A method, apparatus, vehicle and storage medium for controlling steering of a vehicle

Abstract

The application provides a method, device, vehicle and storage medium for controlling vehicle steering. The method is applied to the field of vehicle steering and comprises the following steps: acquiring a state parameter of the vehicle, the state parameter being used to represent an operating state of the vehicle, when the steering wheel of the vehicle is folded; displaying a vehicle surrounding environment image centered on the vehicle and activating an auxiliary steering control mode, when the state parameter meets an opening condition of the auxiliary steering control mode, the auxiliary steering control mode being used to simulate a steering wheel rotation operation; and controlling the vehicle to steer through the auxiliary steering control mode. The method can be used in a vehicle equipped with a steer-by-wire function. When the steering wheel is folded, the vehicle can be controlled to steer through the auxiliary steering control mode instead of the steering wheel, so that the problem of complicated process caused by the need to raise the steering wheel for steering is avoided, the steering process of the vehicle is simple and convenient, 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 particularly, to a method and device for controlling vehicle steering, a vehicle and a storage medium. BACKGROUND

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

[0003] With the development and application of steer-by-wire function, a steering mode other than the steering wheel can be provided for users.

[0004] The steer-by-wire function mainly replaces the mechanical connection components between the steering wheel and the wheels with a data bus, and completely realizes steering by electric energy. In a vehicle configured with the steer-by-wire function, the user can fold the steering wheel according to the needs to increase the space in the vehicle, and facilitate the user to have fun or work in the vehicle.

[0005] In one possible implementation, when the steering wheel is folded, if the user needs to move the vehicle when the vehicle is in a parking state, the user first needs to control the steering wheel to rise. After the steering wheel rises, the vehicle is controlled to turn by the steering wheel.

[0006] The above folding and rising of the steering wheel back and forth can cause the problem that the steering process takes a long time and is not convenient, and the user experience is reduced. SUMMARY

[0007] The present application provides a method and device for controlling vehicle steering, a vehicle and a storage medium, which can control the vehicle to complete steering by a steering control mode other than the steering wheel in a vehicle configured with a steer-by-wire function when the steering wheel is folded, avoiding the problem of complicated process caused by the need to raise the steering wheel for steering, making the steering process of the vehicle simple and convenient, and improving the driving experience of the user.

[0008] In a first aspect, a method for controlling vehicle steering is provided, which includes: in a case where a steering wheel of a vehicle is folded, acquiring a state parameter of the vehicle, the state parameter being used to indicate an operating state of the vehicle; in a case where the state parameter meets an opening condition of an auxiliary steering control mode, displaying a vehicle surrounding environment image centered on the vehicle and activating the auxiliary steering control mode, the auxiliary steering control mode being used to simulate a turning operation on the steering wheel; and controlling the vehicle to turn by the auxiliary steering control mode.

[0009] In the technical solution, the vehicle based on the steer-by-wire steering function has the characteristics of flexible folding and lifting of the steering wheel. The application provides a method for controlling the steering of the vehicle. In the case of folding the steering wheel, the auxiliary steering control mode can be triggered according to the state parameters. Specifically, when the state parameters meet the opening condition of the auxiliary steering control mode, the auxiliary steering control mode is activated, and the image of the vehicle environment is displayed, so that the user can control the steering of the vehicle based on the auxiliary steering control mode. The above process can provide a flexible, convenient and fast steering mode for the user when the steering wheel is folded, thereby avoiding the cumbersome problem caused by lifting the steering wheel for steering, and improving the user experience.

[0010] In combination with the first aspect, in some possible implementation manners, the state parameters include a high-voltage system state, a gear position, a parking switch state, fault states of various systems of the vehicle, and a hazard warning light state. After obtaining the state parameters of the vehicle, the method further includes: determining that the state parameters meet the opening condition in the case that the high-voltage system state is powered on, the gear position is a preset gear position, the parking switch state is opened, the fault states of the various systems are all no fault, and the hazard warning light state is opened; and determining that the state parameters do not meet the opening condition in the case that the high-voltage system state is powered off, or the gear position is not the preset gear position, or the parking switch state is closed, or the fault states of the various systems are all fault, or the hazard warning light state is closed.

[0011] In the technical solution, a process for determining whether the state parameters meet the opening condition of the auxiliary steering control mode is specifically given. The state parameters include a high-voltage system state, a gear position, a parking switch state, fault states of various systems of the vehicle, and a hazard warning light state. When the high-voltage system is powered on, the gear position is a preset gear position, the parking switch state is opened, the fault states of the various systems are all no fault, and the hazard warning light state is opened, it is determined that the state parameters meet the opening condition. The above determination process can ensure that the vehicle is currently in a stationary state and can operate normally, and the hazard warning light can prompt the vehicle to move when the vehicle needs to move. On the contrary, when at least one of the above conditions is not met, it is determined that the state parameters do not meet the opening condition, which can ensure the safety of the vehicle and the user during use of the vehicle.

[0012] In combination with the first aspect and the above implementation manners, in some possible implementation manners, the controlling the steering of the vehicle through the auxiliary steering control mode includes: determining whether the hazard warning light state of the vehicle is opened; in the case that the hazard warning light state is opened, determining a wheel steering angle corresponding to a control operation of the auxiliary steering control mode in response to the control operation; and controlling the steering of the vehicle according to the wheel steering angle.

[0013] In the technical solution, in order to ensure timely reminding of the vehicle during the steering process, the hazard warning light of the vehicle must be turned on during the steering process based on the auxiliary steering control mode. Then, the steering angle of the vehicle is determined through the control operation of the user on the auxiliary steering control mode, and the steering of the vehicle is controlled through the steering angle of the vehicle. The determination of the state of the hazard warning light can timely warn other vehicles during the steering process of the vehicle, which can ensure the safety of the vehicle and the safety of the other vehicles. Further, the steering of the vehicle is controlled through the auxiliary steering control mode, which can avoid the lifting of the steering wheel and improve the efficiency of the steering of the vehicle.

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

[0015] In the technical solution, several auxiliary steering control modes are provided, including a virtual button, a physical knob, a virtual steering wheel and a physical button, and the specific activation and control processes are different based on different auxiliary steering control modes.

[0016] When the auxiliary steering control mode is the virtual button, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed 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 the virtual steering wheel, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed 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 parameter meets the opening condition, the vehicle surrounding image can be displayed and the physical knob can be controlled to be opened. The user can rotate the physical knob to control the vehicle steering.

[0019] When the auxiliary steering control mode is a physical button, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed and the physical button can be controlled to be opened. The user can click the physical button to control the vehicle steering.

[0020] The above several control vehicle steering modes are flexible and diverse, avoiding the problem of monotonous control caused by a single auxiliary steering control mode.

[0021] In combination with the first aspect and the above implementation manners, in some possible implementation manners, after the vehicle is controlled to steer through the auxiliary steering control mode, the method further includes: acquiring a vehicle speed of the vehicle; in a case where the vehicle speed is greater than or equal to a preset vehicle speed, the auxiliary steering control mode is closed and the steering wheel is controlled to be raised, so that the user controls the vehicle to travel through the steering wheel; in a case where the vehicle speed is less than the preset vehicle speed, it is determined whether the vehicle is in a stationary state; in a case where the vehicle is in the stationary state, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and a danger warning light of the vehicle is closed.

