Vehicle steering mode adjusting method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle steering mode adjusting method and device, a vehicle and a storage medium, and the method comprises the steps that a first pressure value output by a first sensor and a second pressure value output by a second sensor are obtained, the first sensor is used for obtaining the pressure of a main driving seat, and the second sensor is used for obtaining the grip strength of a steering wheel; based on a comparison result of the first pressure value and a first threshold value and a comparison result of the second pressure value and a second threshold value, whether a first target object which is being driven exists on the main driver or not is determined; detecting the state of the first target object when it is determined that the first target object is driving on the main driver; and under the condition that the state of the first target object is the normal driving state, the steering mode is adjusted according to the change of the second pressure value. Through the method and the device, the problem that the user experience is relatively poor due to the fact that the steering mode can only be manually adjusted in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a method and device for adjusting a vehicle steering mode, a vehicle, and a storage medium. Background Art

[0002] At present, there are many steering modes in the wire control steering system. Different steering modes have different transmission ratios, and different transmission ratios provide different driving experiences. At present, the adjustment of the steering mode requires the driver to adjust it manually. Manual adjustment cannot meet the user's current needs in real time, resulting in a poor user experience.

[0003] There is currently no effective solution to the above-mentioned problems in the related art. Summary of the invention

[0004] The present application provides a method and device for adjusting a vehicle steering mode, a vehicle and a storage medium to solve the problem in the related art that the steering mode can only be adjusted manually, resulting in a poor user experience.

[0005] In a first aspect, the present application provides a method for adjusting a vehicle steering mode, comprising: obtaining a first pressure value output by a first sensor and a second pressure value output by a second sensor, wherein the first sensor is used to obtain the pressure of a main driver's seat and the second sensor is used to obtain the grip of a steering wheel; based on a comparison result of the first pressure value and a first threshold, and a comparison result of the second pressure value and a second threshold, determining whether there is a first target object being driven on the main driver's seat; when it is determined that there is the first target object being driven on the main driver's seat, detecting a state of the first target object; when the state of the first target object is a normal driving state, adjusting the steering mode according to a change in the second pressure value.

[0006] In the second aspect, the present application provides a device for adjusting the steering mode of a vehicle, comprising: an acquisition module, used to acquire a first pressure value output by a first sensor, and a second pressure value output by a second sensor, wherein the first sensor is used to acquire the pressure of the main driver's seat, and the second sensor is used to acquire the grip of the steering wheel; a first determination module, used to determine whether there is a first target object being driven on the main driver's seat based on the comparison result of the first pressure value and a first threshold, and the second pressure value and the second threshold; a detection module, used to detect the state of the first target object when it is determined that there is the first target object being driven on the main driver's seat; an adjustment module, used to adjust the steering mode according to the change of the second pressure value when the state of the first target object is a normal driving state.

[0007] In the third aspect, the present application provides a vehicle, including a controller, a first sensor, and a second sensor; wherein the first sensor is used to obtain the pressure of the main driver's seat; the second sensor is used to obtain the grip of the steering wheel; the controller is used to obtain a first pressure value output by the first sensor, and a second pressure value output by the second sensor, and based on the comparison results of the first pressure value and a first threshold, and the second pressure value and the second threshold, and when it is determined that there is the first target object being driven on the main driver's seat, the state of the first target object is detected; and when the state of the first target object is a normal driving state, the steering mode is adjusted according to the change of the second pressure value.

[0008] In a fourth aspect, the present application further provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute the vehicle steering mode adjustment method described in the first aspect of the present application.

[0009] The above technical solution provided by the embodiment of the present application has the following advantages over the prior art: through the method provided by the embodiment of the present application, the pressure and grip of the object in the current driving position are detected to determine whether the current driving object is the first target object being driven; if so, the state of the first target object is further detected, and under normal driving conditions, the steering mode is adjusted according to the change of the second pressure value of the first target object, so as to achieve real-time adjustment of the steering mode according to the grip of the driving object, without the need for the driving object to manually adjust the steering mode. While improving the user's driving experience, it also further improves the driving safety, and solves the problem in the related technology that the steering mode can only be adjusted manually, resulting in poor user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0011] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0012] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0013] Figure 1A flow chart of a method for adjusting a vehicle steering mode provided in an embodiment of the present application;

