Steering wheel control method, device, vehicle-mounted equipment, storage medium and product

Abstract

The present application relates to a steering wheel control method, device, vehicle-mounted equipment, storage medium and product. The steering wheel control method includes: when detecting that the vehicle is in a first lane departure state, determining a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms, wherein the plurality of preset vibration waveforms are different; generating a lane departure warning signal based on the first vibration waveform; controlling the vehicle's steering wheel to vibrate according to the lane departure warning signal to warn the driver of the lane departure, wherein the first vibration waveform is related to the change in the force of the steering wheel during the vibration process. In the present application, different lane departure warning signals can be generated with different vibration waveforms, and the steering wheel can be controlled to vibrate with different lane departure warning signals, so that the driver can obtain a variety of different tactile feedback, which is convenient for the driver to identify different lane departure warning signals.

Description

Technical Field

[0001] The present application relates to the technical field of steering wheel control, and in particular to a steering wheel control method, device, vehicle-mounted equipment, storage medium and product. Background Art

[0002] With the development of vehicle technology, more and more users choose to travel by car. During driving, if the driver is not focused or careless, it is easy to cause the vehicle to deviate from the lane and cause safety accidents such as collision and rear-end collision. There are also drivers who have bad driving habits and intentionally run over the lane line or cross the lane line, which can easily cause safety accidents such as scratches and collisions. Therefore, a lane departure warning system needs to be installed in the vehicle to remind the driver to make road corrections.

[0003] At present, the research on lane departure warning system is relatively rich in lane departure recognition and warning signals, but the research on warning effect is relatively scarce. In particular, when the lane departure warning system uses steering wheel vibration to remind lane departure, due to the lack of rich vibration settings, it cannot meet the diverse and personalized needs, so there is a problem of single reminder effect and failure to output more warning information to the driver. Summary of the invention

[0004] One of the purposes of this application is to provide a steering wheel control method to solve the problem in the prior art that the vibration settings are not rich enough, resulting in a single reminder effect and an inability to output more warning information to the driver; the second purpose is to provide a steering wheel control device; the third purpose is to provide a vehicle-mounted device; the fourth purpose is to provide a computer-readable storage medium; and the fifth purpose is to provide a computer program product.

[0005] In order to achieve the above purpose, the technical solution adopted in this application is as follows:

[0006] In a first aspect, the present application provides a steering wheel control method, comprising: when it is detected that a vehicle is in a first lane departure state, determining a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms, wherein the plurality of preset vibration waveforms are different; based on the first vibration waveform, generating a lane departure warning signal; controlling the steering wheel of the vehicle to vibrate according to the lane departure warning signal to warn the driver of the lane departure, wherein the first vibration waveform is related to the change in force of the steering wheel during the vibration process.

[0007] According to the above technical means, since it is possible to determine a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms when the vehicle is in a first lane departure state, and then generate a lane departure warning signal for controlling the vibration of the steering wheel according to the first vibration waveform, different vibration waveforms can be used to generate different lane departure warning signals when the vehicle is in different deviation states, and the steering wheel can be controlled to vibrate with different lane departure warning signals, so that the driver can obtain a variety of different tactile feedbacks, which is convenient for the driver to identify different lane departure warning signals.

[0008] In one possible implementation, a lane departure warning signal is generated based on the first vibration waveform, including: determining a first cycle corresponding to the first lane departure state from a plurality of preset cycles; and modulating an initial signal having the first vibration waveform according to the first cycle to generate the lane departure warning signal.

[0009] According to the above technical means, since the first cycle corresponding to the first lane departure state can be obtained from multiple preset cycles, different first cycles can be obtained when the first lane departure state is different. Further, since the initial signal having the first vibration waveform can be modulated according to the first cycle to generate a lane departure warning signal, different lane departure warning signals can be generated when the first lane departure state is different, thereby improving the diversity of lane departure warning signals and facilitating providing more and more effective warning information to the driver.

[0010] In some possible embodiments, the first cycle includes a first vibration duration and a first pause duration; the initial signal having the first vibration waveform is modulated according to the first cycle, including: determining a first partial signal based on the initial signal within the first vibration duration; and determining a second partial signal with an amplitude of zero within the first pause duration; wherein the lane departure warning signal includes the first partial signal and the second partial signal.

[0011] According to the above technical means, since the initial signal is modulated by the first cycle, a periodic lane departure warning signal can be generated, and the vibration of the vehicle's steering wheel can be a periodic vibration. Since the first cycle includes a first vibration duration and a first pause duration, a part of the signal can be determined based on the initial signal within the first vibration duration, and a second part of the signal with an amplitude of zero can be determined within a pause duration. Therefore, the lane departure warning signal can include a first part of the signal and a second part of the signal. The first part of the signal can control the steering wheel to vibrate, and the second part of the signal controls the steering wheel to stop vibrating due to the zero amplitude, thereby further improving the diversity of the steering wheel vibration, so that the steering wheel vibration carries more warning information.

[0012] In one possible implementation, the first cycle includes multiple second cycles and at least one second pause duration, and the second cycle includes a second vibration duration and a third pause duration; the initial signal having the first vibration waveform is modulated according to the first cycle, including: determining a third partial signal based on the initial signal within the second vibration duration; determining a fourth partial signal with an amplitude of zero within the at least one second pause duration and the third pause duration; wherein the lane departure warning signal includes the third partial signal and the fourth partial signal.

[0013] According to the above technical means, since the first period includes multiple second periods, the steering wheel vibration can be a periodic vibration with large periods and small periods coexisting. Since the lane departure warning signal includes the third part signal and the fourth part signal, the third part signal can control the steering wheel to vibrate, and the fourth part signal controls the steering wheel to stop vibrating due to the zero amplitude and the fourth part signal is determined within the second pause time and the third pause time. Therefore, the lane departure warning signal can control the steering wheel to stop vibrating in both large and small periods, thereby further improving the diversity of the steering wheel vibration.