[0022] In the above technical solution, when the vehicle needs to move forward or backward after completing steering, the vehicle speed during the moving process can be acquired, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to be raised when the vehicle speed is relatively large, so that the safety of the vehicle and the user can be ensured when the vehicle speed is relatively high. When the vehicle speed is relatively small, it can be determined whether the vehicle is in a stationary state, that is, whether the moving process of the vehicle is ended. When the vehicle is in the stationary state, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light of the vehicle is closed. The above process can intelligently end the control process after the vehicle is controlled.

[0023] In combination with the first aspect and the above implementation manners, in some possible implementation manners, in a case where the vehicle is in the stationary state, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light of the vehicle is closed, including: in a case where the vehicle is in the stationary state, it is determined whether the state parameter meets a closing condition of the auxiliary steering control mode; in a case where the state parameter meets the closing condition, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light is closed.

[0024] In the technical solution, when ending the current vehicle control process, in addition to judging whether the vehicle is stationary, it can further judge 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 is ended. The vehicle being in a stationary state only represents that the vehicle is not currently traveling, and the state parameter judgment can ensure that the vehicle control process is completed thoroughly, and the above process can ensure the accuracy of the exit of the auxiliary steering control mode.

[0025] In combination with the first aspect and the above implementation, in some possible implementation, in the case that the state parameter meets the closing condition, the exiting the auxiliary steering control mode, the closing the vehicle surrounding environment image, and the closing the danger warning lamp include: in the case that the state parameter meets the closing condition, generating target prompt information according to the state parameter, the target prompt information being used to prompt the user to exit the auxiliary steering control mode; displaying the target prompt information, and / or, playing the target prompt information; in response to a reply instruction to the target prompt information, exiting the auxiliary steering control mode, closing the vehicle surrounding environment image, and closing the danger warning lamp.

[0026] In the technical solution, in order to consider the driving demand of the user when ending the control, when the state parameter meets the closing condition, the target prompt information can be generated first. When the user confirms the exit based on the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning lamp is closed. The above process considers the actual demand of the user when ending the control process, can provide a humanized control mode for the user, and improves the experience of the user.

[0027] In summary, based on the vehicle with the steer-by-wire function, the steering wheel has the characteristics of flexible folding and rising, and the application provides a method for controlling the steering of the vehicle. In the case that the steering wheel is folded, the auxiliary steering control mode can be triggered according to the state parameter. Specifically, when the state parameter meets the opening condition of the auxiliary steering control mode, the auxiliary steering control mode is activated and the vehicle surrounding environment image is displayed, so that the user can control the steering of the vehicle based on the auxiliary steering control mode. The above process can provide a flexible, convenient and fast steering mode for the user when the steering wheel is folded, thereby avoiding the cumbersome problem caused by the rising of the steering wheel, and improving the user experience.

[0028] In addition, a process for determining whether the state parameters meet the starting condition of the auxiliary steering control mode is specifically given. The state parameters include the high-voltage system state, the gear position, the parking switch state, the fault state of each system of the vehicle, and the hazard warning light state. When the high-voltage system is powered on, the gear position is a preset gear position, the parking switch state is on, the fault state of each system is no fault, and the hazard warning light state is on, it is determined that the state parameters meet the starting condition. The above determination process can ensure that the vehicle is currently in a stationary state and can operate normally, and the hazard warning light can be turned on to prompt the oncoming vehicle 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 starting condition, which can ensure the safety of the vehicle and the user during use of the vehicle.

[0029] During the process of controlling the vehicle steering based on the auxiliary steering control mode, in order to ensure timely warning to the oncoming vehicle during steering, the hazard warning light of the vehicle must be turned on throughout the steering process. Then, the steering angle of the vehicle is determined through the control operation of the user on the auxiliary steering control mode, and the vehicle is steered through the steering angle. The above determination of the hazard warning light state can timely warn other vehicles during the steering of the vehicle, which can ensure the safety of the vehicle and the safety of the oncoming vehicle. Further, the steering of the vehicle is controlled through the auxiliary steering control mode, which can avoid the lifting of the steering wheel and improve the efficiency of the steering of the vehicle.

[0030] The application proposes several auxiliary steering control modes, specifically including virtual buttons, physical knobs, virtual steering wheels, and physical buttons. The specific activation and control processes also differ based on different auxiliary steering control modes.

[0031] When the auxiliary steering control mode is a virtual button, when the state parameters meet the starting condition, the vehicle image can be displayed 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 starting condition, the vehicle image can be displayed 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 starting condition, the vehicle image can be displayed and the physical knob can be controlled to be turned on. The user can rotate the physical knob to control the steering of the vehicle.

[0034] When the auxiliary steering control mode is a physical button, when the state parameters meet the starting condition, the vehicle image can be displayed and the physical button can be controlled to be turned on. The user can click the physical button to control the steering of the vehicle.

[0035] The above several control modes of the vehicle steering are flexible and diverse, and avoid the problem of monotonous control caused by a single auxiliary steering control mode.

[0036] When the vehicle completes steering and needs to move forward or backward, the application can also obtain the vehicle speed during the movement. When the vehicle speed is large, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to rise, so as to ensure the safety of the vehicle and the user when the vehicle speed is high. When the vehicle speed is small, it can be judged whether the vehicle is in a stationary state, that is, whether the movement of the vehicle is ended. When the vehicle is in a stationary state, the auxiliary steering control mode is exited, the image of the environment around the vehicle is closed, and the hazard warning light of the vehicle is closed. The above process can intelligently end the control process after the vehicle is controlled.

[0037] Specifically, in ending the control process, in addition to judging whether the vehicle is stationary, it can be further judged 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 is ended. The vehicle in a stationary state only represents that the vehicle does not travel at this time, and the state parameter judgment can ensure that the control process is completely completed. The above process can ensure the accuracy of the exit of the auxiliary steering control mode.

[0038] In order to consider the driving needs of the user when ending the control, when the state parameter meets the closing condition, a target prompt information can be generated first. When the user confirms the exit based on the target prompt information, the auxiliary steering control mode is exited, the image of the environment around the vehicle is closed, and the hazard warning light is closed. The above process considers the actual needs of the user when ending the control process, and can provide a humanized control mode for the user, thereby improving the experience of the user.

[0039] In a second aspect, a device for controlling vehicle steering is provided, which comprises: a first acquisition module configured to acquire a state parameter of a vehicle when a steering wheel of the vehicle is folded, the state parameter being used to represent an operating state of the vehicle; a first control module configured to display an image of an environment around the vehicle centered on the vehicle and activate an auxiliary steering control mode when the state parameter meets an opening condition of the auxiliary steering control mode, the auxiliary steering control mode being used to simulate a turning operation of the steering wheel; and controlling the vehicle to steer through the auxiliary steering control mode.

[0040] With reference to the second aspect, in some possible implementation manners, the state parameter comprises a high-voltage system state, a gear position, a parking switch state, fault states of various systems of the vehicle, and a hazard warning light state. After the state parameter of the vehicle is acquired, the device further comprises a first determination module configured to: determine that the state parameter meets the starting condition when the high-voltage system state is powered on, the gear position is a preset gear position, the parking switch state is turned on, the fault states of the various systems are all no fault, and the hazard warning light state is turned on; and determine that the state parameter does not meet the starting condition 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 turned off, or the fault states of the various systems are all fault, or the hazard warning light state is turned off.