[0014] Figure 2 A schematic diagram of a vehicle fault detection process provided in an embodiment of the present application;

[0015] Figure 3 An optional flow chart of a method for adjusting a vehicle steering mode provided in an embodiment of the present application;

[0016] Figure 4 A flowchart of a method for adjusting a steering mode in a steer-by-wire system provided in an embodiment of the present application;

[0017] Figure 5 A schematic diagram of the structure of adjusting the vehicle steering mode provided in an embodiment of the present application;

[0018] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] The disclosure below provides many different embodiments or examples to implement different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0021] In order to solve the problem that the steering mode can only be adjusted manually in the related art, resulting in poor user experience, the present application provides a method for adjusting the vehicle steering mode, such as Figure 1 As shown, the steps of the method include:

[0022] Step 101, obtaining a first pressure value output by a first sensor and a second pressure value output by a second sensor, wherein the first sensor is used to obtain the pressure of the main driver's seat, and the second sensor is used to obtain the grip force of the steering wheel;

[0023] In a specific example, the first sensor is laid on the seat to ensure that it covers the entire seat, and the surface is flat, symmetrical and wrinkle-free. The specific process of obtaining the pressure of the main driver's seat is to obtain the pressure value after the object posture remains unchanged, the acquisition time is greater than 5 minutes, and the pressure is stable. In addition, the process for the second sensor to obtain the steering wheel grip is similar, that is, the pressure value is obtained after the object posture remains unchanged, the acquisition time is greater than 5 minutes, and the pressure is stable.

[0024] Step 102, based on the comparison result of the first pressure value and the first threshold value, and the comparison result of the second pressure value and the second threshold value, determining whether there is a first target object being driven on the main driving vehicle;

[0025] In the specific example, the first target object is an adult who can drive a vehicle. Therefore, the first threshold and the second threshold are both the lower limits of the seat pressure and the lower limits of the steering wheel grip, that is, as long as the first threshold is exceeded, and any value within the second threshold indicates that the first target object is currently driving the vehicle. It should be noted that the lower limits of the seat pressure and the lower limits of the steering wheel grip are used to distinguish between minors and adults, such as the first threshold is 30kg and the second threshold is 5kg.

[0026] Step 103, when it is determined that there is a first target object being driven on the main driving vehicle, the state of the first target object is detected;

[0027] In the specific example, there are multiple states of the first target object, such as normal driving state, fatigue state, sleepy state and coma state. Only when the first target object is in a normal driving state, the steering mode will be adjusted according to the change of the second pressure value to enhance the user's driving experience. In other states, the driver will be reminded to drive normally, and the vehicle will be controlled to slow down or even pull over.

[0028] Step 104 , when the state of the first target object is a normal driving state, adjusting the steering mode according to the change of the second pressure value.

[0029] In a specific example, different second pressure values ​​correspond to different steering modes. The smaller the grip force required when the steering wheel is turned, the easier the steering operation is, but the sensitivity of the steering operation will decrease. The larger the transmission ratio at this time, the corresponding steering mode with a larger transmission ratio is. On the contrary, the greater the grip force required when the steering wheel is turned, the more strenuous the steering operation is, and the smaller the transmission ratio is, the corresponding steering mode with a smaller transmission ratio is. The steering mode adjustment process in the embodiment of the present application can be during driving or before driving begins.

[0030] Through the above steps 101 to 104, the pressure and grip of the object in the current driving position are detected to determine whether the current driving object is the first target object being driven; if so, the state of the first target object is further detected, and under normal driving conditions, the steering mode is adjusted according to the change in the second pressure value of the first target object, so as to achieve real-time adjustment of the steering mode according to the grip of the driving object, without the need for the driving object to manually adjust the steering mode. While improving the user's driving experience, it also further improves driving safety, and solves the problem in related technologies that the steering mode can only be adjusted manually, resulting in poor user experience.

