering process simple and convenient, and improving the user's driving experience.

[0008] In a first aspect, a method for controlling vehicle steering is provided, the method comprising: when the steering wheel of the vehicle is folded, obtaining a state parameter of the vehicle, the state parameter being used to indicate the operating state of the vehicle; when the state parameter meets the activation condition of an auxiliary steering control mode, displaying an image of the vehicle surrounding environment centered on the vehicle and activating the auxiliary steering control mode, the auxiliary steering control mode being used to simulate the turning operation of the steering wheel; and controlling the steering of the vehicle through the auxiliary steering control mode.

[0009] In the above technical solution, based on the vehicle equipped with the wire-controlled steering function, the steering wheel has the characteristics of flexible folding and raising. The present application proposes a method for controlling the steering of the vehicle. When the steering wheel is folded, the activation of the auxiliary steering control mode can be triggered according to the state parameters. Specifically, when the state parameters meet the activation conditions of the auxiliary steering control mode, the auxiliary steering control mode is activated and the vehicle's surrounding environment image is displayed, so that the user can control the vehicle steering based on the auxiliary steering control mode. The above process can provide users with a flexible, convenient and fast steering method when the steering wheel is folded, thereby avoiding the cumbersome problems caused by steering with the steering wheel raised, and improving the user experience.

[0010] In combination with the first aspect, in some possible implementations, the state parameters include a high-voltage system state, a gear position, a parking switch state, a fault state of each system of the vehicle, and a hazard warning light state. After obtaining the state parameters of the vehicle, the method further includes: when the high-voltage system state is powered on, and the gear position is a preset gear position, and the parking switch state is on, and the fault state of each system is no fault, and the hazard warning light state is on, determining that the state parameters meet the turn-on conditions; when the high-voltage system state is powered off, or the gear position is not the preset gear position, or the parking switch state is off, or the fault state of each system is faulty, or the hazard warning light state is off, determining that the state parameters do not meet the turn-on conditions.

[0011] In the above technical solution, a process for judging whether the state parameters meet the activation conditions of the auxiliary steering control mode is specifically given. The state parameters include the high-voltage system state, gear position, parking switch state, fault state of each system of the vehicle, and hazard warning light state. When the high-voltage system is powered on, the gear position is the preset gear position, the parking switch state is on, the fault state of each system is fault-free, and the hazard warning light state is on, it is determined that the state parameters meet the activation conditions. The above judgment process can ensure that the vehicle is currently stationary and can operate normally, and the hazard warning lights are on to serve as a reminder to nearby vehicles when the vehicle needs to move. On the contrary, when at least one of the above conditions is not met, it is considered that the state parameters do not meet the activation conditions, which can ensure vehicle safety and user safety during the use of the vehicle.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the steering of the vehicle through the auxiliary steering control method includes: determining whether the hazard warning light status of the vehicle is on; when the hazard warning light status is on, responding to the control operation of the auxiliary steering control method, determining the wheel steering angle corresponding to the control operation; and controlling the steering of the vehicle according to the wheel steering angle.

[0013] In the above technical solution, in order to ensure timely alerting of adjacent vehicles during the steering process, the hazard warning lights of the vehicle must be turned on during the steering process in order to ensure timely alerting of adjacent vehicles during the steering process. Then, the wheel steering angle is determined by the user's control operation of the auxiliary steering control method, and the vehicle steering is controlled by the wheel steering angle. The above determination of the state of the hazard warning lights can timely alert other vehicles during the vehicle steering process, which can ensure the safety of the vehicle on the one hand, and the safety of adjacent vehicles on the other hand. Further controlling the vehicle steering by the auxiliary steering control method can avoid the steering wheel from rising, thereby improving the efficiency of vehicle steering.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button; the display of the vehicle surrounding environment image centered on the vehicle and the activation of the auxiliary steering control method include any one of the following: displaying the vehicle surrounding environment image and controlling the physical knob to turn on; displaying the vehicle surrounding environment image and the control interface of the virtual button; displaying the vehicle surrounding environment image and the control interface of the virtual steering wheel; displaying the vehicle surrounding environment image and controlling the physical button to turn on; and the control operation includes any one of a click operation, a rotation operation, and a sliding operation; the determination of the wheel steering angle corresponding to the control operation in response to the control operation of the auxiliary steering control method includes any one of the following: determining the wheel steering angle in response to the rotation operation of the physical knob; determining the wheel steering angle in response to the click operation of the virtual button on the control interface of the virtual button; determining the wheel steering angle in response to the sliding operation of the virtual steering wheel on the control interface of the virtual steering wheel; determining the wheel steering angle in response to the click operation of the physical button.

[0015] In the above technical scheme, this application proposes several auxiliary steering control methods, including virtual buttons, physical knobs, virtual steering wheels and physical buttons. Based on different auxiliary steering control methods, the specific activation and control processes are also different.

[0016] When the auxiliary steering control mode is virtual button, when the state parameters meet the opening conditions, the image around the vehicle and the control interface of the virtual button can be displayed. The user can click the virtual button in the control interface of the virtual button to control the steering of the vehicle.

[0017] When the auxiliary steering control mode is a virtual steering wheel, when the state parameters meet the opening conditions, the vehicle surrounding image and the control interface of the virtual steering wheel can be displayed. The user can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle.

[0018] When the auxiliary steering control mode is a physical knob, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical knob can be controlled to turn on. The user can rotate the physical knob to control the vehicle steering.

[0019] When the auxiliary steering control mode is physical buttons, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical buttons can be controlled to turn on. The user can click the physical buttons to control the vehicle steering.

[0020] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, after the vehicle is controlled to turn through the auxiliary steering control method, the method also includes: obtaining the vehicle speed; when the vehicle speed is greater than or equal to the preset speed, turning off the auxiliary steering control method and controlling the steering wheel to rise, so that the user can control the vehicle driving through the steering wheel; when the vehicle speed is less than the preset speed, determining whether the vehicle is in a stationary state; when the vehicle is in a stationary state, exiting the auxiliary steering control mode, turning off the vehicle surrounding environment image, and turning off the vehicle's hazard warning lights.

[0022] In the above technical solution, when the vehicle needs to move forward or backward after completing the turn, the present application can also obtain the speed of the vehicle during the movement. When the speed is high, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to rise, which can ensure the safety of the vehicle and the user when the speed is high. When the speed is low, it can be determined whether the vehicle is stationary, that is, whether the movement process of the vehicle is over. When the vehicle is stationary, exit the auxiliary steering control mode, turn off the image of the vehicle's surrounding environment, and turn off the vehicle's hazard warning lights. The above process can intelligently end the control process after the vehicle is controlled.

[0023] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the vehicle is in a stationary state, the assisted steering control mode is exited, the vehicle surrounding environment image is turned off, and the vehicle's hazard warning lights are turned off, including: when the vehicle is in a stationary state, determining whether the state parameter meets the shutdown condition of the assisted steering control mode; when the state parameter meets the shutdown condition, exiting the assisted steering control mode, turning off the vehicle surrounding environment image, and turning off the hazard warning lights.

[0024] In the above technical solution, when the vehicle control process ends, in addition to determining whether the vehicle is stationary, it is also possible to further determine whether the state parameter meets the closing condition of the auxiliary steering control mode. When the state parameter meets the closing condition of the auxiliary steering control mode, the control process ends. The vehicle being stationary only means that the vehicle is not driving at this time, and the state parameter judgment can ensure that the vehicle control process is completely completed. The above process can ensure the accuracy of exiting the auxiliary steering control mode.

[0025] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, when the state parameter satisfies the shutdown condition, the assisted steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning light is turned off, including: when the state parameter satisfies the shutdown condition, according to the state parameter, generating target prompt information, the target prompt information is used to prompt the user to exit the assisted steering control mode; displaying the target prompt information, and / or broadcasting the target prompt information; in response to a reply instruction to the target prompt information, exiting the assisted steering control mode, turning off the vehicle surrounding environment image, and turning off the hazard warning light.

