Prompting method, steer-by-wire hand feeling simulator and vehicle

Abstract

The invention relates to the technical field of vehicles, in particular to a prompting method, a steer-by-wire hand feeling simulator and a vehicle. The method comprises the steps of obtaining steering parameters of a steering wheel under the condition that the rotating speed of an engine is larger than 0; under the condition that the first absolute value of the first steering wheel hand force is smaller than the assistance threshold value, first duration time when the first absolute value is smaller than the assistance threshold value is obtained; executing the target operation based on the steering parameter and / or the first duration; wherein the target operation comprises the step of generating prompt information used for indicating the driver to hold the steering wheel with the hand.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a prompting method, a wire-controlled steering feel simulator and a vehicle. Background Art

[0002] At present, drivers often take their hands off the steering wheel while driving, which leads to traffic accidents.

[0003] Therefore, how to detect whether the driver has his hands on the steering wheel of the car has become an urgent problem to be solved. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a prompt method, a wire-controlled steering feel simulator and a vehicle, which are used to solve the problem of how to detect whether the driver puts his hands on the steering wheel of the car.

[0005] In a first aspect, the present application provides a prompt method, comprising: when the engine speed is greater than 0, obtaining a steering parameter of a steering wheel; wherein the steering parameter includes a first steering wheel hand force; when the first absolute value of the first steering wheel hand force is less than a power assist threshold, obtaining a first duration in which the first absolute value is less than the power assist threshold; based on the steering parameter and / or the first duration, performing a target operation; wherein the target operation includes generating prompt information for instructing the driver to hold his hands on the steering wheel.

[0006] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; the prompt method provided by the present disclosure also includes: when the first absolute value is greater than or equal to the power assistance threshold, continuing to obtain the second steering wheel hand force.

[0007] In some implementable examples, the steering parameters include a first angular velocity; based on the steering parameters and / or the first duration, a target operation is performed, including: when the first angular velocity, the first absolute value, the again acquired second angular velocity, and the second steering wheel hand force meet preset conditions, a prompt message is generated; wherein the preset conditions include: the second absolute value of the first angular velocity is greater than or equal to an angular velocity threshold, and the first absolute value is greater than or equal to the first threshold and less than or equal to the second threshold, and the third absolute value of the second angular velocity is less than the angular velocity threshold, and the fourth absolute value of the second steering wheel hand force is less than the first threshold.

[0008] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; the prompt method provided by the present disclosure also includes: when the first angular velocity, the first absolute value, the again obtained second angular velocity and the second steering wheel hand force do not meet the preset conditions, continue to obtain the second steering wheel hand force.

[0009] In some feasible examples, when the first absolute value of the first steering wheel hand force is less than the power assist threshold, a first duration in which the first absolute value is less than the power assist threshold is obtained, including: when the first absolute value of the first steering wheel hand force is less than the power assist threshold, starting timing; when the first absolute value is greater than or equal to the power assist threshold, stopping timing to obtain the first duration.

[0010] In some feasible examples, the steering parameter also includes a first turning angle; the prompt method provided by the present disclosure also includes: generating a prompt message when the second absolute value is equal to 0, the fifth absolute value of the first turning angle is equal to 0, and the first duration is greater than a third threshold.

[0011] In some feasible examples, the prompt method provided by the present disclosure also includes: when the fifth absolute value is greater than 0, continuing to obtain the second steering wheel hand force.

[0012] In some feasible examples, the prompting method provided by the present disclosure further includes: when the first duration is less than or equal to a third threshold, continuing to obtain the second steering wheel hand force.

[0013] In a second aspect, the present application provides a wire-controlled steering feel simulator, comprising: a processing module, used to control an acquisition module to obtain steering parameters of a steering wheel when an engine speed is greater than 0; wherein the steering parameters include a first steering wheel hand force; the processing module is also used to control the acquisition module to obtain a first duration during which the first absolute value of the first steering wheel hand force obtained by the acquisition module is less than a power-assistance threshold when a first absolute value of the first steering wheel hand force obtained by the acquisition module is less than a power-assistance threshold; the processing module is also used to perform a target operation based on the steering parameter and / or the first duration obtained by the acquisition unit; wherein the target operation includes generating prompt information for instructing the driver to hold his hands on the steering wheel.

[0014] In a third aspect, the present application provides a vehicle, the vehicle comprising the above-mentioned wire-controlled steering feel simulator.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above method.