[0031] It should be noted that the steer-by-wire system is divided into a road sense feedback subsystem and a steering execution subsystem. The two subsystems are respectively composed of sensors, controllers, motors, and part of the transmission structure. The components of steer-by-wire are complex and have high functional requirements, requiring a complete system self-check method to ensure system safety and operational safety. Therefore, before adjusting the steering mode, it is necessary to first detect whether the current vehicle has any faults. Only when the vehicle is fault-free can the steering mode be further adjusted automatically to ensure driving safety. Specifically, a priority mechanism is first established for sensor faults, controller faults, and motor faults in the road sense feedback subsystem based on the degree of impact on the system. The priorities are 3, 2, and 1, respectively, and the priority decreases in sequence. Detecting system faults according to priority can efficiently complete the system self-check work and accurately reflect the system fault level. The specific troubleshooting logic is as follows: Figure 2 As shown, communication detection is performed first, and then sensor fault, controller fault and motor fault detection are performed based on priority. The contents of each fault detection are shown in Table 1.

[0032]

[0033] Table 1

[0034] It can be seen that in the embodiment of the present application, the key components of the system are first determined to be faulty according to the fault priority, and then the system fault level is comprehensively determined. If the system fails, the system self-checking link is exited and the function cannot be started; if the system is normal, the steering mode adjustment process is entered.

[0035] Based on this, in the embodiment of the present application, it can be determined whether there is an object on the current main driving according to the first pressure value and the second pressure value, and if there is an object, whether the object is a minor or an adult. Therefore, in the embodiment of the present application, the method of determining whether there is a first target object driving on the main driving according to the comparison result of the first pressure value and the first threshold value, and the second pressure value and the second threshold value involved in the above step 102 can further include:

[0036] Step 11, when the first pressure value exceeds the first threshold value and the second pressure value exceeds the second threshold value, determining that there is a first target object driving on the main driving vehicle;

[0037] Step 12, when the first pressure value exceeds the third threshold value but does not exceed the first threshold value, and the second pressure value exceeds the fourth threshold value but does not exceed the second threshold value, determining that there is a second target object driving the main driver; wherein the second target object represents a minor user, and the first target object represents an adult user;

[0038] Step 13: When the first pressure value does not exceed the third threshold value and the second pressure value does not exceed the fourth threshold value, it is determined that there is no target object for the main driver.

[0039] In this regard, in a specific example, in order to obtain accurate seat pressure distribution for each age group and steering wheel grip force distribution of drivers of each age group under normal circumstances, people aged 10-12, 14-16, and 18-24 were selected as test subjects, and more than 10 groups of test data were used for each age group.

[0040] The specific requirements for the test subjects are set according to the data released by the National Physical Fitness Monitoring Center as shown in Table 2.

[0041] Simulated age group gender Height / cm Weight / kg 10-12 male 140.2-151.9 30.5-38.1 14-16 male 165.9-171.6 48.1-59.4 18-24 male 172.7-172.6 61.4-70.4 10-12 female 140.1-152.4 31.7-36.5 14-16 female 158.6-160.1 47.8-50.8 18-24 female 160.6-161.6 51.4-55.7

[0042] Table 2

[0043] The average of the pressure test results for each age group represents the seat pressure and steering wheel grip value of the group. Further, the pressure test results for the 10-12 age group are set as the lower limit of the driver seat pressure p c0 , Steering wheel grip lower limit p h0 , 18-24 years old group stress test results adult stress lower limit p a , Steering wheel grip lower limit p h , safety pressure offset p s The lower limit of adult pressure and the safety pressure offset are collectively expressed as the seat adult weight detection threshold range and the steering wheel adult grip detection threshold range, that is, p cd =p a ±p s and p hd =p h ±p s , and this range is used as one of the conditions for determining whether the driver is an adult; the driver pressure lower limit value and the safety pressure offset are jointly expressed as the seat driver weight detection threshold range and the steering wheel grip detection threshold, that is, p ce =p c0 ±p s and p he =p h0 ±0.5ps , use this range to determine whether there is one of the driver conditions in the cockpit.