[0041] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the first control module is specifically configured to: determine whether the hazard warning light state of the vehicle is turned on; and in response to the control operation on the auxiliary steering control mode, determine a wheel steering angle corresponding to the control operation when the hazard warning light state is turned on; and control the vehicle to steer according to the wheel steering angle.

[0042] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the auxiliary steering control mode comprises any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button. The first control module is further configured to perform any one of the following: display the vehicle surrounding environment image and control the physical knob to be turned on; display the vehicle surrounding environment image and a control interface of the virtual button; display the vehicle surrounding environment image and a control interface of the virtual steering wheel; display the vehicle surrounding environment image and control the physical button to be turned on; and the control operation comprises any one of a click operation, a rotation operation, and a sliding operation. The first control module is further configured to perform any one of the following: determine the wheel steering angle in response to the rotation operation on the physical knob; determine the wheel steering angle in response to the click operation on the virtual button in the control interface of the virtual button; determine the wheel steering angle in response to the sliding operation on the virtual steering wheel in the control interface of the virtual steering wheel; and determine the wheel steering angle in response to the click operation on the physical button.

[0043] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, after the vehicle is controlled to turn by the auxiliary steering control manner, the apparatus further includes a second control module configured to: acquire a vehicle speed of the vehicle; in a case where the vehicle speed is greater than or equal to a preset vehicle speed, turn off the auxiliary steering control manner and control the steering wheel to be raised, so that the user controls the vehicle to travel by the steering wheel; and in a case where the vehicle speed is less than the preset vehicle speed, determine whether the vehicle is in a stationary state; and in a case where the vehicle is in the stationary state, exit the auxiliary steering control manner, turn off the vehicle ambient image, and turn off a danger warning lamp of the vehicle.

[0044] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module is specifically configured to: in a case where the vehicle is in the stationary state, determine whether the state parameter satisfies a turn-off condition of the auxiliary steering control manner; and in a case where the state parameter satisfies the turn-off condition, exit the auxiliary steering control manner, turn off the vehicle ambient image, and turn off the danger warning lamp.

[0045] With reference to the second aspect and the foregoing implementation manners, in some possible implementation manners, the second control module is further configured to: in a case where the state parameter satisfies the turn-off condition, generate target prompt information according to the state parameter, the target prompt information being used to prompt the user to exit the auxiliary steering control manner; display the target prompt information and / or broadcast the target prompt information; and in response to a reply instruction to the target prompt information, exit the auxiliary steering control manner, turn off the vehicle ambient image, and turn off the danger warning lamp.

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

[0047] In a fourth aspect, a computer program product is provided, which includes computer program code. When the computer program code is run on a computer, the computer is caused to execute the method in the first aspect or any possible implementation manner of the first aspect.

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

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

[0050] Figure 2 is a structural schematic diagram of a steer-by-wire system provided by an embodiment of the present application.

[0051] Figure 3 is a schematic flowchart of a method for controlling vehicle steering provided by an embodiment of the present application.

[0052] Figure 4 is a schematic diagram of a scenario for obtaining a state parameter provided by an embodiment of the present application.

[0053] Figure 5 is a schematic diagram of a scenario for activating an auxiliary steering control mode provided by an embodiment of the present application.

[0054] Figure 6 is a schematic flowchart of another method for controlling vehicle steering provided by an embodiment of the present application.

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

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

[0057] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0058] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features.

[0059] It should be understood that the method of the embodiments of the present application is mainly applied to a vehicle configured with a steer-by-wire function (or a steer-by-wire system). Before introducing the method of the embodiments of the present application, the steer-by-wire system is first introduced.

[0060] Steering-By-Wire, compared with the traditional mechanical steering system, cancels the mechanical connection between the steering wheel and the steering wheel, completely gets rid of the mechanical hardware restrictions, and completely realizes steering by electric energy.

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

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

[0063] Specifically, in the steering-by-wire system, the user's operation can be converted into an electrical signal through a corresponding sensor. Further, by analyzing and processing the electrical signal, a corresponding control instruction is obtained, and the control instruction is directly transmitted to the actuator (that is, the steering execution module) through the wire.

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

[0065] As shown in Figure 2 , the steering-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. Among them, the steering wheel module 201, the first ECU 202 and the steering execution module 205 are the three main parts of the steering-by-wire system 200, and the other modules belong to the auxiliary part.

[0066] The steering wheel module 201 is an input module of steering intention, including a steering wheel, a steering angle sensor, a torque sensor, a return torque motor, etc. The steering wheel module 201 converts the user's steering intention into an electrical signal by measuring the steering angle and torque of the steering wheel, and transmits it to the first ECU 202. In addition, the steering wheel module 201 can also receive the torque signal feedback by the first ECU 202 to generate the return torque of the steering wheel and provide the corresponding road feeling for the user.

[0067] The first ECU 202 is the core of the steering-by-wire system 200, that is, the controller of the steering-by-wire system. It determines the control effect of the steering-by-wire system. The main function of the first ECU 202 is to analyze and process various signals, judge the steering intention and the running state of the vehicle, and output corresponding control instructions.

[0068] The fault handling module 203 comprises a series of monitoring and response procedures. When the steer-by-wire system 200 fails, the fault handling module 203 takes corresponding handling measures according to the set procedures to avoid or mitigate the damage caused by the failure to the vehicle and ensure the safety of the vehicle.

[0069] The power module 204 serves as a power supply facility and is mainly used for supplying power to the steer-by-wire system 200.

[0070] The steering execution module 205 is used to realize and execute the steering intention of the user and comprises a steering execution motor, a steering execution motor controller, a wheel steering assembly, and a wheel rotation angle sensor. The steering execution module 205 receives the instructions of the first ECU 202, controls the rotation of the wheels through the steering execution motor and the steering execution motor controller, and realizes steering.

[0071] In addition, for a vehicle configured with a steer-by-wire system, the user can choose whether to fold the steering wheel during driving of the vehicle according to the driving needs. For example, it is assumed that the user needs to work during driving of the vehicle, and the user can choose to fold the steering wheel after parking to obtain more use space.

[0072] Further, in combination with the above-described vehicle configured with a steer-by-wire function, the steering wheel can be flexibly folded. After the user chooses to fold the steering wheel in the case of parking, if the user needs to move the vehicle again, the user needs to raise the steering wheel again to realize steering of the vehicle by operating the steering wheel, and the process of raising and folding the steering wheel back and forth is relatively cumbersome, which can cause the user experience to decrease.

[0073] Based on the above problems, the embodiment of the present application provides a method for controlling steering of a vehicle. The method can be used in a vehicle configured with a steer-by-wire function. When the steering wheel is folded, the vehicle can be controlled to complete steering through an auxiliary steering control mode other than the steering wheel, thereby avoiding the problem of cumbersome process caused by raising the steering wheel to steer, simplifying the steering process of the vehicle, and improving the driving experience of the user.

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

[0075] Figure 3 is a schematic flowchart of the method for controlling steering of a vehicle provided by the embodiment of the present application. It should be understood that the method can be applied to Figure 2 the steer-by-wire system 200 shown in Figure 2 the first ECU 202 in

[0076] For example, as shown in Figure 3 the method 300 comprises:

[0077] 301. With the vehicle's steering wheel folded in, obtain the vehicle's state parameters, which are used to represent the vehicle's operating state.