[0014] In one possible implementation, generating a lane departure warning signal based on the first vibration waveform includes: determining a first amplitude corresponding to the first lane departure state from a plurality of preset amplitudes; and modulating an initial signal having the first vibration waveform based on the first amplitude to generate the lane departure warning signal.

[0015] According to the above technical means, since the first amplitude corresponding to the first lane departure state can be determined from a plurality of preset amplitudes, different first amplitudes can be obtained when the first lane departure state is different. Further, since the initial signal having the first vibration waveform can be modulated according to the first amplitude to generate a lane departure warning signal, the amplitude of the generated lane departure warning signal can be different when the first lane departure state is different, thereby changing the intensity of the steering wheel vibration, improving the diversity of the steering wheel vibration, and facilitating providing more and more effective warning information to the driver.

[0016] In one possible implementation, based on the first amplitude, the initial signal having the first vibration waveform is modulated, including: within a first time length, the amplitude of the first vibration waveform is gradually increased from an initial amplitude until it reaches the first amplitude, so as to determine an increasing partial signal; within a second time length, the amplitude of the first vibration waveform is maintained at the first amplitude, so as to determine a maintaining partial signal; within a third time length, the amplitude of the first vibration waveform is gradually reduced from the first amplitude until it reaches the initial amplitude, so as to determine a decreasing partial signal; wherein the lane departure warning signal includes the increasing partial signal, the maintaining partial signal and the decreasing partial signal; the second time length is located after the first time length, and the third time length is located after the second time length.

[0017] According to the above technical means, since the amplitude of the first vibration waveform gradually increases in the first time length, an increasing partial signal can be formed in the first time length; when the increasing partial signal controls the vibration of the steering wheel, the vibration intensity of the steering wheel can be gradually increased, providing the user with richer tactile feedback. Similarly, since the amplitude of the first vibration waveform gradually decreases in the third time length, a decreasing partial signal can be formed in the third time length; when the decreasing partial signal controls the vibration of the steering wheel, the vibration intensity of the steering wheel can be gradually reduced, providing the user with richer tactile feedback.

[0018] In a possible implementation, within a first time length, the amplitude of the first vibration waveform is gradually increased from an initial value until it reaches a first amplitude, including: obtaining a first amplitude adjustment curve, the first amplitude adjustment curve being an increasing curve; determining the amplitude of the first vibration waveform within the first time length according to the first amplitude adjustment curve, so that the amplitude of the first vibration waveform gradually increases from the initial amplitude to the first amplitude.

[0019] According to the above technical means, since the first amplitude adjustment curve is an increasing curve, the amplitude of the first vibration waveform within the first time length can show a gradually increasing trend, so that the vibration intensity of the steering wheel can slowly increase to meet the user's tactile needs.

[0020] In a possible implementation, within a third time period, the amplitude of the first vibration waveform is gradually reduced from the first amplitude until it reaches the initial amplitude, including: obtaining a second amplitude adjustment curve; the second amplitude adjustment curve is a decreasing curve; according to the second amplitude adjustment curve, determining the amplitude of the first vibration waveform within the third time period, so that the amplitude of the first vibration waveform is gradually reduced from the first amplitude to the initial amplitude.

[0021] According to the above technical means, since the second amplitude adjustment curve is a decreasing curve, the amplitude of the first vibration waveform within the third time length can show a gradually decreasing trend, so that the vibration intensity of the steering wheel can slowly decrease to meet the user's tactile needs.

[0022] In a second aspect, the present application provides a steering wheel control device, comprising: a first control module, used to receive a first control instruction, wherein the first control instruction is used to instruct the start of steering wheel vibration; an acquisition module, used to obtain a first vibration waveform from a plurality of preset vibration waveforms according to the first control instruction, wherein the plurality of preset vibration waveforms are different; a second control module, based on the first vibration waveform, controlling the steering wheel vibration, wherein the first vibration waveform is related to the change in force of the steering wheel during vibration.

[0023] In a third aspect, the present application provides a vehicle-mounted device, comprising a memory and one or more processors, wherein a computer program is stored in the memory, and when the computer program is executed by the vehicle-mounted device, the steering wheel control method described in the first aspect is implemented.

[0024] In a fourth aspect, the present application provides a computer-readable storage medium storing executable instructions, wherein when the executable instructions are executed by a processor, the steering wheel control method as described in the first aspect is implemented.

[0025] In a fifth aspect, the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the steering wheel control method as described in the first aspect.

[0026] It should be noted that the technical effects of the second to fifth aspects can refer to the detailed description of the first aspect above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A first optional flow chart of a steering wheel control method provided in an embodiment of the present application;

[0028] Figure 2 A second optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0029] Figure 3 A third optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0030] Figure 4 A first optional schematic diagram of a vibration waveform provided in an embodiment of the present application;

[0031] Figure 5 A fourth optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0032] Figure 6 A second optional schematic diagram of a vibration waveform provided in an embodiment of the present application;

[0033] Figure 7 A fifth optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0034] Figure 8 A sixth optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0035] Fig. 9 A seventh optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0036] Fig.10 An optional schematic diagram of a first amplitude adjustment curve provided in an embodiment of the present application;

[0037] Fig.11 An eighth optional flow chart of the steering wheel control method provided in the embodiment of the present application;

[0038] Fig.12 An optional schematic diagram of a second amplitude adjustment curve provided in an embodiment of the present application;

[0039] Fig.13 An optional schematic diagram of an amplitude adjustment curve provided in an embodiment of the present application;

[0040] Fig.14 A third optional schematic diagram of a vibration waveform provided in an embodiment of the present application;

[0041] Fig.15 A schematic diagram of an optional structure of a steering wheel vibration control system provided in an embodiment of the present application;

[0042] Fig.16 A schematic diagram of an optional structure of a steering wheel control device provided in an embodiment of the present application;

[0043] Fig.17 An optional structural diagram of the vehicle-mounted device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0045] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0046] The embodiments of the present application provide a steering wheel control method, device, equipment, storage medium and computer program product. In practical applications, the steering wheel control method can be implemented by a steering wheel control device, and each functional entity in the steering wheel control device can be collaboratively implemented by hardware resources of the vehicle-mounted equipment, such as computing resources such as processors, and communication resources (such as for supporting various communication methods such as optical cables and cellular).