[0026] In the above technical solution, in order to take into account the user's driving needs when ending the control, when the state parameters meet the closing conditions, target prompt information can also be generated first. When the user confirms to exit based on the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning light is turned off. When the above control process ends, the actual needs of the user are taken into consideration, and a humanized control method can be provided to the user, which improves the user experience.

[0027] In summary, based on the vehicle equipped with the wire-controlled steer function, the steering wheel has the characteristics of flexible folding and raising. The present application proposes a method for controlling the steering of the vehicle. When the steering wheel is folded, the activation of the auxiliary steering control mode can be triggered according to the state parameters. Specifically, when the state parameters meet the activation conditions of the auxiliary steering control mode, the auxiliary steering control mode is activated and the vehicle's surrounding environment image is displayed, so that the user can control the vehicle steering based on the auxiliary steering control mode. The above process can provide users with a flexible, convenient and fast steering method when the steering wheel is folded, thereby avoiding the cumbersome problems caused by steering with the steering wheel raised, and improving the user experience.

[0028] In addition, a process for determining whether the state parameters meet the activation conditions of the auxiliary steering control mode is specifically given. The state parameters include the high-voltage system state, gear position, parking switch state, fault state of each system of the vehicle, and hazard warning light state. When the high-voltage system is powered on, the gear position is the preset gear position, the parking switch state is on, the fault state of each system is fault-free, and the hazard warning light state is on, it is determined that the state parameters meet the activation conditions. The above judgment process can ensure that the vehicle is currently stationary and can operate normally, and the hazard warning lights are on to serve as a reminder to the adjacent vehicles when the vehicle needs to move. On the contrary, when at least one of the above conditions is not met, it is considered that the state parameters do not meet the activation conditions, which can ensure the safety of the vehicle and the user during the use of the vehicle.

[0029] In the process of controlling the vehicle's steering based on the auxiliary steering control method, in order to ensure that the vehicle beside you is reminded in time during the steering process, the vehicle's hazard warning lights must be turned on throughout the steering process. Then, through the user's control operation of the auxiliary steering control method, the wheel steering angle is determined, and the vehicle steering is controlled by the wheel steering angle. The above determination of the hazard warning light status can timely warn other vehicles during the vehicle's steering process, which can ensure the safety of the vehicle itself and the safety of the vehicles beside it. Further controlling the vehicle's steering through the auxiliary steering control method can prevent the steering wheel from rising, thereby improving the efficiency of the vehicle's steering.

[0030] This application proposes several assisted steering control methods, including virtual buttons, physical knobs, virtual steering wheels and physical buttons. Based on different assisted steering control methods, the specific activation and control processes are also different.

[0031] When the auxiliary steering control mode is virtual button, when the state parameters meet the opening conditions, the image around the vehicle and the control interface of the virtual button can be displayed. The user can click the virtual button in the control interface of the virtual button to control the steering of the vehicle.

[0032] When the auxiliary steering control mode is a virtual steering wheel, when the state parameters meet the opening conditions, the vehicle surrounding image and the control interface of the virtual steering wheel can be displayed. The user can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle.

[0033] When the auxiliary steering control mode is a physical knob, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical knob can be controlled to turn on. The user can rotate the physical knob to control the vehicle steering.

[0034] When the auxiliary steering control mode is physical buttons, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical buttons can be controlled to turn on. The user can click the physical buttons to control the vehicle steering.

[0035] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0036] When the vehicle completes the turn and needs to move forward or backward, the present application can also obtain the speed of the vehicle during the movement. When the speed is high, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to rise, which can ensure the safety of the vehicle and the user when the speed is high. When the speed is low, it can be determined whether the vehicle is stationary, that is, whether the movement process of the vehicle is over. When the vehicle is stationary, exit the auxiliary steering control mode, turn off the image of the vehicle's surrounding environment, and turn off the vehicle's hazard warning lights. The above process can intelligently end the control process after the vehicle is controlled.

[0037] Specifically, when the vehicle control process ends, in addition to determining whether the vehicle is stationary, it is also possible to further determine whether the state parameters meet the closing conditions of the auxiliary steering control mode. When the state parameters meet the closing conditions of the auxiliary steering control mode, the control process ends. The vehicle being stationary only means that the vehicle is not moving at this time, and the state parameter judgment can ensure that the vehicle control process is completely completed. The above process can ensure the accuracy of exiting the auxiliary steering control mode.

[0038] In order to take into account the user's driving needs when ending the control, target prompt information can be generated first when the state parameters meet the shutdown conditions. When the user confirms to exit based on the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning lights are turned off. The above takes into account the actual needs of the user when ending the control process, and can provide users with a humanized control method to improve the user experience.

[0039] In a second aspect, a device for controlling vehicle steering is provided, the device comprising: a first acquisition module, for acquiring a state parameter of the vehicle when the steering wheel of the vehicle is folded, the state parameter being used to indicate the operating state of the vehicle; a first control module, for displaying a vehicle surrounding environment image centered on the vehicle and activating the auxiliary steering control mode when the state parameter meets the activation condition of the auxiliary steering control mode, the auxiliary steering control mode being used to simulate the turning operation of the steering wheel; and controlling the steering of the vehicle through the auxiliary steering control mode.

[0040] In combination with the second aspect, in some possible implementations, the state parameters include a high-voltage system state, a gear position, a parking switch state, a fault state of each system of the vehicle, and a hazard warning light state. After obtaining the state parameters of the vehicle, the device further includes: a first determination module, for determining that the state parameters meet the turn-on conditions when the high-voltage system state is powered on, the gear position is a preset gear position, the parking switch state is on, the fault state of each system is fault-free, and the hazard warning light state is on; and for determining that the state parameters do not meet the turn-on conditions when the high-voltage system state is powered off, or the gear position is not the preset gear position, or the parking switch state is off, or the fault state of each system is faulty, or the hazard warning light state is off.

[0041] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the first control module is specifically used to: determine whether the hazard warning light status of the vehicle is on; when the hazard warning light status is on, in response to the control operation of the auxiliary steering control mode, determine the wheel steering angle corresponding to the control operation; and control the steering of the vehicle according to the wheel steering angle.

[0042] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button, and the first control module is also used to execute any one of the following: displaying the vehicle surrounding environment image and controlling the physical knob to turn on; displaying the vehicle surrounding environment image and the control interface of the virtual button; displaying the vehicle surrounding environment image and the control interface of the virtual steering wheel; displaying the vehicle surrounding environment image and controlling the physical button to turn on; and the control operation includes any one of a click operation, a rotation operation, and a sliding operation, and the first control module is also used to execute any one of the following: determining the wheel steering angle in response to a rotation operation on the physical knob; determining the wheel steering angle in response to a click operation on the virtual button on the control interface of the virtual button; determining the wheel steering angle in response to a sliding operation on the virtual steering wheel on the control interface of the virtual steering wheel; determining the wheel steering angle in response to a click operation on the physical button.

[0043] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, after the vehicle is controlled to turn through the auxiliary steering control method, the device also includes: a second control module, used to obtain the vehicle speed; when the vehicle speed is greater than or equal to the preset speed, turn off the auxiliary steering control method and control the steering wheel to rise, so that the user can control the vehicle driving through the steering wheel; when the vehicle speed is less than the preset speed, determine whether the vehicle is in a stationary state; when the vehicle is in a stationary state, exit the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off the vehicle's hazard warning lights.

[0044] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the second control module is specifically used to: when the vehicle is in a stationary state, determine whether the state parameter meets the shutdown condition of the assisted steering control mode; when the state parameter meets the shutdown condition, exit the assisted steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning light.