[0016] Compared with the prior art, the technical solution provided by the present invention has the following advantages:

[0017] The prompt method provided by the present disclosure obtains the steering parameters of the steering wheel when the engine speed of the vehicle is greater than 0, and obtains the first duration during which the first absolute value of the first steering wheel hand force is less than the power-assistance threshold when the first absolute value of the first steering wheel hand force is less than the power-assistance threshold; thereby, a target operation can be performed based on the steering parameters and / or the first duration; for example, the target operation includes generating prompt information for instructing the driver to hold his hands on the steering wheel, which indicates that the driver's hands are not on the steering wheel, and the driver can hold his hands on the steering wheel based on the prompt information, thereby solving the problem of how to detect whether the driver has put his hands on the steering wheel of the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] 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.

[0020] Figure 1 One of the flowcharts of a prompting method provided in the first embodiment is exemplarily shown in FIG.

[0021] Figure 2 exemplarily shows a structural schematic diagram of a method for prompting provided in the first embodiment of the present invention after a wire-controlled steering feel simulator is connected to a steering wheel;

[0022] Figure 3 FIG. 2 exemplarily shows a flow chart of a prompting method provided in the first embodiment;

[0023] Figure 4 FIG. 3 exemplarily shows a flowchart of a prompting method provided in the first embodiment;

[0024] Figure 5 FIG. 4 exemplarily shows a flowchart of a prompting method provided in the first embodiment;

[0025] Figure 6 FIG. 5 exemplarily shows a flowchart of a prompting method provided in the first embodiment;

[0026] Figure 7 6 is a flowchart of a prompting method provided in the first embodiment;

[0027] Figure 8FIG. 7 exemplarily shows a flowchart of a prompting method provided in the first embodiment;

[0028] Fig. 9 FIG. 8 exemplarily shows a flowchart of a prompting method provided in the first embodiment;

[0029] Fig.10 One of the structural schematic diagrams of the wire-controlled steering feel simulator provided in the second embodiment is exemplarily shown in FIG.

[0030] Fig.11 FIG. 2 exemplarily shows a second structural schematic diagram of the wire-controlled steering feel simulator provided in the second embodiment. DETAILED DESCRIPTION

[0031] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0033] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0034] Embodiment 1

[0035] Figure 1 A schematic diagram of a prompting method is shown in FIG. 1 , and the execution subject of this example may be a wire-controlled steering feel simulator, such as Figure 1 As shown, the method includes:

[0036] S11. When the engine speed is greater than 0, obtain a steering parameter of the steering wheel; wherein the steering parameter includes a first steering wheel hand force.

[0037] In some examples, the wire-controlled steering feel simulator includes an input shaft, a column housing, an angle sensor, a reducer housing, a motor, and a control unit. The schematic diagram of the structure after the wire-controlled steering feel simulator is connected to the steering wheel is as follows Figure 2 As shown, 1 represents a steering wheel, 2 represents an input shaft, 3 represents a column housing, 4 represents an angle sensor, 5 represents a reducer housing, 6 represents a motor, and 7 represents a control unit.

[0038] In some examples, a steering wheel model of a steer-by-wire system can be constructed based on the torque transfer model, and the expression is:

[0039]

[0040] T r =i s T m η is .

[0041] Among them, J s is the moment of inertia of the steering wheel and the steering input shaft, θ sw is the steering wheel angle, B s is the damping coefficient between the steering wheel and the steering input shaft, T r is the motor resistance, T h is the steering hand force, i s is the reduction ratio of the hand simulator, T m is the motor output torque of the hand simulator, η is It is the mechanical transmission efficiency of the reduction mechanism.

[0042] Secondly, the motor model of the feel simulator of the wire-controlled steering system is expressed as:

[0043] T m =9550P o / n m ;

[0044] P o =P i η;

[0045]

[0046] Among them, T m is the motor output torque of the hand simulator, P o is the output power of the hand simulator motor, n m is the speed of the hand simulator motor, P i is the input power of the hand simulator motor, η is the efficiency of the hand simulator motor, U L is the line voltage of the hand simulator motor, I L is the line current of the feel simulator motor, is the power factor.

[0047] Substitute the expression in the motor model of the steer-by-wire system feel simulator into the expression of the steer-by-wire system steering wheel model to obtain the calculation formula for the steering wheel hand force of the steer-by-wire system:

[0048]

[0049] Among them, J s , B s , η, η is Parameters such as these are related to the mechanical system of the feel simulator and are fixed values; other parameter values ​​can be obtained through the collection of the wire-controlled steering system.