[0047] The embodiment of the present application provides a steering wheel control method, which can be executed by an on-board device of a vehicle (hereinafter referred to as a "terminal"). A lane departure warning system can be run on the on-board device. The lane departure warning system is an advanced driver assistance system that aims to prevent traffic accidents caused by lane departure by monitoring the position of the vehicle relative to the lane. The system usually uses a camera, a sensor, and a controller to detect whether the vehicle deviates from the lane. Figure 1 A first optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 1 As shown, the steering wheel control method may include: step S101 to step S103.

[0048] Step S101, when it is detected that the vehicle is in a first lane departure state, determining a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms.

[0049] It can be understood that, when the terminal detects that the vehicle is in the first lane departure state, it can determine the first vibration waveform from a plurality of preset vibration waveforms according to the first lane departure state.

[0050] In some embodiments, the first lane departure state may be one of a plurality of lane departure states. Each lane departure state in the plurality of lane departure states is used to indicate a different situation in which the vehicle deviates from the current lane. In some embodiments, the terminal may divide a plurality of lane departure states according to the degree of deviation of the vehicle from the lane. In one example, when the vehicle is driving on a lane line, it may be determined that the vehicle is in a slight lane departure state. In one example, when the vehicle is driving across a lane line, it may be determined that the vehicle is in a severe lane departure state.

[0051] It should be noted that when determining the lane deviation state of the vehicle, the terminal may consider not only the degree of lane deviation of the vehicle but also the driver's steering intention, the road traffic conditions, etc., which is not limited in this embodiment of the present application.

[0052] In some embodiments, multiple lane departure states correspond to multiple preset vibration waveforms. Different lane departure states may correspond to different preset vibration waveforms. In some embodiments, the preset vibration waveform may be set as required, and the embodiments of the present application are not limited to this. In one embodiment, multiple preset vibration waveforms are different, for example, the preset vibration waveform A may be a square wave, the preset vibration waveform B may be a sine wave, the preset vibration waveform C may be a triangle wave, etc. In one embodiment, the preset vibration waveform may be a periodic waveform, such as a sine wave. In one embodiment, the preset vibration waveform may be a non-periodic waveform. In some embodiments, the preset vibration waveform also has a preset vibration frequency and / or amplitude. Among them, the vibration frequency and amplitude can affect the tactile feedback provided by the steering wheel.

[0053] It can be understood that when the vehicle is in different lane departure states, the terminal can determine different vibration waveforms according to the different lane departure states, so that different lane departure warning signals can be generated in subsequent steps, thereby providing different types of tactile feedback to adapt to the preferences of different drivers or improve the directionality of the warning information.

[0054] In some embodiments, when it is detected that the vehicle is in a first lane departure state, the terminal may receive a first control instruction and determine a first vibration waveform from a plurality of preset vibration waveforms according to the first control instruction.

[0055] In some embodiments, the first control instruction may be different for different lane departure states. In some embodiments, the first control instruction may carry a waveform identifier. The waveform identifier in the first control instruction may be different for different lane departure states.

[0056] It can be understood that the terminal can determine the first vibration waveform from a plurality of preset vibration waveforms according to the waveform identifier in the first control instruction.

[0057] In some embodiments, the waveform identifier in the first control instruction may be generated according to preset waveform information input by the user. Here, the preset waveform information may be one of a plurality of waveform information provided by the terminal. In other words, the terminal may provide the user with a plurality of preset vibration waveforms to choose from, and the first vibration waveform may be the waveform selected by the user.

[0058] In some embodiments, the first control instruction may include indication information such as a vibration intensity indicator, a vibration time indicator, etc. The first control instruction is used to instruct the terminal to start the steering wheel vibration according to the information indicated by the above indicator.

[0059] It can be understood that when the first control instruction carries an intensity identifier, the terminal can start the steering wheel vibration according to the preset intensity indicated by the intensity identifier; in some embodiments, when the first control instruction carries a time identifier, the terminal can start the steering wheel vibration within the preset time indicated by the time identifier.

[0060] Step S102: generating a lane departure warning signal based on the first vibration waveform.

[0061] It is understandable that after obtaining the first vibration waveform, the terminal can generate a lane departure warning signal having the first vibration waveform. Here, the signal strength change of the lane departure warning signal is related to the first vibration waveform.

[0062] In some embodiments, after obtaining the first vibration waveform, the terminal may generate an initial signal having the first vibration waveform; and a lane departure warning signal may be generated by modulating the initial signal.

[0063] Step S103, controlling the steering wheel of the vehicle to vibrate according to the lane departure warning signal to warn the driver of the lane departure.

[0064] It can be understood that after obtaining the lane departure warning signal, the terminal can control the vibration motor connected to the steering wheel to vibrate according to the lane departure warning signal, thereby driving the steering wheel to vibrate to warn the driver of the lane departure.

[0065] It can be understood that the vibration intensity of the vibration motor is related to the change in signal strength of the lane departure warning signal, and the change in signal strength of the lane departure warning signal is related to the first vibration waveform. Therefore, when it is determined that the vehicle is in the first lane departure state, the terminal can control the steering wheel to vibrate with the first vibration waveform corresponding to the first lane departure state, thereby providing the driver with tactile feedback corresponding to the first lane departure state.