[0044] The specific detection process is:

[0045] 1) If the seat sensor output is greater than the detection threshold range p ce , and the steering wheel grip sensor output is greater than the threshold range p he , it means that someone is in the driving seat at this time;

[0046] 2) If the seat sensor output is less than the detection threshold range p ce , and the steering wheel grip sensor output is less than the threshold range p he , it means that no one is in the driving seat at this time;

[0047] 3) If the seat sensor output is greater than the detection threshold range p cd , it means that the driver in the seat is an adult;

[0048] 4) If the sensor output is greater than the detection threshold range p ce And is less than the detection threshold range p cd , and the steering wheel grip sensor output is greater than the threshold range p he And less than the threshold range p hd , it means that the driver in the seat is a minor.

[0049] Furthermore, if there is no driver, the steering system remains silent, that is, at this time, a series of devices used to change or maintain the driving or reverse direction of the car are in a waiting state; if the driver is a non-adult, the steering wheel enters a silent mode, that is, the steering wheel is in an automatic control state; if the driver is an adult, the steering mode adjustment process is entered. It can be seen that in the embodiment of the present application, it can be determined whether the current main driver has a driver based on the pressure of the main driver and the grip of the steering wheel, and whether the driver is an adult allowed to drive, thereby ensuring the accuracy and safety of the subsequent steering mode adjustment.

[0050] In the embodiment of the present application, before adjusting the steering mode, it is necessary to determine the current state of the driver, that is, if the current state is normal, the steering mode can be automatically adjusted, and if the current state is abnormal, the steering mode adjustment is prohibited. Therefore, the method of detecting the state of the first target object involved in the above step 103 can further include:

[0051] Step 21, when the second pressure value changes from exceeding the second threshold value to not exceeding the fourth threshold value, and the duration of the second pressure value not exceeding the fourth threshold value exceeds the first time length, determining that the first target object is in a first state, wherein the first state indicates that the first target object is in a fatigue state;

[0052] Step 22, when it is detected that the duration of the first target object being in the closed-eye state exceeds a second duration and the first target object periodically nods, determining that the first target object is in a second state, wherein the second state indicates that the first target object is in a sleepy state;

[0053] Step 23, when it is detected that the duration of the first target object being in the eye-closing state exceeds a third duration, determining that the first target object is in a third state, wherein the third state indicates that the first target object is in a coma;

[0054] Step 24 , when the accumulated duration of the second pressure value exceeding the second threshold value exceeds a fourth duration, determining that the first target object is in a fourth state, wherein the fourth state indicates that the first target object is in a normal driving state.

[0055] It can be seen that in the embodiment of the present application, the current state of the first target object can be judged according to the change of the grip force of the first target object on the steering wheel, and the state of the head and eyes of the first target object, so as to determine whether to adjust the subsequent steering mode. If the current first target object is in an abnormal driving state, such as fatigue, drowsiness and coma, the corresponding operation is performed according to the current speed of the vehicle. If the speed is less than 3kph at this time, the steering wheel remains in silent mode; if the speed is greater than 3kph at this time, the system enters the vibration reminder mode (manifested as steering wheel vibration) and maintains for 3s. In addition, in a specific example, the first duration can be 10s, the second duration can be 3s, the third duration can be 15s, and the fourth duration is 8s. The above durations are only examples. In specific application scenarios, corresponding settings can be made according to actual needs.

[0056] In the embodiment of the present application, the steering mode can be adjusted in real time according to the change of the second pressure value to further improve the driving experience and safety of the first target object. Therefore, the method of adjusting the steering mode according to the change of the second pressure value involved in the above step 104 can further include:

[0057] Step 31, when the second pressure value falls within the first target threshold range, adjusting the steering mode to the first steering mode, wherein the steering transmission ratio of the first steering mode is the product of the first coefficient and the initial steering transmission ratio; the initial steering transmission ratio is the ratio of the steering wheel angle to the wheel angle;

[0058] The steering transmission ratio refers to the proportional relationship between the steering wheel rotation angle and the tire steering angle. Therefore, the initial steering transmission ratio refers to the proportional relationship between the steering wheel rotation angle and the tire steering angle before the vehicle starts.