[0045] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the second control module is also used to: when the state parameter meets the shutdown condition, generate target prompt information based on the state parameter, and the target prompt information is used to prompt the user to exit the assisted steering control mode; display the target prompt information, and / or broadcast the target prompt information; in response to a reply instruction to the target prompt information, exit the assisted steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning light.

[0046] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method in the first aspect or any possible implementation of the first aspect.

[0047] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0048] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1is a schematic structural diagram of a vehicle with a steer-by-wire function provided in an embodiment of the present application;

[0050] Figure 2 is a structural schematic diagram of a wire-controlled steering system provided in an embodiment of the present application;

[0051] Figure 3 is a schematic flow chart of a method for controlling vehicle steering provided in an embodiment of the present application;

[0052] Figure 4 is a schematic diagram of a scenario for obtaining state parameters provided in an embodiment of the present application;

[0053] Figure 5 is a schematic diagram of a scenario for activating an auxiliary steering control method provided in an embodiment of the present application;

[0054] Figure 6 is a schematic flow chart of another method for controlling vehicle steering provided in an embodiment of the present application;

[0055] Figure 7 is a structural schematic diagram of a device for controlling vehicle steering provided in an embodiment of the present application;

[0056] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0058] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0059] It should be understood that the method of the embodiment of the present application is mainly used in vehicles equipped with a steer-by-wire function (or a steer-by-wire system). Before introducing the method of the embodiment of the present application, the steer-by-wire system is first introduced.

[0060] Compared with the traditional mechanical steering system, the Steering-By-Wire system eliminates the mechanical connection components between the steering wheel and the steering wheel, completely gets rid of the limitations of mechanical firmware, and completely achieves steering by electric energy.

[0061] Figure 1 It is a structural schematic diagram of a vehicle with a steer-by-wire function provided in an embodiment of the present application.

[0062] For example, Figure 1 As shown, compared with the traditional mechanical steering system, in the wire steering system, the wheels 101, 102 and the steering wheel 103 are connected through an electronic control unit (ECU) and wires to achieve the control process.

[0063] Specifically, in a wire-controlled steering system, the user's manipulation action can be converted into an electrical signal by a corresponding sensor. The electrical signal is further analyzed and processed to obtain a corresponding control instruction, which is directly transmitted to an actuator (i.e., a steering execution module) through a wire.

[0064] Figure 2 It is a structural schematic diagram of a wire-controlled steering system provided in an embodiment of the present application.

[0065] For example, Figure 2 As shown, the steer-by-wire system 200 includes a steering wheel module 201, a first ECU 202, a fault processing module 203, a power module 204, and a steering execution module 205. The steering wheel module 201, the first ECU 202, and the steering execution module 205 are the three main parts of the steer-by-wire system 200, and the other modules belong to auxiliary parts.

[0066] The steering wheel module 201 is a steering intention input module, including a steering wheel, a steering angle sensor, a torque sensor, a self-aligning torque motor, etc. The steering wheel module 201 converts the user's steering intention into an electrical signal by measuring the steering wheel angle and torque, and transmits it to the first ECU 202. In addition, the steering wheel module 201 can also receive the torque signal fed back by the first ECU 202, generate the steering wheel self-aligning torque, and provide the user with a corresponding road feel.

[0067] The first ECU 202 is the core of the steer-by-wire system 200, that is, the controller of the steer-by-wire system. It determines the control effect of the steer-by-wire system. The first ECU 202 mainly analyzes and processes various signals, determines the steering intention and the running state of the vehicle, and outputs corresponding control instructions.

[0068] The fault handling module 203 includes a series of monitoring and countermeasures programs. When a fault occurs in the steer-by-wire system 200, the fault handling module 203 takes corresponding treatment measures according to the set program to avoid or reduce the harm caused by the fault to the vehicle and ensure the safety of the vehicle.

[0069] The power module 204 is a power supply facility, mainly used to supply power to the steer-by-wire system 200 .

[0070] The steering execution module 205 is used to realize and execute the user's steering intention, and it is composed of a steering execution motor, a steering execution motor controller, a wheel steering assembly, and a wheel angle sensor. The steering execution module 205 receives the instruction of the first ECU 202, and controls the rotation of the wheel through the steering execution motor and the steering execution motor controller to realize the steering.

[0071] In addition, for vehicles equipped with a wire-controlled steering system, users can choose whether to fold the steering wheel according to driving needs during driving. For example, if a user needs to do business while driving a vehicle, the user can choose to fold the steering wheel after parking to obtain more space for use.

[0072] Furthermore, in combination with the above-mentioned vehicles equipped with the wire-controlled steer function, the steering wheel can be flexibly folded. When parking, if the user chooses to fold the steering wheel, if the vehicle needs to be moved again, the steering wheel needs to be raised again so that the user can steer the vehicle by controlling the steering wheel. The process of raising and folding the steering wheel back and forth is rather cumbersome and may result in a decreased user experience.

[0073] Based on the above problems, an embodiment of the present application proposes a method for controlling vehicle steering. The method can control the vehicle to complete steering by auxiliary steering control methods other than the steering wheel in a vehicle equipped with a wire-controlled steering function when the steering wheel is folded, thereby avoiding the cumbersome process caused by the need to raise the steering wheel for steering, making the vehicle steering process simple and convenient, and improving the user's driving experience.

[0074] After introducing the steer-by-wire function, a method for controlling vehicle steering provided in an embodiment of the present application is described below.

[0075] Figure 3 is a schematic flow chart of a method for controlling vehicle steering provided in an embodiment of the present application. It should be understood that the method can be applied to Figure 2 The wire control steering system 200 shown can be applied to Figure 2 The first ECU202 in.

[0076] For example, Figure 3 As shown, the method 300 includes:

[0077] 301. When the steering wheel of the vehicle is folded, obtain a state parameter of the vehicle, where the state parameter is used to indicate the running state of the vehicle.

[0078] It should be understood that for a vehicle equipped with a steer-by-wire function, when a user needs a larger space for the main driving position, the user can choose to fold the steering wheel through the steering wheel folding function switch in the vehicle, so as to provide the user with a more spacious space. Similarly, when the steering wheel needs to be raised, the user can choose to raise the steering wheel through the steering wheel raising function switch in the vehicle.

[0079] Optionally, in addition to the above-mentioned function switch method, the method of controlling the raising or folding of the steering wheel may also include virtual buttons corresponding to the raising or folding of the steering wheel, voice commands, etc., which are not limited to the embodiments of the present application.

[0080] When the vehicle needs to be moved with the steering wheel folded, in order to avoid the need to raise the steering wheel again to control the vehicle's steering, an embodiment of the present application proposes a method for controlling the vehicle's steering, which can achieve steering control of the vehicle during the process of moving the vehicle through auxiliary steering control methods other than the steering wheel.

[0081] When the vehicle steering is controlled by the auxiliary steering control mode, in order to avoid false triggering of the auxiliary steering control mode, the first ECU 202 may first determine whether the vehicle meets the activation conditions of the auxiliary steering control mode through the state parameters.

[0082] Optionally, the status parameters include high voltage system status, gear position, parking switch status, fault status of various systems of the vehicle and hazard warning light status. Among them, the high voltage system status can indicate whether the high voltage system of the vehicle is powered on.

[0083] Figure 4 It is a schematic diagram of a scenario for obtaining status parameters provided in an embodiment of the present application.

[0084] For example, Figure 4 As shown, in the process of obtaining different state parameters, the first ECU 202 can specifically Figure 4 The parking state acquisition module 401, the high-voltage system acquisition module 402, the gear acquisition module 403, the turn signal acquisition module 404, the second ECU 405, the third ECU 406 and the fourth ECU 407 are implemented as shown.

[0085] The parking state acquisition module 401 may be specifically an electronic parking brake (EPB) system in a vehicle. As an electronic parking brake system in a vehicle, EPB refers to a technology that integrates temporary braking during driving and long-term braking after parking, and implements parking braking through electronic control.

[0086] For example, the EPB may send the parking switch status of the vehicle to the first ECU 202 .