[0066] It is understandable that after the driver obtains the tactile feedback corresponding to the first lane departure state, the driver can determine that the vehicle is currently in the first lane departure state, thereby receiving the lane departure warning signal. In this process, the prompt effect of the lane departure warning signal can be improved. At the same time, in the embodiment of the present application, different lane departure states can correspond to different tactile feedback, so that the driver can easily identify different lane departure warning signals and improve the diversity of lane departure warning signals.

[0067] In one embodiment, the first vibration waveform is a three-square wave, which can provide the driver with an intermittent vibration feeling. In one embodiment, the first vibration waveform is a sine wave, which can provide the driver with a continuous and smooth vibration feeling.

[0068] In the embodiment of the present application, since it is possible to determine a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms when the vehicle is in a first lane departure state, and then generate a lane departure warning signal for controlling the vibration of the steering wheel according to the first vibration waveform, different vibration waveforms can be used to generate different lane departure warning signals when the vehicle is in different deviation states, and the steering wheel can be controlled to vibrate with different lane departure warning signals, thereby allowing the driver to obtain a variety of different tactile feedbacks, making it easier for the driver to identify different lane departure warning signals.

[0069] In some possible implementations, Figure 2 A second optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 2 As shown, step S102 may include: step S201 to step S202.

[0070] Step S201: determining a first cycle corresponding to a first lane departure state from a plurality of preset cycles.

[0071] It can be understood that when the terminal detects that the vehicle is in the first lane deviation state, it can determine the first cycle from multiple preset cycles according to the first lane deviation state.

[0072] In some embodiments, the first period is one or more periods of a plurality of preset periods. The duration of the plurality of preset periods can be set according to actual needs, and the embodiments of the present application do not limit this.

[0073] In some embodiments, the preset period is used to indicate the modulation period of the initial signal having the first vibration waveform. That is, the initial signal having the first vibration waveform can be periodically modulated, wherein the duration of each period is equal to the duration of the first period.

[0074] In some embodiments, when it is detected that the vehicle is in a first lane departure state, the terminal may receive a first control instruction and determine a first cycle from a plurality of preset cycles according to the first control instruction.

[0075] In some embodiments, the first control instruction may be different for different lane departure states. In some embodiments, the first control instruction may carry a cycle identifier. The cycle identifier in the first control instruction may be different for different lane departure states.

[0076] It can be understood that the terminal can determine the first cycle from multiple preset cycles according to the cycle identifier in the first control instruction.

[0077] In some embodiments, the cycle identifier in the first control instruction may be generated according to preset cycle information input by the user. Here, the preset cycle information may be one of multiple cycle information provided by the terminal. That is, the terminal may provide the user with multiple preset cycles to choose from, and the first cycle may be the cycle selected by the user.

[0078] Step S202: modulate the initial signal having the first vibration waveform according to the first period to generate a lane departure warning signal.

[0079] It can be understood that after obtaining the first cycle, the terminal can perform the same modulation on the initial signal having the first vibration waveform within the duration indicated by each first cycle to generate a lane departure warning signal.

[0080] In the embodiment of the present application, since the first cycle corresponding to the first lane departure state can be obtained from a plurality of preset cycles, different first cycles can be obtained when the first lane departure state is different. Further, since the initial signal having the first vibration waveform can be modulated according to the first cycle to generate a lane departure warning signal, different lane departure warning signals can be generated when the first lane departure state is different, thereby improving the diversity of lane departure warning signals and facilitating providing more and more effective warning information to the driver.

[0081] In some possible implementations, Figure 3 A third optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 3 As shown, step S202 may include: step S301 to step S302.

[0082] Step S301, determining a first portion of a signal based on an initial signal within a first vibration duration.

[0083] It can be understood that when the first cycle includes the first vibration duration and the first pause duration, the terminal can determine the vibration waveform of the first part of the signal based on the vibration waveform of the initial signal within the first vibration duration.

[0084] In one embodiment, the vibration waveform of the initial signal is related to the vibration waveform of the first partial signal. In one example, the vibration waveform of the initial signal may be the same as the vibration waveform of the first partial signal, that is, the first partial signal has a first vibration waveform. In another example, the vibration waveform of the initial signal may be opposite to the vibration waveform of the first partial signal, that is, the first partial signal has a waveform opposite to the first vibration waveform.

[0085] Step S302: determining a second portion of the signal with an amplitude of zero within the first pause time.

[0086] It can be understood that, when the first cycle includes a first vibration duration and a first pause duration, the terminal can determine the second portion of the signal with an amplitude of zero within the first pause duration.

[0087] In some embodiments, the lane departure warning signal includes a first partial signal and a second partial signal.

[0088] It can be understood that the first part of the signal corresponding to the first vibration duration has a vibration waveform related to the first vibration waveform. In the subsequent steps, the terminal can control the vibration of the steering wheel through the first part of the signal; the second part of the signal corresponding to the first pause duration has an amplitude of zero. In the subsequent steps, the terminal can control the steering wheel to stop vibrating through the second part of the signal.

[0089] It can be understood that the terminal can control the steering wheel to vibrate periodically according to the first cycle through the lane departure warning signal, and each cycle has a vibration rest phase, thereby providing the driver with periodic tactile feedback and improving the diversity of the steering wheel vibration.

[0090] In some embodiments, during a first vibration duration, the steering wheel vibrates with a first vibration waveform; during a first pause duration, the steering wheel stops vibrating.