[0078] It should be understood that for vehicles equipped with steer-by-wire, when a user needs more usable space in the driver's seat, they can use the steering wheel folding switch to fold the steering wheel down, providing more usable space. Similarly, when it is necessary to raise the steering wheel, the user can use the steering wheel raising switch to raise the steering wheel.

[0079] Optionally, in addition to the above-mentioned function switch, the method of controlling the raising or lowering of the steering wheel may also include virtual buttons, voice commands, etc., corresponding to raising or lowering the steering wheel. This application embodiment does not limit this.

[0080] When moving a vehicle with the steering wheel folded down, in order to avoid having to raise the steering wheel again to control the vehicle's steering, this application proposes a method for controlling the vehicle's steering, which can achieve vehicle steering control during the moving process through auxiliary steering control methods other than the steering wheel.

[0081] When steering the vehicle using the assisted steering control method, in order to avoid accidental triggering of the assisted steering control method, the first ECU202 can first determine whether the vehicle meets the conditions for activating the assisted steering control method through status parameters.

[0082] Optionally, status parameters include high-voltage system status, gear position, parking switch status, fault status of various vehicle systems, and hazard warning light status. Among these, the high-voltage system status indicates whether the vehicle's high-voltage system is powered on.

[0083] Figure 4 This is a schematic diagram of a scenario for obtaining state parameters provided in an embodiment of this application.

[0084] For example, such as Figure 4 As shown, the first ECU202 can acquire different state parameters through... Figure 4 The system is implemented using the parking status acquisition module 401, high-voltage system acquisition module 402, gear position acquisition module 403, turn signal acquisition module 404, second ECU 405, third ECU 406, and fourth ECU 407 shown.

[0085] The parking state acquisition module 401 can be an electronic parking brake (EPB) in the vehicle. The EPB is an electronic parking brake in the vehicle, which integrates the temporary brake during driving and the long-time brake after parking, and realizes the parking brake through electronic control.

[0086] The EPB can send the parking switch state of the vehicle to the first ECU 202.

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

[0088] The first ECU 202 can obtain the high-voltage system state of the vehicle through the VCU.

[0089] The gear acquisition module 403 can be a gear controller in the vehicle.

[0090] The first ECU 202 can obtain the gear of the vehicle through the gear controller.

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

[0092] The first ECU 202 can obtain the hazard warning light state through the BCM. The hazard warning light state includes on and off. When the hazard warning light state is on, the user can manually turn on the hazard warning light switch according to the actual driving needs, such as when the vehicle is involved in a traffic accident, in order to timely warn the oncoming vehicles, the user can manually turn on the hazard warning light switch to turn on the hazard warning light. Or, when the vehicle needs to be temporarily moved, the user can manually turn on the hazard warning light switch to turn on the hazard warning light. The 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, for example, "turn on the hazard warning light or turn off the hazard warning light".

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

[0094] The second ECU 405, the third ECU 406, and the fourth ECU 407 (only examples are given above, and the number of ECUs in the vehicle other than the first ECU 202 is more than three) can be other ECUs in the vehicle other than the first ECU 202. Optionally, each system of the vehicle includes a braking system, a steering system, a driving system, and a transmission system. Each of the systems corresponds to a plurality of ECUs, and 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" for short) of the corresponding system. Therefore, in the embodiments of the present application, when determining the fault state of each system, it can be determined by whether there is a fault code.

[0095] For example, the first ECU 202 can obtain the fault code from the second ECU 405, the third ECU 406, and the fourth ECU 407. If the fault code is obtained, it indicates that the fault state of the system is faulty. When the fault code is not obtained, it indicates that the fault state of the system is not faulty.

[0096] 302, in the case that the state parameters meet the opening condition of the auxiliary steering control mode, display the vehicle-centered image of the surrounding environment of the vehicle and activate the auxiliary steering control mode, which is used to simulate the steering operation of the steering wheel.

[0097] After obtaining the above-mentioned various state parameters, the first ECU 202 can determine whether the above-mentioned state parameters meet the opening condition of the auxiliary steering control mode, to decide whether to trigger the opening of the auxiliary steering control mode.

[0098] In a possible implementation, when the first ECU 202 determines whether the state parameters meet the opening condition of the auxiliary steering control mode, it specifically includes:

[0099] In the case that the high-voltage system state is powered on, the gear is the preset gear, the parking switch state is opened, the fault state of each system is not faulty, and the hazard warning light state is opened, it is determined that the state parameters meet the opening condition;

[0100] In the case that the high-voltage system state is powered off, or the gear is not the preset gear, or the parking switch state is closed, or the fault state of each system is faulty, or the hazard warning light state is closed, it is determined that the state parameters do not meet the opening condition.

[0101] It should be understood that, since the vehicle steering scene of the embodiments of the present application is after the vehicle is parked, the vehicle needs to be moved. Therefore, during the movement of the vehicle, it is necessary to first determine whether the vehicle currently meets the condition for moving the vehicle, that is, the opening condition of the auxiliary steering control mode.

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

[0103] The high-voltage system state indicates that the power system of the vehicle is in a starting state and can work normally. The gear is the P gear and the parking switch is on, which indicates that the vehicle is in a parking state. The fault state of each system indicates that each system of the vehicle can work normally, and the hazard warning light state is on, which can remind the onlookers during the moving process. In this case, the first ECU 202 determines that the vehicle meets the opening condition of the auxiliary steering control mode.

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

[0105] The above technical solution specifically gives a process of judging whether the state parameters meet the opening condition of the auxiliary steering control mode. The state parameters include the high-voltage system state, the gear, the parking switch state, the fault state of each system of the vehicle, and the hazard warning light state. When the high-voltage system is powered on, the gear is the preset gear, the parking switch state is on, the fault state of each system is no fault, and the hazard warning light state is on, it is determined that the state parameters meet the opening condition. The above judgment process can ensure that the vehicle is currently in a stationary state and can work normally, and the hazard warning light is on to remind the onlookers 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 opening condition, which can ensure the safety of the vehicle and the user during use.

[0106] Further, when the first ECU 202 determines that the vehicle meets the opening condition of the auxiliary steering control mode, the vehicle display can be controlled to display a vehicle-centered vehicle environment image and activate the auxiliary steering control mode. The purpose of displaying the vehicle-centered vehicle environment image is to enable the user to understand the road, other vehicles and pedestrian conditions around the vehicle based on the vehicle environment image during the moving process. Activating the auxiliary steering control mode can be understood as opening the auxiliary steering control mode, which aims to achieve the same function as the steering wheel.

[0107] The vehicle environment image is a 360-degree panoramic image of the vehicle, also known as a panoramic image or a panoramic reversing image system. The 360-degree panoramic image of the vehicle refers to viewing the 360-degree panoramic environment around the vehicle by using the display device installed in the center console of the vehicle. Using this information can effectively master the visual blind spot around the vehicle and assist the user to park the vehicle more intuitively and safely and reliably.

[0108] For example, the vehicle environment image is a 360-degree panoramic image of the vehicle. 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 environmental image around the vehicle in the display area through the multimedia control module 408 in the vehicle.