[0087] The high voltage system acquisition module 402 may specifically be a vehicle control unit (VCU, also called a vehicle controller) in a vehicle. The VCU is mainly used to control the power-on and power-off process of the high voltage system of the vehicle.

[0088] Exemplarily, the first ECU 202 may obtain the status of the vehicle's high voltage system through the VCU.

[0089] The gear position acquisition module 403 may specifically be a gear position controller in the vehicle.

[0090] Exemplarily, the first ECU 202 may obtain the current gear position of the vehicle through a gear position controller.

[0091] The turn signal acquisition module 404 may be a body control module (BCM, also known as a body controller) in the vehicle. The BCM can be used to control the functions of various components such as interior lights, exterior lights, door control, seats, engine hood, wipers, etc.

[0092] Exemplarily, the first ECU 202 can obtain the status of the hazard warning lights through the BCM. Among them, the status of the hazard warning lights includes on and off. When the hazard warning lights are on, they can be manually turned on by the user according to actual driving needs. For example, when the vehicle is involved in a traffic accident, in order to promptly warn the vehicle coming from behind, the user can manually turn on the hazard warning light switch to turn on the hazard warning light. Alternatively, when the vehicle needs to be moved temporarily, the user can manually turn on the hazard warning light switch to turn on the hazard warning light. The above-mentioned hazard warning light switch can be a physical switch or a virtual switch. In addition, the user can also turn on or off the hazard warning light through voice control, such as "turn on the hazard warning light or turn off the hazard warning light".

[0093] Based on any of the above methods of turning on or off the hazard warning light, the first ECU 202 can obtain the state of the hazard warning light through the BCM to determine whether the state of the hazard warning light is on or off.

[0094] The second ECU 405, the third ECU 406 and the fourth ECU 407 (the above are just examples, the number of ECUs in the vehicle other than the first ECU 202 is more than the above three) can be other ECUs in the vehicle other than the first ECU 202. Optionally, the various systems of the vehicle include a braking system, a steering system, a driving system and a transmission system. Among them, each system corresponds to a plurality of ECUs. When a system fails, the second ECU 405, the third ECU 406 and the fourth ECU 407 can be responsible for saving the diagnostic trouble code (DTC, referred to as "fault code") of the corresponding system. Therefore, in the embodiment of the present application, when determining the fault state of each system, it can be specifically judged by whether there is a fault code.

[0095] For example, the first ECU 202 can obtain fault codes from the second ECU 405, the third ECU 406 and the fourth ECU 407. If a fault code is obtained, it means that the fault state of the system is faulty. If no fault code is obtained, it means that the fault state of the system is not faulty.

[0096] 302 , when the state parameter meets the activation condition of the auxiliary steering control mode, displaying the vehicle-centered vehicle surrounding environment image and activating the auxiliary steering control mode, the auxiliary steering control mode is used to simulate the turning operation of the steering wheel.

[0097] After acquiring the above-mentioned various state parameters, the first ECU 202 may determine whether the above-mentioned state parameters meet the activation conditions of the auxiliary steering control mode, so as to decide whether to trigger the activation of the auxiliary steering control mode.

[0098] In a possible implementation, when the first ECU 202 determines whether the state parameter meets the activation condition of the auxiliary steering control mode, the first ECU 202 specifically includes:

[0099] When the high voltage system is powered on, the gear is in the preset gear, the parking switch is on, the fault status of each system is no fault, and the hazard warning light is on, it is determined that the status parameters meet the on condition;

[0100] When the high voltage system is powered off, or the gear is not the preset gear, or the parking switch is off, or the fault status of each system is faulty, or the hazard warning light is off, it is determined that the status parameters do not meet the start-up conditions.

[0101] It should be understood that since the vehicle steering scenario in the embodiment of the present application is to move the vehicle after the vehicle is parked, it is necessary to first determine whether the vehicle currently meets the conditions for moving the vehicle, that is, the conditions for opening the auxiliary steering control mode, during the process of moving the vehicle.

[0102] Optionally, the preset gear position is parking (Parking, P).

[0103] Among them, the high-voltage system status is powered on, which means that the vehicle's power system is in the starting state and can work normally. The gear is in P gear and the parking switch is turned on, which means that the vehicle is in the parking state. All systems are fault-free, which means that all systems in the vehicle can work normally. The hazard warning light status is turned on, which can serve the purpose of reminding the adjacent vehicles during the vehicle moving process. In this case, the first ECU 202 determines that the vehicle meets the conditions for turning on the auxiliary steering control mode.

[0104] On the contrary, when at least one of the above-mentioned state parameters does not satisfy the corresponding condition, the first ECU 202 determines that the vehicle does not satisfy the activation condition of the auxiliary steering control mode.

[0105] In the above technical solution, a process for judging whether the state parameters meet the activation conditions of the auxiliary steering control mode is specifically given. The state parameters include the high-voltage system state, gear position, parking switch state, fault state of each system of the vehicle, and hazard warning light state. When the high-voltage system is powered on, the gear position is the preset gear position, the parking switch state is on, the fault state of each system is fault-free, and the hazard warning light state is on, it is determined that the state parameters meet the activation conditions. The above judgment process can ensure that the vehicle is currently stationary and can operate normally, and the hazard warning lights are on to serve as a reminder to nearby vehicles when the vehicle needs to move. On the contrary, when at least one of the above conditions is not met, it is considered that the state parameters do not meet the activation conditions, which can ensure vehicle safety and user safety during the use of the vehicle.

[0106] Furthermore, when the first ECU 202 determines that the vehicle meets the conditions for opening the auxiliary steering control mode, the vehicle can be controlled to display the vehicle-centered vehicle surrounding environment image and activate the auxiliary steering control mode. The purpose of displaying the vehicle-centered vehicle surrounding environment image is to enable the user to understand the road, other vehicles and pedestrians around the vehicle based on the vehicle surrounding environment image while moving the vehicle. Activating the auxiliary steering control mode can be understood as turning on the auxiliary steering control mode, and the purpose is to achieve the same function as the steering wheel.

[0107] The vehicle surrounding environment image is the 360-degree panoramic image of the vehicle, also known as panoramic image or panoramic reversing image system. The vehicle 360-degree panoramic image refers to the use of a display device installed on the vehicle's center console to view the 360-degree panoramic environment around the vehicle. This information can effectively grasp the blind spots around the vehicle and help users park the vehicle more intuitively, safely and reliably.

[0108] For example, Figure 4As shown, when displaying the 360-degree panoramic image of the vehicle, the first ECU 202 can control the display device in the vehicle to display the environment image around the vehicle in the display area through the multimedia control module 408 in the vehicle.

[0109] Optionally, the auxiliary steering control method in the embodiment of the present application includes any one of a virtual button, a physical knob, a virtual steering wheel and a physical button.

[0110] According to the above-mentioned auxiliary steering control mode, the vehicle surrounding environment image is displayed and the auxiliary steering control mode is activated in the embodiment of the present application, specifically including any of the following:

[0111] Display the image of the vehicle's surroundings and control the physical knob to turn it on;

[0112] Displays the vehicle's surroundings image and a control interface with virtual buttons;

[0113] Displays the vehicle's surroundings and a control interface for the virtual steering wheel;

[0114] Displays images of the vehicle's surroundings and controls the opening of physical buttons.

[0115] For example, Figure 4 As shown, when the state parameters meet the start-up conditions, the first ECU 202 first controls the display device to display a 360-degree panoramic image in the display area through the multimedia control module 408 .

[0116] Optionally, the multimedia control module 408 is specifically a multimedia controller in the vehicle.

[0117] Figure 5 This is a schematic diagram of a scenario for activating an auxiliary steering control method provided in an embodiment of the present application.