[0091] It is understandable that when the terminal controls the steering wheel to vibrate periodically with the first cycle, the steering wheel may vibrate with the first vibration waveform whenever the vibration is within the first vibration duration of the first cycle, and the steering wheel may stop vibrating whenever the vibration is within the first pause duration. Compared with the method of only setting the first vibration duration within the first cycle, the method of simultaneously setting the first pause duration within the cycle can enhance the driver's perception of the cycle change, thereby making it easier for the driver to distinguish the lane departure warning signal.

[0092] In some embodiments, after receiving the first control instruction, the terminal starts a timer and starts timing the vibration time. Then, the terminal can also determine whether the vibration is in the first vibration duration or the first pause duration according to the vibration time. In some embodiments, the first cycle, the first vibration duration, and the first pause duration can all be set according to demand, and the embodiments of the present application do not limit this.

[0093] Exemplarily, it is assumed that the first cycle can be 1.5 seconds, wherein the first vibration duration is 1 second, the first pause duration is 0.5 seconds, and the first vibration duration is before the first pause duration. When the vibration time is 1.2 seconds, it can be determined that the current vibration is in the first pause duration, and the steering wheel is controlled to stop vibrating. When the vibration time is 2.2 seconds, it can be determined that the current vibration is in the first vibration duration, and the steering wheel is controlled to vibrate with the first vibration waveform.

[0094] For example, Figure 4 The first optional schematic diagram of the vibration waveform provided in the embodiment of the present application. Figure 4 As shown, the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents a vibration waveform. During the first vibration duration t1, the terminal controls the steering wheel to vibrate with the first vibration waveform; during the first pause duration t2, the terminal controls the steering wheel to stop vibrating.

[0095] In some embodiments, after receiving the first control instruction, the terminal can obtain the first vibration parameter and the first pause parameter pre-entered by the user. The first vibration parameter can be used to characterize the first vibration duration, and the first pause parameter can be used to characterize the first pause duration. According to the first vibration parameter and the first pause parameter, the terminal can obtain the first period. It can be seen that the first period can be set by the user, so that the steering wheel control method in the embodiment of the present application can provide the user with personalized and diversified choices.

[0096] In the embodiment of the present application, since the initial signal is modulated using the first cycle, a periodic lane departure warning signal can be generated, and the vibration of the vehicle's steering wheel can be a periodic vibration. Since the first cycle includes a first vibration duration and a first pause duration, a portion of the signal can be determined based on the initial signal within the first vibration duration, and a second portion of the signal with an amplitude of zero can be determined within a pause duration. Therefore, the lane departure warning signal can include a first portion of the signal and a second portion of the signal. The first portion of the signal can control the steering wheel to vibrate, and the second portion of the signal controls the steering wheel to stop vibrating due to the zero amplitude, thereby further improving the diversity of the steering wheel vibration, so that the steering wheel vibration carries more warning information.

[0097] In some possible implementations, Figure 5 A fourth optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 5 As shown, step S202 may include: step S501 to step S502.

[0098] Step S501, determining a third part of the signal based on the initial signal within the second vibration duration.

[0099] It can be understood that when the first cycle includes multiple second cycles and at least one second pause duration, and the second cycle includes a second vibration duration and a third pause duration, the terminal can determine the vibration waveform of the third part of the signal based on the vibration waveform of the initial signal within the second vibration duration.

[0100] In one embodiment, the vibration waveform of the initial signal is related to the vibration waveform of the third partial signal. In one example, the vibration waveform of the initial signal may be the same as the vibration waveform of the third partial signal, that is, the third partial signal has a first vibration waveform. In another example, the vibration waveform of the initial signal may be opposite to the vibration waveform of the third partial signal, that is, the third partial signal has a waveform opposite to the first vibration waveform.

[0101] Step S502: Determine a fourth signal portion with a zero amplitude within at least one of a second pause duration and a third pause duration.

[0102] It can be understood that when the first cycle includes multiple second cycles and at least one second pause duration, and the second cycle includes a second vibration duration and a third pause duration, the terminal can determine the fourth part of the signal with an amplitude of zero within at least one second pause duration and a third pause duration.

[0103] In some embodiments, the lane departure warning signal includes a third partial signal and a fourth partial signal.

[0104] It can be understood that the third part of the signal corresponding to the second vibration duration has a vibration waveform related to the first vibration waveform. In the subsequent steps, the terminal can control the vibration of the steering wheel through the third part of the signal; the fourth part of the signal corresponding to at least one second pause duration and the third pause duration has an amplitude of zero. In the subsequent steps, the terminal can control the steering wheel to stop vibrating through the fourth part of the signal.

[0105] It is understandable that the first cycle includes multiple second cycles. The terminal can control the steering wheel to vibrate periodically according to the first cycle and the second cycle at the same time through the lane departure warning signal. Therefore, the steering wheel vibration can be a periodic vibration with large and small cycles coexisting, thereby further improving the diversity of the steering wheel vibration.

[0106] In some embodiments, during the second vibration duration, the steering wheel vibrates with the first vibration waveform; during at least one of a second pause duration and a third pause duration, the steering wheel stops vibrating.

[0107] It is understandable that when the terminal controls the steering wheel to vibrate periodically in the first cycle, whenever the vibration is in the second vibration duration of the second cycle in the first cycle, the steering wheel can vibrate in the first vibration waveform, and whenever the vibration is in the second pause duration of the first cycle and the third pause duration of the second cycle, the steering wheel can stop vibrating. In the scheme where the steering wheel vibrates according to the first cycle, more parameters are adjusted for the vibration waveform, thereby providing more diverse vibrations.

[0108] In some embodiments, the terminal can determine whether the vibration is in the second vibration duration, the second pause duration, or the third pause duration according to the vibration time. When the vibration is in the second vibration duration, the steering wheel can vibrate with the first vibration waveform.