[0050] In this way, the first steering wheel hand force can be determined based on the calculation formula of the steering wheel hand force of the wire control steering system.

[0051] S12. When a first absolute value of the first steering wheel hand force is less than a power assistance threshold, obtain a first duration in which the first absolute value is less than the power assistance threshold.

[0052] S13. Execute a target operation based on the steering parameter and / or the first duration; wherein the target operation includes generating prompt information for instructing the driver to hold hands on the steering wheel.

[0053] In some examples, the steering parameter and / or the first duration may be input into the recognition model for processing to determine whether the driver's hands are on the steering wheel, such as: when the driver's hands are not on the steering wheel, the target operation is determined to be generating a prompt message for instructing the driver to hold his hands on the steering wheel. When the driver's hands are on the steering wheel, the target operation is determined to continue to obtain the second steering wheel hand force of the steering wheel. The training process of the recognition model includes:

[0054] Acquire training sample data and labeling results of the training sample data; wherein the training sample data includes historical steering parameters and / or duration, and the labeling results include whether the driver's hands are holding the steering wheel.

[0055] The training sample data is input into the neural network model for learning, and the prediction results of the neural network model for the training sample data are obtained.

[0056] Based on the prediction results and labeling results, the network parameters of the neural network model are adjusted until the neural network model converges to obtain the recognition model.

[0057] From the above, it can be seen that the prompt method provided by the embodiment of the present disclosure, when the engine speed of the vehicle is greater than 0, obtains the steering parameters of the steering wheel, and when the first absolute value of the first steering wheel hand force is less than the power-assistance threshold, obtains the first duration during which the first absolute value is less than the power-assistance threshold; thereby, the target operation can be performed based on the steering parameters and / or the first duration; such as: the target operation includes generating prompt information for instructing the driver to hold his hands on the steering wheel, which means that the driver's hands are not on the steering wheel, and then the driver can hold his hands on the steering wheel based on the prompt information, thereby solving the problem of how to detect whether the driver has put his hands on the steering wheel of the car.

[0058] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; Figure 1 ,like Figure 3 As shown, the prompt method provided by the embodiment of the present disclosure also includes: S14.

[0059] S14. When the first absolute value is greater than or equal to the power assistance threshold, continue to obtain the second steering wheel hand force.

[0060] As can be seen from the above, the prompt method provided by the embodiment of the present disclosure indicates that the driver's hands are holding the steering wheel when the first absolute value is greater than or equal to the power-assistance threshold. Therefore, the target operation is determined to continue to obtain the second steering wheel hand force of the steering wheel, so that it is possible to continuously detect whether the driver's hands are holding the steering wheel, thereby ensuring the user experience.

[0061] In some possible implementation examples, the steering parameter includes a first angular velocity; Figure 1 ,like Figure 4 As shown, the above S13 can be specifically implemented through the following S130.

[0062] S130. Generate a prompt message when the first angular velocity, the first absolute value, the second angular velocity acquired again and the second steering wheel hand force meet preset conditions; wherein the preset conditions include: the second absolute value of the first angular velocity is greater than or equal to the angular velocity threshold, and the first absolute value is greater than or equal to the first threshold and less than or equal to the second threshold, and the third absolute value of the second angular velocity is less than the angular velocity threshold, and the fourth absolute value of the second steering wheel hand force is less than the first threshold.

[0063] In some examples, the angular velocity threshold may be 3° / s.

[0064] In some examples, the first threshold may be 0.1 Nm and the second threshold may be 0.2 Nm.

[0065] In some examples, when the second absolute value of the first angular velocity is greater than or equal to the angular velocity threshold, and the first absolute value is greater than or equal to the first threshold and less than or equal to the second threshold, it can be considered that the current state is in the low confidence level (LowConfidenceLevel) region of hands-off detection. Afterwards, by continuing to obtain the second angular velocity and the second steering wheel hand force, when the third absolute value of the second angular velocity is less than the angular velocity threshold, and the fourth absolute value of the second steering wheel hand force is less than the first threshold, it can be considered that the current state is in the high confidence level (HighConfidenceLevel) region of hands-off detection, thereby determining whether the driver's hands are holding the steering wheel through the trend of the change in the confidence level, such as: if the confidence level changes from a low confidence level to a high confidence level, it means that the driver's hands are not holding the steering wheel, and therefore a prompt message needs to be generated.