[0118] Exemplary, combined Figure 4 , Figure 5 (a) is a schematic diagram of a scenario for activating a virtual steering wheel provided in an embodiment of the present application. In addition to controlling the display device to display a 360-degree panoramic image of the vehicle in the display area, the first ECU 202 can also display a control interface of a virtual steering wheel in the display area of ​​the display device through the multimedia control module 408. In other words, the display area of ​​the display device can display a 360-degree panoramic image and a control interface of a virtual steering wheel at the same time. Figure 5 As shown in (a) in the figure, the control interface of the virtual steering wheel also includes a rotation angle display area, which can display the wheel steering angle in real time during the process of controlling the vehicle steering.

[0119] Another example, Figure 5(b) is a schematic diagram of a scenario of activating a virtual key provided in an embodiment of the present application. In addition to controlling the display device to display the control interface of the virtual steering wheel, the first ECU 202 can also control the display device to display the control interface of the virtual key in the display area through the multimedia control module 408. Figure 5 As shown in (b) in FIG. 8 , the control interface of the virtual button displays a “left” control, a “right” control, a “reset” control, and a rotation angle display area.

[0120] The "left" control is used to control the vehicle's wheels to turn left, the "right" control is used to control the vehicle's wheels to turn right, and the "reset" control is used to restore the wheel's rotation angle to 0 degrees. In the rotation angle display area, the wheel rotation angle can be displayed in real time. Similarly, in this way, the display area of ​​the display device can simultaneously display a 360-degree panoramic image and a virtual button control interface.

[0121] Another example, Figure 5 (c) is a schematic diagram of a scenario for activating a physical knob provided in an embodiment of the present application. In addition to the virtual control method, when a physical knob corresponding to wheel steering is configured in the vehicle, after the state parameter meets the opening condition, the first ECU 202 can control the physical knob to turn on. After the physical knob is turned on, the indicator light corresponding to the physical knob can automatically light up to indicate that the physical knob is in the on state. In this way, the display area of ​​the display device includes a 360-degree panoramic image and a rotation angle display area.

[0122] Another example, Figure 5 (d) is a schematic diagram of a scenario for activating a physical button provided in an embodiment of the present application. When a physical button corresponding to wheel steering is configured in the vehicle, after the state parameter meets the activation condition, the first ECU 202 can control the physical button to be activated (e.g. Figure 5 After the physical button is turned on, the indicator light corresponding to the physical button can automatically light up to indicate that the physical button is turned on. In this way, the display area of ​​the display device includes a 360-degree panoramic image and a rotation angle display area.

[0123] 303 , controlling the vehicle to steer by means of an auxiliary steering control method.

[0124] After displaying the vehicle surrounding environment image and turning on the assisted steering control mode, the user can realize the steering control of the vehicle based on the assisted steering control mode.

[0125] It should be understood that when the user is steering the vehicle using the assisted steering control method, the hazard warning lights need to be turned on throughout the process to ensure the safety of the vehicle in order to promptly alert the vehicles beside.

[0126] Therefore, in the process of controlling the vehicle steering by the auxiliary steering control method, in order to prevent the hazard warning light from being accidentally turned off, the first ECU 202 first needs to determine the current state of the hazard warning light, and then control the vehicle steering when the hazard warning light is on.

[0127] In a possible implementation, controlling the vehicle steering by an auxiliary steering control method includes:

[0128] Determine whether the vehicle's hazard warning lights are on;

[0129] In the case where the hazard warning light is in the on state, in response to a control operation of the auxiliary steering control mode, determining a wheel steering angle corresponding to the control operation;

[0130] Control the vehicle steering according to the wheel steering angle.

[0131] Exemplary, combined Figure 4 After activating the auxiliary steering control mode, the first ECU 202 can also obtain the hazard warning light status again through the turn signal acquisition module 404 to confirm whether the hazard warning light is still turned on.

[0132] When the first ECU 202 determines that the hazard warning light is on, it can receive a user's control operation on the auxiliary steering control mode, determine the wheel steering angle, and further control the vehicle steering according to the wheel steering angle.

[0133] When the first ECU 202 determines that the hazard warning light state is off, in one case, the automatic control auxiliary steering control mode is turned off. In another case, a prompt message can be generated according to the current hazard warning light state to remind the user whether the vehicle steering still needs to be controlled by the auxiliary steering control mode. When the user determines to control the vehicle steering by the auxiliary steering control mode, the automatic control hazard warning light state is turned on; on the contrary, if the user determines not to control the vehicle steering by the auxiliary steering control mode, the auxiliary steering control mode is turned off or exited.

[0134] In the above technical solution, in order to ensure timely alerting of adjacent vehicles during the steering process, the hazard warning lights of the vehicle must be turned on during the steering process in order to ensure timely alerting of adjacent vehicles during the steering process. Then, the wheel steering angle is determined by the user's control operation of the auxiliary steering control method, and the vehicle steering is controlled by the wheel steering angle. The above determination of the state of the hazard warning lights can timely alert other vehicles during the vehicle steering process, which can ensure the safety of the vehicle on the one hand, and the safety of adjacent vehicles on the other hand. Further controlling the vehicle steering by the auxiliary steering control method can avoid the steering wheel from rising, thereby improving the efficiency of vehicle steering.

[0135] Specifically, when the wheel steering is controlled by the auxiliary steering control method, the corresponding control operation is different according to the different auxiliary steering control methods.

[0136] Optionally, the control operation includes any one of a click operation, a rotation operation and a slide operation.

[0137] In a possible implementation, in response to the control operation of the auxiliary steering control mode, determining the wheel steering angle specifically includes any of the following:

[0138] In response to the rotation of the physical knob, determining a wheel steering angle;

[0139] In response to a click operation on the virtual button, determining a wheel steering angle on the virtual button control interface;

[0140] In a control interface of a virtual steering wheel, determining a wheel steering angle in response to a sliding operation on the virtual steering wheel;

[0141] In response to a click operation on the physical button, a wheel steering angle is determined.

[0142] For example, Figure 5 As shown in (a) in FIG. 1 , when the auxiliary steering control mode is a virtual steering wheel, after the display device displays the control interface of the virtual steering wheel, the user can slide the virtual steering wheel clockwise or counterclockwise in the control interface of the virtual steering wheel. Sliding the virtual steering wheel clockwise can control the wheel to turn right, and sliding the virtual steering wheel counterclockwise can control the wheel to turn left.

[0143] Correspondingly, in the embodiment of the present application, the correspondence between the rotation angle of the virtual steering wheel and the steering angle of the wheel can be pre-set.

[0144] Optionally, the ratio between the rotation angle of the virtual steering wheel and the wheel steering angle may be 10:1, that is, when the rotation angle of the virtual steering wheel is 10°, the wheel steering angle is 1°.

[0145] Furthermore, when the user slides the virtual steering wheel, the first ECU 202 can obtain the starting position and the ending position of the user's finger on the virtual steering wheel through the multimedia control module 408, and determine the rotation angle of the virtual steering wheel according to the starting position and the ending position. Finally, according to the corresponding relationship between the rotation angle of the virtual steering wheel and the wheel steering angle, the actual wheel steering angle is determined.

[0146] In addition, in order to prevent vehicle safety problems caused by excessive wheel steering angles during vehicle steering control by the virtual steering wheel, the embodiment of the present application can also pre-set the maximum sliding speed of the virtual steering wheel when sliding the virtual steering wheel. When the sliding speed corresponding to the sliding operation is less than or equal to the maximum sliding speed, the rotation angle of the virtual steering wheel can be calculated based on the sliding speed. If the sliding speed is greater than the maximum sliding speed, the rotation angle of the virtual steering wheel is calculated based on the maximum sliding speed.

[0147] For example, assuming that the maximum sliding speed is 100° / s, when the user slides the virtual steering wheel, assuming that the sliding speed obtained by the first ECU 202 is 60° / s, the virtual steering wheel determines the wheel steering angle according to the starting position and the end position corresponding to the sliding operation. When the sliding speed is 200° / s, the virtual steering wheel determines the wheel steering angle in accordance with the maximum sliding speed of 100° / s, combined with the starting position and the end position within the sliding time.