[0109] Exemplarily, it is assumed that the first cycle can be 5 seconds, wherein the second pause duration is 0.5 seconds, and the first cycle includes 3 second cycles; the second cycle can be 1.5 seconds, wherein the second vibration duration is 1 second, the third pause duration is 0.5 seconds, and the second vibration duration is before the third pause duration. When the vibration time is 1.2 seconds, it can be determined that the vibration is in the third pause duration and the steering wheel is controlled to stop vibrating. When the vibration time is 2.2 seconds, it can be determined that the vibration is in the second vibration duration and the steering wheel is controlled to vibrate with the first vibration waveform. When the vibration time is 4.6 seconds, it can be determined that the vibration is in the third pause duration and the steering wheel is controlled to stop vibrating.

[0110] For example, Figure 6 A second optional schematic diagram of a vibration waveform provided in an embodiment of the present application. Figure 6 As shown, the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents a vibration waveform. During the second vibration duration t3, the terminal controls the steering wheel to vibrate with the first vibration waveform; during the second pause duration t5 and the third pause duration t4, the terminal controls the steering wheel to stop vibrating.

[0111] In some embodiments, the first cycle, the second cycle, the second vibration duration, the second pause duration and the third pause duration can all be set according to needs, and the embodiments of the present application are not limited to this.

[0112] In some embodiments, after receiving the first control instruction, the terminal may obtain the second vibration parameter, the second pause parameter, and the third pause parameter pre-entered by the user. The second vibration parameter may be used to characterize the second vibration duration. The second pause parameter may be used to characterize the second pause duration. The third pause parameter may be used to characterize the third pause duration. It can be seen that the first period and the second period may be set by the user, so that the steering wheel control method in the embodiment of the present application can provide the user with personalized and diversified choices.

[0113] In some embodiments, after receiving the first control instruction, the terminal may obtain a vibration cycle parameter pre-entered by the user. The vibration cycle parameter is used to characterize the number of second cycles within the first cycle, for example, it may be N, where N may be a positive integer greater than or equal to 2. That is, the first cycle includes N second cycles.

[0114] In some embodiments, the second cycle can be obtained according to the second vibration duration and the third pause duration, and the first cycle can be obtained according to the second cycle, the vibration cycle parameter, and the second pause duration.

[0115] In the embodiment of the present application, since the first period includes multiple second periods, the steering wheel vibration can be a periodic vibration with both large and small periods. Since the lane departure warning signal includes the third and fourth signal parts, the third signal part can control the steering wheel to vibrate, and the fourth signal part controls the steering wheel to stop vibrating due to the zero amplitude, and the fourth signal part is determined within the second and third pause periods. Therefore, the lane departure warning signal can control the steering wheel to stop vibrating in both large and small periods, thereby further improving the diversity of the steering wheel vibration. In some

[0116] In a possible implementation, Figure 7 A fifth optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 7 As shown, step S102 may include: step S701 to step S702.

[0117] Step S701: determining a first amplitude corresponding to a first lane departure state from a plurality of preset amplitudes.

[0118] It can be understood that when the terminal detects that the vehicle is in the first lane deviation state, it can determine the first amplitude from multiple preset amplitudes according to the first lane deviation state.

[0119] In some embodiments, the first amplitude is one of a plurality of preset amplitudes. The plurality of preset amplitudes can be set according to actual needs, and the embodiments of the present application do not limit this. In some embodiments, the preset amplitude is used to indicate the amplitude of the initial signal having the first vibration waveform.

[0120] In some embodiments, when it is detected that the vehicle is in a first lane departure state, the terminal may receive a first control instruction and determine a first amplitude from a plurality of preset amplitudes according to the first control instruction.

[0121] In some embodiments, the first control instruction may be different for different lane departure states. In some embodiments, the first control instruction may carry an amplitude identifier. The amplitude identifier in the first control instruction may be different for different lane departure states.

[0122] It is understandable that the terminal can determine the first amplitude from multiple preset amplitudes according to the amplitude identifier in the first control instruction. The terminal can use different amplitudes to transmit different lane departure warning signals. These different amplitudes can provide tactile feedback of different intensities to adapt to the preferences of different drivers or improve the directionality of the warning information.

[0123] In some embodiments, the amplitude identifier in the first control instruction may be generated according to preset amplitude information input by the user. Here, the preset amplitude information may be one of a plurality of amplitude information provided by the terminal. In other words, the terminal may provide the user with a plurality of selectable preset amplitudes, and the first amplitude may be the amplitude selected by the user.

[0124] In some embodiments, when the vehicle is in a first lane departure state, the terminal may receive a second control instruction. The second control instruction is used to indicate the vibration level of the steering wheel so that the steering wheel outputs a lane departure warning signal to the driver at a specific intensity. The terminal may determine the vibration level of the steering wheel according to the second control instruction. The terminal may also determine a first amplitude corresponding to the first lane departure state from a plurality of preset amplitudes according to the vibration level of the steering wheel.

[0125] In some embodiments, the second control instruction may be different for different lane departure states. In some embodiments, the second control instruction may carry a level identifier. The level identifier in the second control instruction may be different for different lane departure states. In one embodiment, the higher the level, the higher the vibration intensity of the steering wheel.

[0126] It can be understood that the terminal can determine the first amplitude from a plurality of preset amplitudes according to the level identifier in the second control instruction.

[0127] In some embodiments, the amplitude identifier in the second control instruction may be generated according to preset amplitude information input by the user. Here, the preset amplitude information may be one of a plurality of amplitude information provided by the terminal. That is, the terminal may provide a plurality of selectable preset amplitudes to the user, and the first amplitude may be the amplitude selected by the user.

[0128] Step S702: modulate the initial signal having the first vibration waveform based on the first amplitude to generate a lane departure warning signal.