[0066] As can be seen from the above, the prompt method provided by the embodiment of the present disclosure indicates that the driver's hands are not holding the steering wheel when the first angular velocity, the first absolute value, the second angular velocity obtained again, and the second steering wheel hand force meet the preset conditions. Therefore, the target operation is determined to be generating prompt information, so that the driver can be prompted to hold the steering wheel to avoid a car accident.

[0067] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; Figure 4 ,like Figure 5 As shown, the prompt method provided by the embodiment of the present disclosure also includes: S15.

[0068] S15. When the first angular velocity, the first absolute value, the reacquired second angular velocity, and the second steering wheel hand force do not satisfy a preset condition, continue to acquire the second steering wheel hand force.

[0069] As can be seen from the above, the prompt method provided by the embodiment of the present disclosure indicates that the driver's hands are holding the steering wheel when the first angular velocity, the first absolute value, the second angular velocity obtained again, and the second steering wheel hand force do not meet the preset conditions. Therefore, the target operation is determined to continue to obtain the second steering wheel hand force of the steering wheel, so that it is possible to continuously detect whether the driver's hands are holding the steering wheel, thereby ensuring the user experience.

[0070] In some possible implementation examples, combined with Figure 5 ,like Figure 6 As shown, the above S12 can be specifically implemented through the following S120 and S121.

[0071] S120, when a first absolute value of the first steering wheel hand force is less than a power assistance threshold, start timing;

[0072] In some examples, the assist threshold may be 0.3 Nm.

[0073] S121. When the first absolute value is greater than or equal to the assistance threshold, stop timing to obtain a first duration.

[0074] From the above, it can be seen that the prompt method provided by the embodiment of the present disclosure indicates that the driver's hands may not be holding the steering wheel when the first absolute value of the first steering wheel hand force is less than the power-assistance threshold. In order to avoid misjudgment, when the first absolute value is less than the power-assistance threshold, the timing is started; and when the first absolute value is greater than or equal to the power-assistance threshold, the timing is stopped to obtain the first duration. Furthermore, based on the relationship between the first duration and the third threshold, it can be determined whether the driver's hands are holding the steering wheel, so that it is possible to continuously detect whether the driver's hands are holding the steering wheel to ensure the user experience.

[0075] In some feasible examples, the steering parameter also includes a first rotation angle; Figure 6 ,like Figure 7 As shown, the prompt method provided by the embodiment of the present disclosure also includes: S16.

[0076] S16: Generate prompt information when the second absolute value is equal to 0, the fifth absolute value of the first rotation angle is equal to 0, and the first duration is greater than the third threshold.

[0077] In some examples, the third threshold may be 5s.

[0078] From the above, it can be seen that in the prompt method provided by the embodiment of the present disclosure, when the second absolute value is equal to 0, the fifth absolute value of the first rotation angle is equal to 0, and the first duration is greater than the third threshold, it indicates that the driver's hands are not holding the steering wheel. Therefore, the target operation is determined to be generating prompt information, so that the driver can be prompted to hold his hands on the steering wheel to avoid a car accident.

[0079] In some possible implementation examples, combined with Figure 7 ,like Figure 8 As shown, the prompt method provided by the embodiment of the present disclosure also includes: S17.

[0080] S17. When the fifth absolute value is greater than 0, continue to obtain the second steering wheel hand force.

[0081] As can be seen from the above, the prompt method provided by the embodiment of the present disclosure continues to obtain the second steering wheel hand force when the fifth absolute value is greater than 0, indicating that the driver's hands are holding the steering wheel. Therefore, the target operation is determined to continue to obtain the second steering wheel hand force of the steering wheel, so that it can continuously detect whether the driver's hands are holding the steering wheel, ensuring the user experience.

[0082] In some possible implementation examples, combined with Figure 8 ,like Fig. 9As shown, the prompt method provided by the embodiment of the present disclosure also includes: S18.

[0083] S18. When the first duration is less than or equal to the third threshold, continue to obtain the second steering wheel hand force.

[0084] As can be seen from the above, the prompt method provided by the embodiment of the present disclosure continues to obtain the second steering wheel hand force when the first duration is less than or equal to the third threshold, indicating that the driver's hands are holding the steering wheel. Therefore, the target operation is determined to continue to obtain the second steering wheel hand force of the steering wheel, so that it is possible to continuously detect whether the driver's hands are holding the steering wheel, thereby ensuring the user experience.