[0059] Step 32, when the second pressure value falls within the second target threshold range, adjusting the steering mode to the second steering mode, wherein the steering transmission ratio of the second steering mode is the product of the second coefficient and the initial steering transmission ratio;

[0060] Step 33, when the second pressure value falls within the third target threshold range, adjusting the steering mode to the third steering mode, wherein the steering transmission ratio of the third steering mode is the product of the third coefficient and the initial steering transmission ratio;

[0061] Among them, the first coefficient is less than 1 and less than the second coefficient, and the third coefficient is greater than 1 and greater than the second coefficient; the minimum value in the first target threshold range is greater than the maximum value in the second target threshold range, and the minimum value in the second target threshold range is greater than the maximum value in the third target threshold range.

[0062] It can be seen that the values ​​in the first target threshold range, the second target threshold range and the third target threshold range in the embodiment of the present application increase in sequence, indicating that different second pressure values ​​correspond to different steering modes, and the steering transmission ratios in different steering modes are different, that is, the larger the pressure value, the larger the corresponding steering transmission ratio. In the present application, different steering transmission ratios are determined specifically by different coefficients. The larger the second pressure value, the stronger the driver's desire to control the steering system. Therefore, when the second pressure value is large, the corresponding steering transmission ratio is also large, and a larger transmission ratio makes steering easier and can moderately reduce the driver's steering burden.

[0063] It can be seen that in the embodiment of the present application, different second pressure values ​​correspond to different steering modes. The smaller the grip force required when the steering wheel is turned, the easier the steering operation is, but the sensitivity of the steering operation will decrease. At this time, the larger the transmission ratio is, the corresponding steering mode with a larger transmission ratio is. On the contrary, the larger the grip force required when the steering wheel is turned, the more laborious the steering operation is, and the smaller the transmission ratio is, the corresponding steering mode with a smaller transmission ratio is.

[0064] In the embodiment of the present application, there is a certain synchronization relationship between the road-sensing steering wheel and the steering execution system, which can be expressed as θ=f(δ). If the synchronization relationship is designed to be θ=a×δ+b, where θ is the steering wheel angle, δ is the wheel angle, a and b are relationship coefficients, the steering transmission ratio can be expressed as In order to achieve different degrees of steering feedback, the steering transmission ratio in different modes is designed as: i = k·i 0, where k = 0.78 (first coefficient) in comfort mode, a smaller transmission ratio makes the steering wheel turn more directly and quickly, and the steering system can quickly respond to steering needs; k = 1 (second coefficient) in standard mode, based on daily driving statistics, a moderate transmission ratio is used to ensure that the vehicle can provide a stable and comfortable driving experience under various conditions; k = 1.2 (third coefficient) in sports mode, a larger transmission ratio makes steering easier and can moderately reduce the steering burden of the driver. 0 The fixed steering gear ratio of a general car is obtained by calibrating the traditional steering system. Both 0.78 and 1.2 are experimentally calibrated results.

[0065] In the embodiment of the present application, if the vehicle is currently driving, the steering mode can also be adjusted according to the grip force of the current first target object. This adjustment is not an adjustment from the first steering mode to the second steering mode, but an adjustment from the manual mode to the automatic mode. Figure 3 As shown, the method of the embodiment of the present application also includes:

[0066] Step 301 : after adjusting the steering mode according to the change of the second pressure value, determining the control mode of the steering mode according to the current driving mode of the vehicle and the second pressure value.

[0067] Furthermore, the method of determining the control mode of the steering mode according to the current driving mode of the vehicle and the second pressure value involved in the above step 301 may further include:

[0068] Step 41, when the vehicle enters the intelligent driving mode and the second pressure value exceeds the fourth threshold value but does not exceed the second threshold value, determining that the control mode of the steering mode is the automatic mode, turning off the road sense system and controlling the steering wheel to be silent;

[0069] It can be seen that while turning off the road sense system, the vehicle's steering wheel can be set to a silent state, that is, the steering wheel is in an automatic control state, so that the vehicle can be driven intelligently in automatic mode.

[0070] Step 42, when the vehicle enters the intelligent driving mode and the second pressure value exceeds the second threshold, determine that the control mode of the steering mode changes from the automatic mode to the manual mode, and turn on the road sensing system.