[0129] It can be understood that after obtaining the first amplitude, the terminal can modulate the initial signal having the first vibration waveform to generate a lane departure warning signal.

[0130] In one embodiment, based on the first amplitude, modulating the initial signal having the first vibration waveform may be changing the initial amplitude of the initial signal to the first amplitude. In one embodiment, the terminal may multiply the initial signal having the first vibration waveform by the first amplitude to generate a lane departure warning signal.

[0131] In the embodiment of the present application, since the first amplitude corresponding to the first lane departure state can be determined from a plurality of preset amplitudes, different first amplitudes can be obtained when the first lane departure state is different. Further, since the initial signal having the first vibration waveform can be modulated according to the first amplitude to generate a lane departure warning signal, the amplitude of the generated lane departure warning signal can be different when the first lane departure state is different, thereby changing the intensity of the steering wheel vibration, improving the diversity of the steering wheel vibration, and facilitating providing more and more effective warning information to the driver.

[0132] In some possible implementations, Figure 8 A sixth optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Figure 8 As shown, step S702 may include: step S801 to step S803.

[0133] Step S801, within a first time period, gradually increasing the amplitude of the first vibration waveform from an initial amplitude until it reaches a first amplitude, so as to determine an increasing partial signal.

[0134] It is understandable that the terminal can control the amplitude of the first vibration waveform to gradually increase from the initial amplitude to the first amplitude within the first duration, wherein the initial amplitude is smaller than the first amplitude.

[0135] In one embodiment, the initial amplitude may be the amplitude of the first vibration waveform. In one embodiment, the initial amplitude may be the amplitude of the initial signal having the first vibration waveform.

[0136] It can be understood that the amplitude of vibration refers to the maximum value that the physical quantity of vibration may reach. The terminal can gradually increase the intensity of the vibration by adjusting the amplitude of the first vibration waveform to gradually increase, thereby improving the diversity of the steering wheel vibration.

[0137] In some embodiments, the first duration can be set according to demand, and this embodiment of the present application does not limit this.

[0138] In some embodiments, the second vibration duration of the second cycle includes the first duration, which enables an incremental partial signal to be generated during the two-cycle operation stage.

[0139] Step S802: maintaining the amplitude of the first vibration waveform at the first amplitude within the second time period to determine maintaining a partial signal.

[0140] It can be understood that the terminal can control the amplitude of the first vibration waveform to remain at the first amplitude within the second time period, so as to achieve a constant vibration intensity within the second time period to determine to maintain the partial signal.

[0141] In some embodiments, the second duration is after the first duration. The second duration can be set according to demand, and this embodiment of the application does not limit this.

[0142] In some embodiments, the second vibration duration of the second cycle includes the second duration, which enables the second cycle operation stage to generate a holding partial signal. In some embodiments, the second vibration duration of the second cycle includes the first duration and the second duration, which enables the second cycle operation stage to simultaneously generate an incremental partial signal and a holding partial signal.

[0143] Step S803: within the third time period, the amplitude of the first vibration waveform is gradually reduced from the first amplitude until it reaches the initial amplitude, so as to determine a decreasing partial signal.

[0144] It is understandable that the terminal can control the amplitude of the first vibration waveform to gradually decrease from the first amplitude to the initial amplitude within the third time length to determine the decreasing part of the signal. It is understandable that the terminal can gradually reduce the intensity of the adjusted vibration by adjusting the amplitude of the first vibration waveform to gradually decrease, thereby improving the diversity of the steering wheel vibration.

[0145] In some embodiments, the third duration can be set according to demand, and the present application embodiment does not limit this. In one embodiment, the third duration is after the second duration.

[0146] Wherein, the lane departure warning signal includes the increasing part signal, the maintaining part signal and the decreasing part signal; the second time length is located after the first time length, and the third time length is located after the second time length.

[0147] In some embodiments, the second vibration duration of the second cycle includes the third duration, which causes the second cycle operation stage to generate a decreasing partial signal. In some embodiments, the second vibration duration of the second cycle includes the first duration and the third duration, which causes the second cycle operation stage to generate an increasing partial signal and a decreasing partial signal. In some embodiments, the second vibration duration of the second cycle includes the second duration and the third duration, which causes the second cycle operation stage to generate a holding partial signal and a decreasing partial signal. In some embodiments, the second vibration duration of the second cycle includes the first duration, the second duration, and the third duration, which causes the second cycle operation stage to generate an increasing partial signal, a holding partial signal, and a decreasing partial signal.

[0148] In some embodiments, the lane departure warning signal includes an increasing portion signal, a maintaining portion signal, and a decreasing portion signal.

[0149] It is understandable that the lane departure warning signal can be obtained by splicing the increasing part signal, the maintaining part signal and the decreasing part signal according to the positions of the first duration, the second duration and the third duration. It should be noted that any one or more of the first duration, the second duration and the third duration can be zero.

[0150] In the embodiment of the present application, since the amplitude of the first vibration waveform gradually increases in the first time period, an increasing partial signal can be formed in the first time period; when the increasing partial signal controls the vibration of the steering wheel, the vibration intensity of the steering wheel can be gradually increased, providing the user with richer tactile feedback. Similarly, since the amplitude of the first vibration waveform gradually decreases in the third time period, a decreasing partial signal can be formed in the third time period; when the decreasing partial signal controls the vibration of the steering wheel, the vibration intensity of the steering wheel can be gradually reduced, providing the user with richer tactile feedback.

[0151] In some possible implementations, Fig. 9 A seventh optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Fig. 9 As shown, step S801 may include: step S901 to step S902.

[0152] Step S901, obtaining a first amplitude adjustment curve.

[0153] It can be understood that the first amplitude adjustment curve is used to indicate the amplitude at each time point in the first duration. The first amplitude adjustment curve is an increasing curve, so the amplitude of the first vibration waveform can gradually increase in the first duration.