[0085] Embodiment 2

[0086] Fig.10 The structural diagram of the wire control steering feel simulator provided in the second embodiment of the present application is shown in FIG. Fig.10 As shown, the wire-controlled steering feel simulator includes: a processing module 81 and an acquisition module 82 .

[0087] The processing module 81 is used to control the acquisition module 82 to acquire the steering parameters of the steering wheel when the engine speed is greater than 0; wherein the steering parameters include the first steering wheel hand force;

[0088] The processing module 81 is further configured to control the obtaining module 82 to obtain a first duration during which the first absolute value is less than the power-assistance threshold value when the first absolute value of the first steering wheel hand force obtained by the obtaining module 82 is less than the power-assistance threshold value;

[0089] The processing module 81 is further used to perform a target operation based on the steering parameter and / or the first duration acquired by the acquisition unit; wherein the target operation includes generating prompt information for instructing the driver to hold the steering wheel.

[0090] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; the processing module 81 is also used to control the acquisition module 82 to continue to obtain the second steering wheel hand force when the first absolute value is greater than or equal to the power assistance threshold.

[0091] In some implementable examples, the steering parameters include a first angular velocity; the processing module 81 is specifically used to generate a prompt message when the first angular velocity, the first absolute value, the second angular velocity acquired again and the second steering wheel hand force meet preset conditions; wherein the preset conditions include: the second absolute value of the first angular velocity is greater than or equal to the angular velocity threshold, and the first absolute value is greater than or equal to the first threshold and less than or equal to the second threshold, and the third absolute value of the second angular velocity is less than the angular velocity threshold, and the fourth absolute value of the second steering wheel hand force is less than the first threshold.

[0092] In some feasible examples, the target operation also includes continuing to obtain a second steering wheel hand force of the steering wheel; the processing module 81 is also used to continue to obtain the second steering wheel hand force when the first angular velocity, the first absolute value, the again obtained second angular velocity and the second steering wheel hand force do not meet the preset conditions.

[0093] In some feasible examples, the processing module 81 is specifically used to start timing when the first absolute value of the first steering wheel hand force is less than the power assistance threshold; the processing module 81 is specifically used to stop timing when the first absolute value is greater than or equal to the power assistance threshold to obtain a first duration.

[0094] In some implementable examples, the steering parameter also includes a first rotation angle; the processing module 81 is also used to generate a prompt message when the second absolute value is equal to 0, the fifth absolute value of the first rotation angle is equal to 0, and the first duration is greater than a third threshold.

[0095] In some feasible examples, the processing module 81 is further configured to control the acquisition module 82 to continue acquiring the second steering wheel hand force when the fifth absolute value is greater than 0.

[0096] In some feasible examples, the processing module 81 is further configured to continue acquiring the second steering wheel hand force when the first duration is less than or equal to a third threshold.

[0097] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and its role will not be repeated here.

[0098] Of course, the steering-by-wire feel simulator provided by the embodiment of the present invention includes but is not limited to the above modules, for example, the steering-by-wire feel simulator may also include a storage module 83. The storage module 83 may be used to store the program code of the steering-by-wire feel simulator, and may also be used to store data generated during the operation of the steering-by-wire feel simulator, such as diagnostic data.

[0099] Fig.11 A schematic diagram of the structure of a wire-controlled steering feel simulator provided by an embodiment of the present invention is shown in FIG. Fig.11 As shown, the steer-by-wire feel simulator may include: at least one processor 51 , a memory 52 , a communication interface 53 and a communication bus 54 .

[0100] Combine the following Fig.11 The following is a detailed introduction to the components of the wire-controlled steering feel simulator:

[0101] The processor 51 is the control center of the wire-controlled steering feel simulator, and can be a processor or a general term for multiple processing elements. For example, the processor 51 is a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more DSPs, or one or more field programmable gate arrays (FPGAs).

[0102] In a specific implementation, as an embodiment, the processor 51 may include one or more CPUs, such as Fig.11 Furthermore, as an embodiment, the wire control steering feel simulator may include multiple processors, such as Fig.11 51 and 55 are shown in FIG. Each of these processors may be a single-core processor (Single-CPU) or a multi-core processor (Multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0103] The memory 52 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 52 may exist independently and be connected to the processor 51 via a communication bus 54. The memory 52 may also be integrated with the processor 51.

[0104] In a specific implementation, the memory 52 is used to store the data of the present invention and execute the software program of the present invention. The processor 51 can execute various functions of the air conditioner by running or executing the software program stored in the memory 52 and calling the data stored in the memory 52.