[0109] Optionally, the auxiliary steering control mode in the embodiments 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 different auxiliary steering control modes described above, the embodiments of the present application display the environmental image around the vehicle and activate the auxiliary steering control mode, and specifically include any one of the following:

[0111] displaying the environmental image around the vehicle and controlling the physical knob to be turned on;

[0112] displaying the environmental image around the vehicle and the control interface of the virtual button;

[0113] displaying the environmental image around the vehicle and the control interface of the virtual steering wheel;

[0114] displaying the environmental image around the vehicle and controlling the physical button to be turned on.

[0115] For example, as shown in (a) of FIG. 10, when the state parameter meets the turning-on condition, the first ECU 202 first controls the display device to display the 360-degree panoramic image in the display area through the multimedia control module 408. Figure 4

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

[0117] Figure 5 is a scene schematic diagram provided by the embodiments of the present application for activating the auxiliary steering control mode.

[0118] For example, as shown in (a) of FIG. 10, Figure 4 , Figure 5 (a) of FIG. 10 is a scene schematic diagram provided by the embodiments of the present application for activating the virtual steering wheel. In addition to controlling the display device to display the 360-degree panoramic image of the vehicle in the display area, the first ECU 202 can also control the display device to display the control interface of the virtual steering wheel in the display area through the multimedia control module 408. That is, the display area of the display device can display the 360-degree panoramic image and the control interface of the virtual steering wheel at the same time. As shown in (a) of FIG. 10, Figure 5 As shown in (a) of FIG. 10, the control interface of the virtual steering wheel also includes a rotation angle display area, which can display the steering angle of the vehicle in real time during the steering process.

[0119] For another example, Figure 5 ​(b) is a schematic diagram of a scenario of activating a virtual button 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 button in the display area through the multimedia control module 408. As shown in (b) of Figure 5 (b), 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 wheels of the vehicle to turn left, the "right" control is used to control the wheels of the vehicle to turn right, and the "reset" control is used to restore the rotation angle of the wheels to 0 degrees. In the rotation angle display area, the rotation angle of the wheels can be displayed in real time. Similarly, in this way, the display area of the display device can simultaneously display the 360-degree panoramic image and the control interface of the virtual button.

[0121] Another exemplary, Figure 5 (c) is a schematic diagram of a scenario of activating a physical knob provided in an embodiment of the present application. In addition to the virtual control mode, when a physical knob corresponding to the wheel steering is configured in the vehicle, the first ECU 202 can control the physical knob to be turned on after the state parameters meet the opening condition. 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 an open state. In this way, the display area of the display device includes the 360-degree panoramic image and the rotation angle display area.

[0122] Another exemplary, Figure 5 (d) is a schematic diagram of a scenario of activating a physical button provided in an embodiment of the present application. When a physical button corresponding to the wheel steering is configured in the vehicle, the first ECU 202 can control the physical button to be turned on (such as Figure 5 the left button, the right button, and the reset button in (d)) after the state parameters meet the opening condition. 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 in an open state. In this way, the display area of the display device includes the 360-degree panoramic image and the rotation angle display area.

[0123] 303, controlling the vehicle to steer through the auxiliary steering control mode.

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

[0125] It should be understood that during the process in which the user controls the vehicle to steer through the auxiliary steering control mode, the hazard warning light needs to be turned on throughout the process to ensure the safety of the vehicle in order to timely remind the vehicles around.

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

[0127] In a possible implementation, the vehicle steering is controlled by the auxiliary steering control mode, including:

[0128] determining whether the hazard warning light of the vehicle is turned on or not;

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

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

[0131] For example, in combination with Figure 4 After the auxiliary steering control mode is activated, the first ECU 202 can also acquire the state of the hazard warning light again through the steering lamp 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 turned on, the control operation of the auxiliary steering control mode by the user can be received, and the wheel steering angle is determined. The vehicle steering is further controlled according to the wheel steering angle.

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

[0134] In the above technical solution, in the process of controlling the vehicle steering based on the auxiliary steering control mode, in order to ensure that the passing vehicle is timely reminded during the steering process, the hazard warning light of the vehicle must be turned on during the whole steering process. Then the wheel steering angle is determined through the control operation of the auxiliary steering control mode by the user, and the vehicle steering is controlled through the wheel steering angle. The determination of the state of the hazard warning light can timely warn other vehicles during the vehicle steering process, which can ensure the safety of the ego vehicle and the safety of the passing vehicle. Further, the vehicle steering is controlled by the auxiliary steering control mode, which can avoid the steering wheel from being raised and improve the efficiency of the vehicle steering.

[0135] Specifically, when controlling wheel steering through assisted steering control, the corresponding control operations vary depending on the assisted steering control method.

[0136] Optionally, the control operation includes any one of the following: click operation, rotation operation, and swipe operation.

[0137] In one possible implementation, the wheel steering angle is determined in response to a control operation on the assisted steering control mode, specifically including any of the following:

[0138] The wheel steering angle is determined in response to the rotation of a physical knob;

[0139] In the virtual button control interface, the wheel steering angle is determined in response to the click operation of the virtual button;

[0140] In the virtual steering wheel control interface, the wheel steering angle is determined in response to the sliding operation of the virtual steering wheel;

[0141] The wheel steering angle is determined in response to a click on a physical button.

[0142] For example, such as Figure 5 As shown in (a), when the assisted steering control mode is a virtual steering wheel, after the display device shows the virtual steering wheel control interface, the user can slide the virtual steering wheel clockwise or counterclockwise in the virtual steering wheel control interface. Sliding the virtual steering wheel clockwise controls the wheels to turn right, and sliding it counterclockwise controls the wheels to turn left.

[0143] Correspondingly, in this embodiment of the application, the correspondence between the rotation angle of the virtual steering wheel and the steering angle of the wheels can be preset.

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

[0145] Furthermore, during the process of the user sliding the virtual steering wheel, the first ECU 202 can obtain the starting and ending positions 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 based on these starting and ending positions. Finally, based on the correspondence between the rotation angle of the virtual steering wheel and the wheel steering angle, the actual wheel steering angle is determined.

[0146] Furthermore, to prevent vehicle safety issues caused by excessive wheel steering angles during vehicle steering control via a virtual steering wheel, this embodiment can pre-set a maximum sliding speed for the virtual steering wheel when it is sliding. 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 using the maximum sliding speed.

[0147] For example, assuming the maximum sliding speed is 100° / s, and the first ECU 202 obtains a sliding speed of 60° / s during the user's sliding of the virtual steering wheel, the virtual steering wheel determines the wheel steering angle according to the starting and ending positions corresponding to the sliding operation. When the sliding speed is 200° / s, the virtual steering wheel determines the wheel steering angle by combining the starting and ending positions within the sliding time with the maximum sliding speed of 100° / s.

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

[0149] Optionally, the maximum angle is ±400°. Assuming that the first ECU202 detects that the rotation angle of the virtual steering wheel is 400° through the multimedia control module 408, the first ECU202 can control the display device to generate prompt information in the display area, such as a text prompt "The current rotation angle of the virtual steering wheel has reached its limit", or control the audio playback device to broadcast a voice prompt "The current rotation angle of the virtual steering wheel has reached its limit".

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

[0151] Correspondingly, in this embodiment, the wheel steering angle can be preset for a single click of the virtual button. For example, the wheel steering angle for a single click of the virtual button can be preset to 10°.