[0071] It can be seen that the control modes of the steering mode in the embodiment of the present application include automatic mode and manual mode. In addition, although the steering mode can be automatically adjusted according to the change of the second pressure value, if the current vehicle enters the intelligent driving mode, if manual intervention is required, that is, exiting the intelligent driving mode, the current steering mode will automatically enter the manual mode, so that the user can adjust the steering mode in time according to current needs to adapt to the current road conditions and improve the safety of manual driving. Of course, after exiting the intelligent driving mode for a period of time, the driver can also set the steering mode from manual to automatic in the current driving state according to needs.

[0072] Based on this, the embodiment of the present application, in a specific example, Figure 4 As shown, the method for adjusting the steering mode in the wire control steering system may include the following steps:

[0073] Step 401, the system self-checks. If the self-check is normal, the process proceeds to step 402. If the self-check is abnormal, the process ends.

[0074] Step 402, seat adult detection, if the seat is not an adult, the vehicle enters silent mode; if the seat is an adult, execute step 403;

[0075] Step 403, driver status monitoring; if the status is normal, execute step 404; if the status is abnormal, the vibration reminder mode is activated;

[0076] Step 404, mode reading / setting;

[0077] Step 405, steering wheel arbitration, if it is in intelligent driving mode, execute step 406, if it is in non-intelligent driving mode, execute step 407;

[0078] Step 406, automatic steering mode, road sense feedback is turned off, and turn indication is turned on;

[0079] Step 407, manual steering mode, road feel feedback is turned on, and turn indication is turned off.

[0080] It can be seen that in the embodiment of the present application, the combination of complete driver detection logic and steering mode adjustment improves the human-computer interaction capability of the system. In addition, the steering wheel road sense system arbitration method avoids unnecessary road sense feedback in the intelligent driving mode, reduces the system burden, and improves the safety capability of the wire control steering system.

[0081] Corresponding to the above Figure 1 , the embodiment of the present application also provides a device for adjusting the vehicle steering mode, such as Figure 5 As shown, the device comprises:

[0082] An acquisition module 502 is used to acquire a first pressure value output by a first sensor and a second pressure value output by a second sensor, wherein the first sensor is used to acquire the pressure of a main driver's seat, and the second sensor is used to acquire the grip force of a steering wheel;

[0083] A first determination module 504 is used to determine whether there is a first target object being driven on the main driving vehicle based on a comparison result between the first pressure value and the first threshold value, and between the second pressure value and the second threshold value;

[0084] A detection module 506 is used to detect the state of the first target object when it is determined that there is a first target object being driven on the main driving vehicle;

[0085] The adjustment module 508 is configured to adjust the steering mode according to a change in the second pressure value when the state of the first target object is a normal driving state.

[0086] In an optional implementation manner of an embodiment of the present application, the first determination module in the embodiment of the present application may further include: a first determination unit, used to determine that there is a first target object being driven on the main driving car when the first pressure value exceeds the first threshold and the second pressure value exceeds the second threshold; a second determination unit, used to determine that there is a second target object being driven on the main driving car when the first pressure value exceeds the third threshold and does not exceed the first threshold, and the second pressure value exceeds the fourth threshold and does not exceed the second threshold; wherein the second target object represents a minor user and the first target object represents an adult user; a third determination unit, used to determine that there is no target object on the main driving car when the first pressure value does not exceed the third threshold and the second pressure value does not exceed the fourth threshold.

[0087] In an optional implementation manner of the embodiment of the present application, the detection module in the embodiment of the present application may further include: a fourth determination unit, for determining that the first target object is in a first state when the second pressure value changes from exceeding the second threshold value to not exceeding the fourth threshold value, and the duration that the second pressure value does not exceed the fourth threshold value exceeds the first duration, wherein the first state represents that the first target object is in a fatigued state; a fifth determination unit, for determining that the first target object is in a second state when it is detected that the first target object is in a closed-eye state for a duration exceeding the second duration, and the first target object nods periodically, wherein the second state represents that the first target object is in a sleepy state; a sixth determination unit, for determining that the first target object is in a third state when it is detected that the first target object is in a closed-eye state for a duration exceeding the third duration, wherein the third state represents that the first target object is in a coma; a seventh determination unit, for determining that the first target object is in a fourth state when the cumulative duration that the second pressure value exceeds the second threshold value exceeds the fourth duration, wherein the fourth state represents that the first target object is in a normal driving state.