[0105] The communication interface 53 uses any transceiver-like device to communicate with other devices or communication networks, such as Radio Access Network (RAN), Wireless Local Area Networks (WLAN), terminals, the cloud, etc. The communication interface 53 may include an acquisition module to implement the acquisition function.

[0106] The communication bus 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.11 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0107] As an example, combining Fig.10 The functions implemented by the acquisition module 82 of the wire control steering feel simulator are similar to Fig.11 The function of the communication interface 53 in the control-by-wire steering feel simulator is the same as that of the processing module 81 in the control-by-wire steering feel simulator. Fig.11 The functions of the processor 51 in the control-by-wire steering feel simulator are the same as those of the storage module 83 in the control-by-wire steering feel simulator. Fig.11 The function of the memory 52 in is the same.

[0108] An embodiment of the present application also provides a vehicle, which may include the wire-controlled steering feel simulator in any embodiment.

[0109] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method in any embodiment.

[0110] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. 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 disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A prompting method, characterized in that: include: When the engine speed is greater than 0, obtaining a steering parameter of the steering wheel; wherein the steering parameter includes a first steering wheel hand force; When a first absolute value of the first steering wheel hand force is less than a power assistance threshold, obtaining a first duration in which the first absolute value is less than the power assistance threshold; Based on the steering parameter and / or the first duration, a target operation is performed; wherein the target operation includes generating prompt information for instructing the driver to hold the steering wheel.

2. The prompting method according to claim 1, characterized in that: The target operation further includes continuing to obtain a second steering wheel hand force of the steering wheel; The method further comprises: When the first absolute value is greater than or equal to the power assistance threshold, continue to obtain the second steering wheel hand force.

3. The prompting method according to claim 1, characterized in that: The steering parameters also include a first angular velocity; The performing a target operation based on the steering parameter and / or the first duration includes: When the first angular velocity, the first absolute value, the again acquired second angular velocity and the second steering wheel hand force meet preset conditions, a prompt message is generated; wherein the preset conditions include: the second absolute value of the first angular velocity is greater than or equal to an angular velocity threshold, and the first absolute value is greater than or equal to the first threshold and less than or equal to the second threshold, and the third absolute value of the second angular velocity is less than the angular velocity threshold, and the fourth absolute value of the second steering wheel hand force is less than the first threshold.

4. The prompting method according to claim 3, characterized in that: The target operation further includes continuing to obtain a second steering wheel hand force of the steering wheel; The method further comprises: When the first angular velocity, the first absolute value, the reacquired second angular velocity and the second steering wheel hand force do not satisfy the preset condition, continue to acquire the second steering wheel hand force.

5. The prompting method according to claim 4, characterized in that: When the first absolute value of the first steering wheel hand force is less than the power assistance threshold, obtaining a first duration during which the first absolute value is less than the power assistance threshold comprises: When the first absolute value of the first steering wheel hand force is less than the power assistance threshold, starting timing; When the first absolute value is greater than or equal to the assistance threshold, the timing is stopped to obtain a first duration.

6. The prompting method according to claim 5, characterized in that: The steering parameters also include a first rotation angle; The method further comprises: When the second absolute value is equal to 0, the fifth absolute value of the first rotation angle is equal to 0, and the first duration is greater than a third threshold, a prompt message is generated.

7. The prompting method according to claim 6, characterized in that: The method further comprises: When the fifth absolute value is greater than 0, continue to obtain the second steering wheel hand force.

8. The prompting method according to claim 6, characterized in that: The method further comprises: When the first duration is less than or equal to the third threshold, continue to obtain the second steering wheel hand force.

9. A steering-by-wire feel simulator, characterized in that: include: A processing module, configured to control the acquisition module to acquire a steering parameter of the steering wheel when the engine speed is greater than 0; wherein the steering parameter includes a first steering wheel hand force; The processing module is further configured to control the acquisition module to acquire a first duration during which the first absolute value of the first steering wheel hand force acquired by the acquisition module is less than the power-assistance threshold when the first absolute value of the first steering wheel hand force acquired by the acquisition module is less than the power-assistance threshold; The processing module is further used to perform a target operation based on the steering parameter and / or the first duration acquired by the acquisition unit; wherein the target operation includes generating prompt information for instructing the driver to hold the steering wheel.

10. A vehicle, characterized in that: It comprises the steering-by-wire feel simulator as claimed in claim 9.

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