[0148] In addition, the embodiment of the present application can also set the maximum rotation angle of the virtual steering wheel. When the virtual steering wheel rotation angle corresponding to the sliding operation reaches the maximum angle, the first ECU202 can generate a corresponding prompt message to remind the user that the current virtual steering wheel has been rotated to the maximum angle.

[0149] Optionally, the maximum angle is ±400°. Assuming that the first ECU 202 detects through the multimedia control module 408 that the rotation angle of the virtual steering wheel is 400°, the first ECU 202 can control the display device to generate a prompt message in the display area, such as a text prompt of "The current rotation angle of the virtual steering wheel has reached the limit", or control the audio playback device to broadcast a voice prompt of "The current rotation angle of the virtual steering wheel has reached the limit".

[0150] For example, Figure 5 As shown in (b), when the auxiliary steering control mode is a virtual button, after the display device displays the control interface of the virtual button, the user can click on the "left" control, "right" control or "reset" control in the control interface of the virtual button.

[0151] Correspondingly, in the embodiment of the present application, the wheel steering angle can be preset when the virtual button is clicked once. For example, the wheel steering angle can be preset to 10° when the virtual button is clicked once.

[0152] Furthermore, when the user clicks the virtual button, the first ECU 202 can obtain the number of times the virtual button is clicked through the multimedia control module 408, and determine the actual wheel steering angle based on the number of clicks and the wheel steering angle corresponding to a single click of the virtual button.

[0153] For example, Figure 5 As shown in (c) in the figure, when the auxiliary steering control mode is a physical knob, after turning on the physical knob, the user can rotate the physical knob clockwise or counterclockwise through a rotation operation.

[0154] Correspondingly, in the embodiment of the present application, the correspondence between the rotation angle of the physical knob and the steering angle of the wheel can be pre-set.

[0155] Optionally, you can pre-set that when the physical knob is turned 10°, the wheel steering angle is 1°.

[0156] Furthermore, when the user rotates the physical knob, the first ECU 202 can obtain the rotation angle of the physical knob through the physical knob switch, and determine the actual wheel steering angle according to the corresponding relationship between the rotation angle of the physical knob and the wheel steering angle.

[0157] For example, Figure 5 As shown in (d) in the figure, when the auxiliary steering control mode is a physical button, the user can click the "left" button, the "right" button or the "reset" button.

[0158] Correspondingly, in the embodiment of the present application, the wheel steering angle can be preset when the physical button is clicked once. For example, the wheel steering angle can be preset to 10° when the physical button is clicked once.

[0159] Furthermore, when the user clicks the physical button, the first ECU 202 can obtain the number of times the physical button is clicked through the physical button switch, and determine the actual wheel steering angle based on the number of clicks and the wheel steering angle corresponding to a single click of the physical button.

[0160] Regardless of which of the above auxiliary steering control methods is used to control the rotation of the wheel, after determining the wheel steering angle, the first ECU202 can control the wheel to complete the steering.

[0161] For example, Figure 4 As shown, after determining the wheel steering angle, the first ECU 202 may send a steering instruction to the steering execution module 205, so that the steering execution module 205 controls the wheel to complete the steering process according to the steering instruction.

[0162] In the above technical scheme, this application proposes several auxiliary steering control methods, including virtual buttons, physical knobs, virtual steering wheels and physical buttons. Based on different auxiliary steering control methods, the specific activation and control processes are also different.

[0163] When the auxiliary steering control mode is virtual button, when the state parameters meet the opening conditions, the image around the vehicle and the control interface of the virtual button can be displayed. The user can click the virtual button in the control interface of the virtual button to control the steering of the vehicle.

[0164] When the auxiliary steering control mode is a virtual steering wheel, when the state parameters meet the opening conditions, the vehicle surrounding image and the control interface of the virtual steering wheel can be displayed. The user can slide the virtual steering wheel in the control interface of the virtual steering wheel to control the steering of the vehicle.

[0165] When the auxiliary steering control mode is a physical knob, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical knob can be controlled to turn on. The user can rotate the physical knob to control the vehicle steering.

[0166] When the auxiliary steering control mode is physical buttons, when the state parameters meet the opening conditions, the image around the vehicle can be displayed and the physical buttons can be controlled to turn on. The user can click the physical buttons to control the vehicle steering.

[0167] The above-mentioned methods of controlling vehicle steering are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control method.

[0168] After the first ECU 202 controls the wheel to complete the steering, it indicates that the angle of the vehicle has been adjusted during the moving process. After that, the user can control the gear shift as needed to control the vehicle to move forward or backward. At this time, the embodiment of the present application can adjust the opening and closing of the auxiliary steering control mode according to the speed of the vehicle during the moving forward or backward process.

[0169] In a possible implementation, after the vehicle is controlled to steer by the auxiliary steering control method, the method further includes:

[0170] Get the vehicle speed;

[0171] When the vehicle speed is greater than or equal to a preset speed, the auxiliary steering control mode is turned off and the steering wheel is controlled to rise, so that the user can control the vehicle driving through the steering wheel;

[0172] When the vehicle speed is less than a preset speed, determine whether the vehicle is stationary; when the vehicle is stationary, exit the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off the vehicle's hazard warning lights.

[0173] For example, the preset speed can be understood as the maximum speed of the vehicle when the steering wheel is folded, in order to ensure that the vehicle can drive safely when the steering wheel is folded. The preset speed can be adjusted according to actual needs. Optionally, the preset speed is 5km / h.

[0174] After adjusting the wheel steering, the user can select the forward (Drive, D) gear or the reverse (Reverse, R) gear in the gear position according to actual needs, and can control the vehicle to move forward or backward by stepping on the vehicle's accelerator.

[0175] Assuming that the current gear is D gear, the user accelerates by the accelerator, and the first ECU 202 can obtain the vehicle speed through the vehicle speed sensor. Assuming that the vehicle speed is 10km / h, the vehicle speed is greater than the preset speed. In order to ensure the safety of the vehicle and the user, the first ECU 202 can control the auxiliary steering control mode to be closed and control the steering wheel to rise. At this time, the display area of ​​the display device still displays the 360-degree panoramic image of the vehicle.

[0176] When the vehicle speed is 3 km / h, which is less than the preset speed, the first ECU 202 can further determine whether the vehicle is stationary. When the vehicle is stationary, it means that the user has completed the vehicle moving process, and the auxiliary steering control mode can be exited, the vehicle surrounding environment image can be turned off, and the hazard warning lights of the vehicle can be turned off.

[0177] Whether the vehicle is in a stationary state can be obtained through the vehicle's positioning information. For example, when the vehicle's positioning information does not change within a period of time, the first ECU 202 determines that the vehicle is in a stationary state. Alternatively, the gear position can also be used to determine that when the vehicle's gear position is P gear or neutral (Neutral, N) gear, it means that the vehicle is in a stationary state at this time.

[0178] In the above technical solution, when the vehicle needs to move forward or backward after completing the turn, the present application can also obtain the speed of the vehicle during the movement. When the speed is high, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to rise, which can ensure the safety of the vehicle and the user when the speed is high. When the speed is low, it can be determined whether the vehicle is stationary, that is, whether the movement process of the vehicle is over. When the vehicle is stationary, exit the auxiliary steering control mode, turn off the image of the vehicle's surrounding environment, and turn off the vehicle's hazard warning lights. The above process can intelligently end the control process after the vehicle is controlled.

[0179] In a possible implementation, the fact that the vehicle is stationary does not necessarily mean that the vehicle has completed the control process. In order to ensure accurate judgment of whether the vehicle control process is completed, after the vehicle is stationary, the embodiment of the present application can further determine whether to exit the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off the vehicle's hazard warning lights through state parameters, specifically including:

[0180] When the vehicle is in a stationary state, determining whether the state parameter meets the closing condition of the auxiliary steering control mode;

[0181] When the status parameters meet the shutdown conditions, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning lights are turned off.