[0152] Furthermore, during the process of the user clicking the virtual button, the first ECU202 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] As shown in (c) of FIG. 13, when the auxiliary steering control mode is the physical knob, after the physical knob is turned on, the user can rotate the physical knob clockwise or counterclockwise through a rotating operation. Figure 5

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

[0155] Optionally, the wheel steering angle can be pre-set as 1° when the physical knob is rotated by 10°.

[0156] Further, the first ECU 202 can obtain the rotating angle of the physical knob through the physical knob switch during the rotating of the physical knob by the user, and determine the actual wheel steering angle according to the correspondence between the rotating angle of the physical knob and the wheel steering angle.

[0157] As shown in (d) of FIG. 13, when the auxiliary steering control mode is the physical button, the user can click the “left” button, the “right” button or the “reset” button. Figure 5

[0158] Correspondingly, the wheel steering angle corresponding to a single click of the physical button can be pre-set in the embodiment of the application. For example, the wheel steering angle can be pre-set as 10° when the physical button is clicked once.

[0159] Further, the first ECU 202 can obtain the number of times of clicking of the physical button through the physical button switch during the clicking of the physical button by the user, and determine the actual wheel steering angle according to the number of times of clicking and the wheel steering angle corresponding to a single click of the physical button.

[0160] No matter which auxiliary steering control mode is used to control the rotation of the wheel, the first ECU 202 can control the wheel to complete the steering after the wheel steering angle is determined.

[0161] As shown in (c) of FIG. 13, when the auxiliary steering control mode is the physical knob, after the physical knob is turned on, the user can rotate the physical knob clockwise or counterclockwise through a rotating operation. Figure 4 The above technical solution proposes several auxiliary steering control modes, including a virtual button, a physical knob, a virtual steering wheel and a physical button. The specific activation and control processes are different based on different auxiliary steering control modes.

[0162]

[0163] ​​​When the auxiliary steering control mode is the virtual key, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed and the control interface of the virtual key can be displayed. The user can click the virtual key in the control interface of the virtual key to control the vehicle steering.

[0164] When the auxiliary steering control mode is the virtual steering wheel, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed 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 vehicle steering.

[0165] When the auxiliary steering control mode is the physical knob, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed and the physical knob can be controlled to be opened. The user can rotate the physical knob to control the vehicle steering.

[0166] When the auxiliary steering control mode is the physical key, when the state parameter meets the opening condition, the vehicle surrounding image can be displayed and the physical key can be controlled to be opened. The user can click the physical key to control the vehicle steering.

[0167] The above several control modes of the vehicle steering are flexible and various, which avoids the problem of monotonous control caused by a single auxiliary steering control mode.

[0168] After the first ECU 202 controls the steering wheel to complete the steering, it indicates that the angle of the vehicle has been adjusted during the movement of the vehicle. Then, the user can control the gear shift according to the needs 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 vehicle speed during the movement of the vehicle.

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

[0170] obtaining the vehicle speed of the vehicle;

[0171] in a case where the vehicle speed is greater than or equal to the preset vehicle speed, closing the auxiliary steering control mode and controlling the steering wheel to rise, so that the user controls the vehicle to move by the steering wheel;

[0172] in a case where the vehicle speed is less than the preset vehicle speed, determining whether the vehicle is in a stationary state; in a case where the vehicle is in the stationary state, exiting the auxiliary steering control mode, closing the vehicle surrounding image, and closing the danger warning light of the vehicle.

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

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

[0175] Suppose the current gear is the D gear, and the user accelerates by the accelerator, the first ECU 202 can obtain the vehicle speed by the vehicle speed sensor. Suppose the vehicle speed is 10 km / h, at this time, the vehicle speed is greater than the preset vehicle 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 be raised. 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, it is less than the preset vehicle speed. At this time, the first ECU 202 can further judge whether the vehicle is in a stationary state, when the vehicle is in a stationary state, it indicates that the user has completed the moving process, at this time, the auxiliary steering control mode can be exited, the vehicle surrounding environment image can be closed, and the danger warning light of the vehicle can be closed.

[0177] Among them, whether the vehicle is in a stationary state can be obtained by the positioning information of the vehicle. For example, when the positioning information of the vehicle does not change within a period of time, the first ECU 202 judges that the vehicle is in a stationary state. Alternatively, the gear can also be used for judgment, when the gear of the vehicle is the P gear or the N gear, it indicates 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 steering, the application can also obtain the vehicle speed during the moving process, when the vehicle speed is large, the auxiliary steering control mode can be automatically exited and the steering wheel can be controlled to be raised, which can ensure the safety of the vehicle and the user when the vehicle speed is high. When the vehicle speed is small, it can be judged whether the vehicle is in a stationary state, that is, whether the moving process of the vehicle is ended. When the vehicle is in a stationary state, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light of the vehicle is closed. The above process can intelligently end the control process after the vehicle is controlled.

[0179] In a possible implementation manner, the vehicle in a stationary state does not necessarily represent that the vehicle has completed the control process, in order to ensure the accurate judgment of whether the control process is ended, the embodiment of the application can further judge whether to exit the auxiliary steering control mode, close the vehicle surrounding environment image, and close the danger warning light of the vehicle by the state parameter after the vehicle is in a stationary state, specifically including:

[0180] When the vehicle is stationary, determine whether the state parameters meet the conditions for disabling the assisted steering control mode;

[0181] When the status parameters meet the shutdown conditions, exit the assisted steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning lights.

[0182] Optionally, status parameters include gear position, parking switch status, and fault status of various systems.

[0183] For example, after the vehicle comes to a stop, if the gear is in the preset gear (P), the parking switch is in the open state, and the fault status of each system is fault-free, it indicates that the vehicle is stationary and in a parked state, and all systems in the vehicle are functioning normally. In this case, the first ECU 202 can determine that the status parameters meet the shutdown conditions. Conversely, if the gear is not in the preset gear, or the parking switch is in the closed state, or the status of each system is faulty, the first ECU 202 can determine that the status parameters do not meet the shutdown conditions.

[0184] When the first ECU202 determines that the status parameters meet the shutdown conditions, it will shut down the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off the hazard warning lights.

[0185] For example, such as Figure 4 as well as Figure 5 As shown in (a)-(d), when the assisted steering control method is virtual buttons or a virtual steering wheel, the first ECU 202 can, through the multimedia control module 408, control the display area of ​​the display device to stop displaying the control interface of the virtual buttons or the virtual steering wheel, and also control the display area of ​​the display device to stop displaying the 360-degree panoramic image. Finally, it controls the hazard warning lights to automatically turn off via the BCM. When the assisted steering control method is physical buttons or a physical knob, the first ECU 202, through the turn signal acquisition module 404 (BCM), controls the indicator lights of the physical buttons or the physical knobs to turn off, and also controls the hazard warning lights to automatically turn off. In addition, the first ECU 202 can also, through the multimedia control module 408 (multimedia controller), control the display area of ​​the display device to stop displaying the 360-degree panoramic image.

[0186] In the above technical solution, specifically when ending the current vehicle control process, in addition to determining whether the vehicle is stationary, it can further determine whether the state parameters meet the conditions for disabling the assisted steering control mode. The control process ends only when the state parameters meet the conditions for disabling the assisted steering control mode. The vehicle being stationary only means that the vehicle is not moving at that moment; the state parameter determination ensures that the vehicle control process is completely completed. This process guarantees the accuracy of disengaging the assisted steering control mode.