[0088] In an optional implementation manner of the embodiment of the present application, the adjustment module in the embodiment of the present application may further include: a first adjustment unit, used to adjust the steering mode to the first steering mode when the second pressure value falls within the first target threshold range, wherein the steering transmission ratio of the first steering mode is the product of the first coefficient and the initial steering transmission ratio; the initial steering transmission ratio is the ratio of the steering wheel angle to the wheel angle; a second adjustment unit, used to adjust the steering mode to the second steering mode when the second pressure value falls within the second target threshold range, wherein the steering transmission ratio of the second steering mode is the product of the second coefficient and the initial steering transmission ratio; a third adjustment unit, used to adjust the steering mode to the third steering mode when the second pressure value falls within the third target threshold range, wherein the steering transmission ratio of the third steering mode is the product of the third coefficient and the initial steering transmission ratio; wherein the first coefficient is less than 1 and less than the second coefficient, and the third coefficient is greater than 1 and greater than the second coefficient; the minimum value in the first target threshold range is greater than the maximum value in the second target threshold range, and the minimum value in the second target threshold range is greater than the maximum value in the third target threshold range.

[0089] In an optional implementation of an embodiment of the present application, the device in the embodiment of the present application also includes: a second determination module, which is used to determine whether to adjust the control mode of the steering mode according to the current vehicle driving mode and the second pressure value after adjusting the steering mode according to the change of the second pressure value.

[0090] In an optional implementation manner of an embodiment of the present application, the second determination module in the embodiment of the present application may further include: an eighth determination unit, for determining that the control mode of the steering mode is automatic mode, and turning off the road sense system and controlling the steering wheel to be silent, when the vehicle enters the intelligent driving mode and the second pressure value exceeds the fourth threshold but does not exceed the second threshold; a ninth determination unit, for determining that the control mode of the steering mode is changed from automatic mode to manual mode, and turning on the road sense system, when the vehicle enters the intelligent driving mode and the second pressure value exceeds the second threshold.

[0091] like Figure 6 As shown, an embodiment of the present application provides a vehicle, the vehicle includes an electronic device, wherein the electronic device includes a processor 611, a communication interface 612, a memory 613 and a communication bus 614, wherein the processor 611, the communication interface 612, and the memory 613 communicate with each other through the communication bus 614,

[0092] Memory 613, used for storing computer programs;

[0093] In one embodiment of the present application, the processor 611 is used to execute the program stored in the memory 613 to implement the vehicle steering mode adjustment method provided by any of the aforementioned method embodiments, and its role is similar and will not be repeated here.

[0094] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the vehicle steering mode adjustment method provided in any of the aforementioned method embodiments are implemented.

[0095] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0097] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0098] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adjusting a vehicle steering mode, characterized in that: include: Obtaining a first pressure value output by a first sensor and a second pressure value output by a second sensor, wherein the first sensor is used to obtain the pressure of the main driver's seat, and the second sensor is used to obtain the grip force of the steering wheel; Based on the comparison result between the first pressure value and the first threshold value, and between the second pressure value and the second threshold value, determining whether there is a first target object being driven on the main driving vehicle; In the case where it is determined that the first target object is being driven by the main driving vehicle, detecting a state of the first target object; When the state of the first target object is a normal driving state, the steering mode is adjusted according to the change of the second pressure value.

2. The method according to claim 1, characterized in that: Based on the comparison result between the first pressure value and the first threshold value, and between the second pressure value and the second threshold value, determining whether there is a first target object being driven on the main driving vehicle includes: When the first pressure value exceeds a first threshold value and the second pressure value exceeds a second threshold value, determining that the first target object is driving on the main driving vehicle; When the first pressure value exceeds a third threshold value but does not exceed the first threshold value, and the second pressure value exceeds a fourth threshold value but does not exceed the second threshold value, determining that the main driver has a second target object driving; wherein the second target object represents a minor user, and the first target object represents an adult user; When the first pressure value does not exceed the third threshold value and the second pressure value does not exceed the fourth threshold value, it is determined that there is no target object for the main driver.