[0182] Optionally, the status parameters include gear position, parking switch status, and fault status of each system.

[0183] For example, after the vehicle is stationary, if the gear is in the preset gear (P gear), the parking switch state is in the on state, and the fault state of each system is no fault, it means that the vehicle is stationary and in the parking state, and each system in the vehicle can work normally. In this case, the first ECU 202 can determine that the state parameter meets the shutdown condition. On the contrary, when the gear is not in the preset gear, or the parking switch state is in the off state, or the state of each system is faulty, the first ECU 202 can determine that the state parameter does not meet the shutdown condition.

[0184] When the first ECU 202 determines that the state parameter satisfies the shut-down condition, it shuts down the exit auxiliary steering control mode, shuts down the vehicle surrounding environment image, and shuts down the hazard warning light.

[0185] For example, Figure 4 as well as Figure 5 As shown in (a)-(d), when the auxiliary steering control mode is a virtual button or a virtual steering wheel, the first ECU202 can control the display area of ​​the display device to no longer display the control interface of the virtual button or the control interface of the virtual steering wheel through the multimedia control module 408, and control the display area of ​​the display device to no longer display the 360-degree panoramic image. Finally, through the BCM, the hazard warning light is controlled to turn off automatically. When the auxiliary steering control mode is a physical button or a physical knob, the first ECU202 controls the indicator light of the physical button to turn off or the indicator light of the physical knob to turn off, and controls the hazard warning light to turn off automatically through the turn signal acquisition module 404 (BCM). In addition, the first ECU202 can also control the display area of ​​the display device to no longer display the 360-degree panoramic image through the multimedia control module 408 (multimedia controller).

[0186] In the above technical solution, when the vehicle control process ends, in addition to determining whether the vehicle is stationary, it is also possible to further determine whether the state parameter meets the closing condition of the auxiliary steering control mode. When the state parameter meets the closing condition of the auxiliary steering control mode, the control process ends. The vehicle being stationary only means that the vehicle is not driving at this time, and the state parameter judgment can ensure that the vehicle control process is completely completed. The above process can ensure the accuracy of exiting the auxiliary steering control mode.

[0187] In a possible implementation, when the state parameters meet the shutdown conditions, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning light is turned off, including:

[0188] When the state parameter satisfies the closing condition, target prompt information is generated according to the state parameter, and the target prompt information is used to prompt the user to exit the auxiliary steering control mode;

[0189] Display target prompt information, and / or, broadcast target prompt information;

[0190] In response to the reply instruction to the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning lights are turned off.

[0191] In order to ensure the actual driving needs of the user, when the auxiliary steering control mode is turned off, the first ECU 202 can generate target prompt information according to the current state parameters to solicit the user's driving intention. After the user confirms to turn off the auxiliary steering control mode, the auxiliary steering control mode is controlled to be turned off.

[0192] For example, when the gear is in the preset gear (P gear), the parking switch is in the on state, and the fault state of each system is no fault, the first ECU 202 can generate a target prompt message, such as "the current state parameters meet the shutdown conditions of the auxiliary steering control mode, whether to close it". Further, the first ECU 202 can control the display device to display a text pop-up window of the target prompt message in the display area, and / or control the audio playback device to broadcast the voice of the target prompt message.

[0193] Based on the user's reply instruction to the text pop-up window (for example, clicking the "Yes" option in the text pop-up window), and / or the reply instruction to the voice information of the target prompt information (for example, voice reply "Yes"), the first ECU202 can respond to the reply instruction, control the auxiliary steering control mode to exit, control the display device not to display the 360-degree panoramic image in the display area, and control the hazard warning lights to turn off.

[0194] In the above technical solution, in order to take into account the user's driving needs when ending the control, when the state parameters meet the closing conditions, target prompt information can also be generated first. When the user confirms to exit based on the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning light is turned off. When the above control process ends, the actual needs of the user are taken into consideration, and a humanized control method can be provided to the user, which improves the user experience.

[0195] For ease of understanding, the complete process of the above-mentioned method for controlling vehicle steering is introduced in the following embodiment of the present application.

[0196] Figure 6 It is a schematic flow chart of another method for controlling vehicle steering provided in an embodiment of the present application.

[0197] For example, Figure 6 As shown, the method 600 includes:

[0198] 601. When the steering wheel of the vehicle is folded, obtain the state parameters of the vehicle, where the state parameters are used to indicate the running state of the vehicle.

[0199] Step 601 and step 301 belong to the same inventive concept, and details can be found in step 301 , which will not be described again here.

[0200] 602, determining whether the state parameter meets the activation condition of the auxiliary steering control mode.

[0201] The process of "determining whether the state parameter meets the activation condition of the auxiliary steering control mode" in step 601 and step 302 belongs to the same inventive concept, and the details can be found in step 302, which will not be repeated here.

[0202] When the state parameter does not meet the activation condition of the auxiliary steering control mode, step 603 is executed.

[0203] When the state parameter meets the activation condition of the auxiliary steering control mode, step 604 is executed.

[0204] 603, end.

[0205] 604, displaying a vehicle-centered vehicle surrounding environment image and activating an auxiliary steering control mode.

[0206] Step 604 and step 302 belong to the same inventive concept, and the details can be found in step 302 , which will not be described again here.

[0207] 605, determine whether the hazard warning light status is on.

[0208] When the hazard warning light is on, execute step 606 , otherwise, return to step 603 .

[0209] 606 , controlling the vehicle to steer by means of an auxiliary steering control method.

[0210] 607, obtain vehicle speed.

[0211] After controlling the vehicle to complete the turn, the first ECU 202 may obtain the vehicle speed while the vehicle is moving forward or backward.

[0212] 608 , determining whether the vehicle speed is greater than or equal to a preset vehicle speed.

[0213] When the vehicle speed is greater than or equal to the preset vehicle speed, step 609 is executed; otherwise, step 610 is executed.

[0214] 609, turn off the auxiliary steering control mode and control the steering wheel to rise.

[0215] 610, determine whether the vehicle is in a stationary state.

[0216] When the vehicle is stationary, step 611 is executed, otherwise the auxiliary steering control mode is kept turned on.

[0217] 611, determine whether the state parameter meets the closing condition of the auxiliary steering control mode.

[0218] When the state parameter satisfies the closing condition of the auxiliary steering control mode, step 612 is executed, otherwise the auxiliary steering control mode is kept on.

[0219] 612, exit the assisted steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning lights.

[0220] The above steps 605 to 612 belong to the same inventive concept as step 303 in method 300 . For details, please refer to step 303 , which will not be described again here.

[0221] Figure 7 It is a structural schematic diagram of a device for controlling vehicle steering provided in an embodiment of the present application.

[0222] For example, Figure 7 As shown, the device 700 includes:

[0223] A first acquisition module 701 is used to acquire a state parameter of the vehicle when the steering wheel of the vehicle is folded, and the state parameter is used to indicate the running state of the vehicle;

[0224] The first control module 702 is used to display the vehicle surrounding environment image centered on the vehicle and activate the auxiliary steering control mode when the state parameter meets the activation conditions of the auxiliary steering control mode. The auxiliary steering control mode is used to simulate the turning operation of the steering wheel; the vehicle is controlled to steer through the auxiliary steering control mode.

[0225] Optionally, the status parameters include the high-voltage system status, gear position, parking switch status, fault status of each system of the vehicle and the status of the hazard warning lights. After obtaining the status parameters of the vehicle, the device also includes: a first determination module, used to determine that the status parameters meet the activation conditions when the high-voltage system status is powered on, the gear position is a preset gear position, the parking switch status is on, the fault status of each system is no fault, and the hazard warning light status is on; and determine that the status parameters do not meet the activation conditions when the high-voltage system status is powered off, or the gear position is not the preset gear position, or the parking switch status is closed, or the fault status of each system is faulty, or the hazard warning light status is off.