[0187] In a possible implementation, in a case where the state parameter meets the closing condition, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light is turned off, including:

[0188] In a case where the state parameter meets the closing condition, target prompt information is generated according to the state parameter, the target prompt information being used to prompt the user to exit the auxiliary steering control mode.

[0189] The target prompt information is displayed, and / or the target prompt information is broadcasted.

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

[0191] To ensure the actual driving needs of the user, when the auxiliary steering control mode is closed, the first ECU 202 can generate target prompt information according to the current state parameter, to solicit the driving intention of the user. After the user confirms to close the auxiliary steering control mode, the auxiliary steering control mode is controlled to be closed.

[0192] For example, when the gear is in a preset gear (P gear), the parking switch state is in an open state, and the fault state of each system is no fault, the first ECU 202 can generate target prompt information, for example, “the current state parameter meets the closing condition of the auxiliary steering control mode, whether to close”. Further, the first ECU 202 can control the display device to display a text pop-up window of the target prompt information in the display area, and / or control the audio playback device to broadcast the voice of the target prompt information.

[0193] Based on a reply instruction of the user to the text pop-up window (for example, clicking the “yes” option in the text pop-up window) and / or a reply instruction of the user to the voice information of the target prompt information (for example, voice reply “yes”), the first ECU 202 can control the auxiliary steering control mode to exit in response to the reply instruction, control the display device to not display the 360-degree panoramic image in the display area, and control the danger warning light to be turned off.

[0194] In the above technical solution, to consider the driving needs of the user when ending the control, in a case where the state parameter meets the closing condition, target prompt information can be generated first. After the user confirms to exit based on the target prompt information, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light is turned off. The above considers the actual needs of the user when ending the control process, can provide a user-friendly control mode for the user, and improves the experience of the user.

[0195] To facilitate understanding, the embodiments of the present application introduce the complete process of the above method for controlling the steering of a vehicle.

[0196] Figure 6 is a schematic flowchart of another method for controlling steering of a vehicle provided by embodiments of the present application.

[0197] As shown in Figure 6 the method 600 includes:

[0198] 601, obtaining a state parameter of the vehicle, the state parameter being used to indicate an operating state of the vehicle, when the steering wheel of the vehicle is folded.

[0199] The step 601 and the step 301 belong to the same inventive concept, and details can be referred to the step 301, which will not be repeated here.

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

[0201] The step 601 and the process of “determining whether the state parameter meets an opening condition of an auxiliary steering control mode” in the step 302 belong to the same inventive concept, and details can be referred to the step 302, which will not be repeated here.

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

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

[0204] 603, ending.

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

[0206] The step 604 and the step 302 belong to the same inventive concept, and details can be referred to the step 302, which will not be repeated here.

[0207] 605, determining whether a hazard warning light state is on.

[0208] When the hazard warning light state is on, the step 606 is performed, otherwise, the step 603 is returned to.

[0209] 606, controlling the vehicle to steer by the auxiliary steering control mode.

[0210] 607, obtaining a vehicle speed.

[0211] After the vehicle is controlled to complete steering, the first ECU 202 can obtain the vehicle speed of the vehicle during 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] If the vehicle speed is greater than or equal to the preset vehicle speed, step 609 is performed, otherwise step 610 is performed.

[0214] 609, the auxiliary steering control mode is closed and the steering wheel is controlled to rise.

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

[0216] If the vehicle is in the stationary state, step 611 is performed, otherwise the auxiliary steering control mode is kept open.

[0217] 611, it is determined whether a state parameter meets a closing condition of the auxiliary steering control mode.

[0218] If the state parameter meets the closing condition of the auxiliary steering control mode, step 612 is performed, otherwise the auxiliary steering control mode is kept open.

[0219] 612, the auxiliary steering control mode is exited, the vehicle surrounding environment image is closed, and the danger warning light is closed.

[0220] The steps 605-612 described above and the step 303 in the method 300 belong to the same inventive concept, and details can be referred to the step 303, which will not be described here.

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

[0222] As shown in FIG. 7, the device 700 includes: Figure 7

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

[0224] A first control module 702 is configured to display a vehicle surrounding environment image centered on the vehicle and activate an auxiliary steering control mode when the state parameter meets an opening condition of the auxiliary steering control mode, the auxiliary steering control mode being used to simulate a turning operation on the steering wheel, and the vehicle is controlled to turn through the auxiliary steering control mode.

[0225] ​Optionally, the state parameters include a high-voltage system state, a gear position, a parking switch state, fault states of various systems of the vehicle, and a hazard warning light state. After the state parameters of the vehicle are acquired, the device further includes a first determination module configured to determine that the state parameters meet the starting condition in a case where the high-voltage system state is powered on, the gear position is a preset gear position, the parking switch state is on, the fault states of the various systems are all no fault, and the hazard warning light state is on; and determine that the state parameters do not meet the starting condition in a case where 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 states of the various systems are all fault, or the hazard warning light state is off.

[0226] In a possible implementation, the first control module 702 is specifically configured to: determine whether the hazard warning light state of the vehicle is on; and in a case where the hazard warning light state is on, determine a wheel steering angle corresponding to a control operation on the auxiliary steering control mode, and control the vehicle to steer according to the wheel steering angle.

[0227] In a possible implementation, the auxiliary steering control mode includes any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button. The first control module 702 is further configured to perform any one of the following: display the vehicle surrounding environment image and control the physical knob to be on; display the vehicle surrounding environment image and a control interface of the virtual button; display the vehicle surrounding environment image and a control interface of the virtual steering wheel; display the vehicle surrounding environment image and control the physical button to be on; and the control operation includes any one of a click operation, a rotation operation, and a sliding operation. The first control module 702 is further configured to perform any one of the following: determine the wheel steering angle in response to a rotation operation on the physical knob; determine the wheel steering angle in response to a click operation on the virtual button in the control interface of the virtual button; determine the wheel steering angle in response to a sliding operation on the virtual steering wheel in the control interface of the virtual steering wheel; and determine the wheel steering angle in response to a click operation on the physical button.

[0228] Optionally, after the vehicle is controlled to steer by the auxiliary steering control mode, the device further includes a second control module configured to: acquire a vehicle speed of the vehicle; in a case where the vehicle speed is greater than or equal to a preset vehicle speed, turn off the auxiliary steering control mode and control the steering wheel to be raised, so that the user controls the vehicle to travel by the steering wheel; and in a case where the vehicle speed is less than the preset vehicle speed, determine whether the vehicle is in a stationary state; and in a case where the vehicle is in the stationary state, exit the auxiliary steering control mode, turn off the vehicle surrounding environment image, and turn off a hazard warning light of the vehicle.

[0229] Optionally, the second control module is specifically configured to: in the case that the vehicle is in a static state, determine whether the state parameter meets a closing condition of the auxiliary steering control mode; in the case that the state parameter meets the closing condition, exit the auxiliary steering control mode, close the vehicle surrounding environment image, and close the danger warning lamp.

[0230] Optionally, the second control module is further configured to: in the case that the state parameter meets the closing condition, generate target prompt information according to the state parameter, the target prompt information being used to prompt a user to exit the auxiliary steering control mode; display the target prompt information, and / or, broadcast the target prompt information; and in response to a reply instruction to the target prompt information, exit the auxiliary steering control mode, close the vehicle surrounding environment image, and close the danger warning lamp.