3. The method according to claim 2, characterized in that Detecting the state of the first target object includes: When the second pressure value changes from exceeding the second threshold value to not exceeding the fourth threshold value, and the duration of the second pressure value not exceeding the fourth threshold value exceeds a first duration, determining that the first target object is in a first state, wherein the first state indicates that the first target object is in a fatigued state; When it is detected that the duration of the first target object being in the closed-eye state exceeds a second duration and the first target object periodically nods, determining that the first target object is in a second state, wherein the second state indicates that the first target object is in a dozing state; In the case where it is detected that the duration of the first target object being in the eyes-closed state exceeds a third duration, determining that the first target object is in a third state, wherein the third state indicates that the first target object is in a coma; When the accumulated duration of the second pressure value exceeding the second threshold exceeds a fourth duration, it is determined that the first target object is in a fourth state, wherein the fourth state represents that the first target object is in a normal driving state.

4. The method according to claim 1, characterized in that Adjusting the steering mode according to the change of the second pressure value includes: When the second pressure value falls within the first target threshold range, adjusting the steering mode to the first steering mode, wherein the steering transmission ratio of the first steering mode is the product of the first coefficient and the initial steering transmission ratio; the initial steering transmission ratio is the ratio of the steering wheel angle to the wheel angle; When the second pressure value falls within a second target threshold range, adjusting the steering mode to a second steering mode, wherein the steering transmission ratio of the second steering mode is a product of a second coefficient and the initial steering transmission ratio; When the second pressure value falls within a third target threshold range, adjusting the steering mode to a third steering mode, wherein a steering transmission ratio of the third steering mode is a product of a third coefficient and the initial steering transmission ratio; Among them, the first coefficient is less than 1 and less than the second coefficient, and the third coefficient is greater than 1 and greater than the second coefficient; the minimum value in the first target threshold range is greater than the maximum value in the second target threshold range, and the minimum value in the second target threshold range is greater than the maximum value in the third target threshold range.

5. The method according to claim 3, characterized in that: The method further comprises: After the steering mode is adjusted according to the change of the second pressure value, the control mode of the steering mode is determined according to the current driving mode of the vehicle and the second pressure value.

6. The method according to claim 5, characterized in that According to the current driving mode of the vehicle and the second pressure value, the control mode of determining the steering mode includes: When the vehicle enters the intelligent driving mode and the second pressure value exceeds the fourth threshold value but does not exceed the second threshold value, determining that the control mode of the steering mode is the automatic mode, turning off the road sense system and controlling the steering wheel to be silent; When the vehicle enters the intelligent driving mode and the second pressure value exceeds the second threshold, it is determined that the control mode of the steering mode changes from the automatic mode to the manual mode, and the road sensing system is turned on.

7. The method according to claim 1, characterized in that The method further comprises: The vehicle sensors, controllers and motors are sequentially checked for faults based on priority, and when no faults are detected, the vehicle steering mode is adjusted.

8. A vehicle steering mode adjustment device, characterized in that: include: an acquisition module, used to acquire a first pressure value output by a first sensor and a second pressure value output by a second sensor, wherein the first sensor is used to acquire the pressure of a main driver's seat, and the second sensor is used to acquire the grip force of a steering wheel; A first determination module is used to determine whether there is a first target object being driven on the main driving vehicle based on a comparison result between the first pressure value and a first threshold, and between the second pressure value and a second threshold; a detection module, configured to detect a state of the first target object when it is determined that the first target object is being driven by the main driving vehicle; The adjustment module is used to adjust the steering mode according to the change of the second pressure value when the state of the first target object is a normal driving state.

9. A vehicle, characterized in that: It includes a controller, a first sensor, and a second sensor; The first sensor is used to obtain the pressure of the main driver's seat; The second sensor is used to obtain the grip force of the steering wheel; The controller is used to obtain a first pressure value output by the first sensor and a second pressure value output by the second sensor, and based on the comparison results of the first pressure value and the first threshold value, and the second pressure value and the second threshold value, and in the case where it is determined that the first target object is being driven on the main driving wheel, detect the state of the first target object; and in the case where the state of the first target object is a normal driving state, adjust the steering mode according to the change of the second pressure value.

10. A computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute the vehicle steering mode adjustment method according to any one of claims 1 to 7.

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