[0226] In one possible implementation, the first control module 702 is specifically used to: determine whether the hazard warning light status of the vehicle is on; when the hazard warning light status is on, in response to the control operation of the auxiliary steering control mode, determine the wheel steering angle corresponding to the control operation; and control the steering of the vehicle according to the wheel steering angle.

[0227] In one possible implementation, the auxiliary steering control method includes any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button, and the first control module 702 is also used to execute any one of the following: displaying the vehicle surrounding environment image and controlling the physical knob to turn on; displaying the vehicle surrounding environment image and the control interface of the virtual button; displaying the vehicle surrounding environment image and the control interface of the virtual steering wheel; displaying the vehicle surrounding environment image and controlling the physical button to turn on; and the control operation includes any one of a click operation, a rotation operation, and a sliding operation, and the first control module 702 is also used to execute any one of the following: determining the wheel steering angle in response to a rotation operation on the physical knob; determining the wheel steering angle in response to a click operation on the virtual button on the control interface of the virtual button; determining the wheel steering angle in response to a sliding operation on the virtual steering wheel on the control interface of the virtual steering wheel; determining the wheel steering angle in response to a click operation on the physical button.

[0228] Optionally, after the vehicle is controlled to steer through the auxiliary steering control mode, the device also includes: a second control module, used to obtain the vehicle speed; when the vehicle speed is greater than or equal to a preset speed, turning off the auxiliary steering control mode and controlling the steering wheel to rise, so that the user can control the vehicle driving through the steering wheel; when the vehicle speed is less than the preset speed, determining whether the vehicle is in a stationary state; when the vehicle is in a stationary state, exiting the auxiliary steering control mode, turning off the vehicle surrounding environment image, and turning off the vehicle's hazard warning lights.

[0229] Optionally, the second control module is specifically used to: when the vehicle is in a stationary state, determine whether the state parameter meets the shutdown condition of the assisted steering control mode; when the state parameter meets the shutdown condition, exit the assisted steering control mode, close the vehicle surrounding environment image, and turn off the hazard warning light.

[0230] Optionally, the second control module is also used to: generate target prompt information based on the state parameter when the state parameter satisfies the shutdown condition, and the target prompt information is used to prompt the user to exit the assisted steering control mode; display the target prompt information, and / or broadcast the target prompt information; in response to a reply instruction to the target prompt information, exit the assisted steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning light.

[0231] Figure 8 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0232] For example, Figure 8 As shown, the vehicle 800 includes: a memory 801 and a processor 802, wherein the memory 801 stores an executable program code 8011, and the processor 802 is used to call and execute the executable program code 8011 to perform a method for controlling vehicle steering.

[0233] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a method for controlling vehicle steering provided in an embodiment of the present application.

[0234] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0235] In the case of dividing each functional module according to each function, the device may further include a first acquisition module and a first control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0236] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for controlling vehicle steering, and thus can achieve the same effect as the above-mentioned implementation method.

[0237] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing mutual program codes, etc.

[0238] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits disclosed in the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0239] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling vehicle steering provided in the above embodiments.

[0240] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling vehicle steering provided in the above embodiment.

[0241] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling vehicle steering provided in the above embodiment.

[0242] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0243] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0244] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0245] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling vehicle steering, characterized in that: The method comprises: When the steering wheel of the vehicle is folded, obtaining a state parameter of the vehicle, wherein the state parameter is used to indicate a running state of the vehicle; When the state parameter meets the activation condition of the auxiliary steering control mode, displaying a vehicle surrounding environment image centered on the vehicle and activating the auxiliary steering control mode, wherein the auxiliary steering control mode is used to simulate the turning operation of the steering wheel; The vehicle is controlled to steer using the auxiliary steering control method.

2. The method according to claim 1, characterized in that: The state parameters include the state of the high-voltage system, the gear position, the state of the parking switch, the fault state of each system of the vehicle and the state of the hazard warning light. After obtaining the state parameters of the vehicle, the method further includes: When the high-voltage system is powered on, the gear is a preset gear, the parking switch is on, the fault status of each system is no fault, and the hazard warning light is on, determining that the status parameter meets the on condition; When the high-voltage system is in the power-off state, or the gear is not the preset gear, or the parking switch is in the closed state, or the fault state of each system is faulty, or the hazard warning light is in the off state, it is determined that the state parameter does not meet the start-up condition.

3. The method according to claim 1, characterized in that The controlling the steering of the vehicle by the auxiliary steering control method comprises: determining whether the hazard warning lights of the vehicle are on; In a case where the hazard warning light is in an on state, in response to a control operation of the auxiliary steering control mode, determining a wheel steering angle corresponding to the control operation; The vehicle steering is controlled according to the wheel steering angle.

4. The method according to claim 3, characterized in that The auxiliary steering control mode includes any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button, and the displaying of the vehicle surrounding environment image centered on the vehicle and activating the auxiliary steering control mode includes any one of the following: Display the vehicle surrounding environment image and control the physical knob to turn on; Displaying the vehicle surrounding environment image and the control interface of the virtual buttons; Displaying the vehicle surrounding environment image and the control interface of the virtual steering wheel; Display the vehicle surrounding environment image and control the physical button to turn on; Furthermore, the control operation includes any one of a click operation, a rotation operation and a slide operation, and the determination of the wheel steering angle corresponding to the control operation in response to the control operation of the auxiliary steering control mode includes any one of the following: In response to a rotation operation of the physical knob, determining the wheel steering angle; In response to a click operation on the virtual button, determining the wheel steering angle on the control interface of the virtual button; In response to a sliding operation on the virtual steering wheel, determining the wheel steering angle at a control interface of the virtual steering wheel; In response to a click operation on the physical button, the wheel steering angle is determined.

5. The method according to claim 1, characterized in that: After controlling the vehicle to steer by the auxiliary steering control method, the method further includes: Obtaining the speed of the vehicle; When the vehicle speed is greater than or equal to a preset vehicle speed, the auxiliary steering control mode is turned off and the steering wheel is controlled to rise, so that the user can control the driving of the vehicle through the steering wheel; When the vehicle speed is less than the preset vehicle speed, determine whether the vehicle is stationary; when the vehicle is stationary, exit the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off the vehicle's hazard warning lights.

6. The method according to claim 5, characterized in that When the vehicle is stationary, exiting the auxiliary steering control mode, turning off the vehicle surrounding environment image, and turning off the hazard warning lights of the vehicle include: When the vehicle is in a stationary state, determining whether the state parameter satisfies a closing condition of the auxiliary steering control mode; When the state parameter satisfies the shut-down condition, the auxiliary steering control mode is exited, the vehicle surrounding environment image is shut down, and the hazard warning light is shut down.

7. The method according to claim 6, characterized in that When the state parameter satisfies the closing condition, exiting the auxiliary steering control mode, closing the vehicle surrounding environment image, and closing the hazard warning light include: When the state parameter satisfies the closing condition, generating target prompt information according to the state parameter, wherein the target prompt information is used to prompt the user to exit the auxiliary steering control mode; Displaying the target prompt information, and / or broadcasting the target prompt information; In response to a reply instruction to the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is turned off, and the hazard warning light is turned off.

8. A device for controlling vehicle steering, characterized in that: The device comprises: A first acquisition module, configured to acquire a state parameter of the vehicle when the steering wheel of the vehicle is folded, wherein the state parameter is used to represent the running state of the vehicle; The first control module is used to display a vehicle surrounding environment image centered on the vehicle and activate the auxiliary steering control mode when the state parameter meets the activation condition of the auxiliary steering control mode, and the auxiliary steering control mode is used to simulate the turning operation of the steering wheel; the vehicle is controlled to steer through the auxiliary steering control mode.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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