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

[0232] As shown in Figure 8 the vehicle 800 includes a memory 801 and a processor 802, wherein the memory 801 stores executable program code 8011, and the processor 802 is configured to invoke and execute the executable program code 8011 to execute a method for controlling vehicle steering.

[0233] In addition, an apparatus provided by an embodiment of the present application can include a memory and a processor, wherein the memory stores executable program code, and the processor is configured to invoke and execute the executable program code to execute a method for controlling vehicle steering provided by an embodiment of the present application.

[0234] The embodiment can divide the apparatus into functional modules according to the above method examples, for example, each functional module can be corresponding, or two or more functions can be integrated in one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of modules in the embodiment is illustrative, and is only a logical function division, and another division mode can be used in actual implementation.

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

[0236] It should be understood that the apparatus provided by the embodiment is used to execute the above method for controlling vehicle steering, and thus can achieve the same effect as the above method.

[0237] In the case of employing the integrated unit, the device can include a processing module, a storage module. Wherein, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes, etc.

[0238] Wherein, the processing module can be a processor or a controller, which can realize or execute various exemplary logical blocks, modules and circuits in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as including one or more microprocessor combinations, digital signal processing (digital signal processing, DSP) and microprocessor combinations, etc. The storage module can be a memory.

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

[0240] The embodiments also provide a computer readable storage medium, which stores computer program codes, when the computer program codes run on the computer, the computer can execute the above related method steps to realize the method for controlling the steering of the vehicle provided by the above embodiments.

[0241] The embodiments also provide a computer program product, when the computer program product runs on the computer, the computer can execute the above related steps to realize the method for controlling the steering of the vehicle provided by the above embodiments.

[0242] Wherein, the device, the computer readable storage medium, the computer program product or the chip provided by the embodiments are used to execute the corresponding method provided above, so the beneficial effects they can achieve can refer to the beneficial effects in the corresponding method provided above, which will not be repeated here.

[0243] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the above division of functional modules is taken as an example for illustration, in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0244] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, and the division of the modules or units is merely a logical function division. In actual implementation, another division manner can be adopted, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or in other forms.

[0245] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method of controlling steering of a vehicle, characterized by, The method comprises: In the case that the steering wheel of the vehicle is folded, acquiring state parameters of the vehicle, the state parameters being used to represent the running state of the vehicle, and the state parameters comprising high-voltage system state, gear, parking switch state, fault state of each system of the vehicle, and hazard warning light state; In the case that all the state parameters meet the opening condition of the auxiliary steering control mode, displaying a vehicle surrounding environment image 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, the auxiliary steering control mode comprising any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button; Controlling the vehicle to turn through the auxiliary steering control mode, in different auxiliary steering control modes, the process of the vehicle turning is different.

2. The method of claim 1, wherein, After the state parameters of the vehicle are acquired, the method further comprises: In the case that the high-voltage system state is powered on, the gear is a preset gear, the parking switch state is on, the fault state of each system is no fault, and the hazard warning light state is on, it is determined that the state parameters meet the opening condition; In the case that the high-voltage system state is powered off, or the gear is not the preset gear, or the parking switch state is off, or the fault state of each system is fault, or the hazard warning light state is off, it is determined that the state parameters do not meet the opening condition.

3. The method of claim 1, wherein, The controlling of the vehicle to turn through the auxiliary steering control mode comprises: Determining whether the hazard warning light state of the vehicle is on; In the case that the hazard warning light state is on, in response to the control operation of the auxiliary steering control mode, determining the wheel turning angle corresponding to the control operation; According to the wheel turning angle, controlling the vehicle to turn.

4. The method of claim 3, wherein, The displaying of the vehicle surrounding environment image centered on the vehicle and the activating of the auxiliary steering control mode comprise any one of the following: Displaying the vehicle surrounding environment image and controlling the physical knob to be 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 be on; And the control operation comprises any one of a click operation, a rotation operation, and a sliding operation, and in response to the control operation of the auxiliary steering control mode, determining the wheel turning angle corresponding to the control operation comprises any one of the following: In response to the rotation operation of the physical knob, determining the wheel turning angle; In the control interface of the virtual button, in response to the click operation of the virtual button, determining the wheel turning angle; In the control interface of the virtual steering wheel, in response to the sliding operation of the virtual steering wheel, determining the wheel turning angle; In response to the click operation of the physical button, determining the wheel turning angle.

5. The method of claim 1, wherein, After the vehicle is controlled to turn through the auxiliary steering control mode, the method further comprises: acquiring a vehicle speed of the vehicle; in a case where the vehicle speed is greater than or equal to a preset vehicle speed, turning off the auxiliary steering control mode and controlling the steering wheel to rise, so that a user controls the vehicle to travel through the steering wheel; in a case where the vehicle speed is less than the preset vehicle speed, determining whether the vehicle is in a stationary state; in a case where the vehicle is in the stationary state, exiting the auxiliary steering control mode, turning off the vehicle ambient image, and turning off a hazard warning light of the vehicle.

6. The method of claim 5, wherein, The case where the vehicle is in the stationary state, the auxiliary steering control mode is exited, the vehicle ambient image is turned off, and the hazard warning light of the vehicle is turned off, comprises: in a case where the vehicle is in the stationary state, determining whether the state parameter meets a turning-off condition of the auxiliary steering control mode; in a case where the state parameter meets the turning-off condition, exiting the auxiliary steering control mode, turning off the vehicle ambient image, and turning off the hazard warning light.

7. The method of claim 6, wherein, The case where the state parameter meets the turning-off condition, the auxiliary steering control mode is exited, the vehicle ambient image is turned off, and the hazard warning light of the vehicle is turned off, comprises: in a case where the state parameter meets the turning-off condition, generating a target prompt information according to the state parameter, the target prompt information being used to prompt the user to exit the auxiliary steering control mode; displaying the target prompt information, and / or, playing the target prompt information; in response to a reply instruction to the target prompt information, exiting the auxiliary steering control mode, turning off the vehicle ambient image, and turning off the hazard warning light.

8. An apparatus for controlling steering of a vehicle, characterized by The device comprises: a first acquisition module, configured to acquire a state parameter of a vehicle in a case where a steering wheel of the vehicle is folded, the state parameter being used to represent a running state of the vehicle, and the state parameter comprising a high-voltage system state, a gear position, a parking switch state, fault states of various systems of the vehicle, and a hazard warning light state; a first control module, configured to display a vehicle ambient image centered on the vehicle and activate an auxiliary steering control mode in a case where the state parameter meets an opening condition of the auxiliary steering control mode, the auxiliary steering control mode being used to simulate a turning operation on the steering wheel, the auxiliary steering control mode comprising any one of a virtual button, a physical knob, a virtual steering wheel, and a physical button; the vehicle is controlled to turn through the auxiliary steering control mode, and a turning process of the vehicle is different in different auxiliary steering control modes.

9. A vehicle characterized by comprising: The vehicle comprises: a memory, configured to store executable program codes; a processor, configured to call and run the executable program codes 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, when the computer program is executed, the method according to any one of claims 1 to 7 is realized. The computer readable storage medium stores a computer program, when the computer program is executed, the method according to any one of claims 1 to 7 is realized.

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