[0154] In some embodiments, the first amplitude adjustment curve may be a linear adjustment curve, a nonlinear adjustment curve, an exponential adjustment curve, etc., which is not limited in the embodiments of the present application.

[0155] In one embodiment, the horizontal axis of the first amplitude adjustment curve may represent the time point, and the vertical axis may represent the amplitude. Each time point corresponds to an amplitude. In one embodiment, the amplitude corresponding to each time in the time amplitude adjustment curve can be set according to actual needs, and this embodiment does not limit this.

[0156] For example, Fig.10 An optional schematic diagram of the first amplitude adjustment curve provided in the embodiment of the present application. Fig.10 As shown, the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents the first amplitude adjustment curve, wherein each time point corresponds to an amplitude.

[0157] In some embodiments, the first amplitude adjustment curve is generated according to the first duration and the first amplitude.

[0158] It is understandable that the terminal can obtain the first duration input by the user, and the first duration is used to represent the duration of the slow rise of the amplitude of the first vibration waveform. After obtaining the first duration, the initial amplitude and the first amplitude, the terminal can generate a first amplitude adjustment curve.

[0159] For example, Fig.10 As shown, the first duration is t6 and the first amplitude is 1.

[0160] Step S902: determining the amplitude of the first vibration waveform within the first duration according to the first amplitude adjustment curve, so that the amplitude of the first vibration waveform gradually increases from the initial amplitude to the first amplitude.

[0161] It is understandable that the terminal can determine the amplitude at each time point in the first duration according to the first amplitude adjustment curve, and thus determine the amplitude of the first vibration waveform. Since the first amplitude adjustment curve is an increasing curve, the amplitude of the first vibration waveform can be increasing.

[0162] In the embodiment of the present application, since the first amplitude adjustment curve is an increasing curve, the amplitude of the first vibration waveform within the first time length can show a gradually increasing trend, so that the vibration intensity of the steering wheel can slowly increase to meet the user's tactile needs.

[0163] In some possible implementations, Fig.11 The eighth optional flow chart of the steering wheel control method provided in the embodiment of the present application is shown in FIG. Fig.11 As shown, step S803 may include: step S1101 to step S1102.

[0164] Step S1101, obtaining a second amplitude adjustment curve.

[0165] It can be understood that the second amplitude adjustment curve is used to indicate the amplitude at each time point within the third time period. The second amplitude adjustment curve is a decreasing curve, so within the third time period, the amplitude of the first vibration waveform can gradually decrease.

[0166] In some embodiments, the second amplitude adjustment curve may be a linear adjustment curve, a nonlinear adjustment curve, an exponential adjustment curve, etc., which is not limited in the embodiments of the present application.

[0167] For example, Fig.12 This is an optional schematic diagram of the second amplitude adjustment curve provided in the embodiment of the present application. Fig.12 As shown, the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents the second amplitude adjustment curve, wherein each time point corresponds to an amplitude.

[0168] In some embodiments, the second amplitude adjustment curve is generated according to the third duration and the first amplitude.

[0169] It is understandable that the terminal can obtain the third duration input by the user, and the third duration is used to represent the duration of the slow-down of the amplitude of the first vibration waveform. After obtaining the third duration, the initial amplitude and the first amplitude, the terminal can generate a second amplitude adjustment curve.

[0170] For example, Fig.12 As shown, the third duration is t7 and the first amplitude is 1.

[0171] Step S1102, determining the amplitude of the first vibration waveform within a third duration according to the second amplitude adjustment curve, so that the amplitude of the first vibration waveform gradually decreases from the first amplitude to the initial amplitude.

[0172] It is understandable that the terminal can determine the amplitude at each time point in the third duration according to the third amplitude adjustment curve, and further determine the amplitude of the first vibration waveform. Since the first amplitude adjustment curve is a decreasing curve, the amplitude of the first vibration waveform can be decreasing.

[0173] In the embodiment of the present application, since the second amplitude adjustment curve is a decreasing curve, the amplitude of the first vibration waveform within the third time length can show a gradually decreasing trend, so that the vibration intensity of the steering wheel can slowly decrease to meet the user's tactile needs.

[0174] In some possible implementations, a third amplitude adjustment curve can also be obtained based on the first amplitude adjustment curve, the second amplitude adjustment curve, the second time length and the first amplitude. According to the third amplitude adjustment curve, the increasing partial signal, the maintaining partial signal and the decreasing partial signal within the first time length, the second time length and the third time length can be obtained; according to the increasing partial signal, the maintaining partial signal and the decreasing partial signal within the first time length, the second time length and the third time length, a lane departure warning signal can be obtained.

[0175] It can be understood that the terminal can obtain a horizontal line representing the amplitude within the second duration according to the second duration and the first amplitude. Then the first amplitude adjustment curve, the horizontal line and the second amplitude adjustment curve are spliced ​​to obtain a third amplitude adjustment curve. The third amplitude adjustment curve can represent the amplitude corresponding to each time point within the first duration, the second duration and the third duration, and then according to the third amplitude adjustment curve, the first vibration waveform within the first duration, the second duration and the third duration can be obtained.

[0176] For example, Fig.13 This is an optional schematic diagram of the amplitude adjustment curve provided in the embodiment of the present application. Fig.13As shown, the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents the third amplitude adjustment curve. The first time length is t6, the second time length is t8, and the third time length is t7. The first amplitude is 1, and each time point corresponds to an amplitude. In some embodiments, see Fig.13 As shown, the sum of the first duration, the second duration and the third duration is equal to the second vibration duration t3.

[0177] For example, Fig.14 This is a third optional schematic diagram of a vibration waveform provided in an embodiment of the present application. Fig.14 As shown, Figure 4 The vibration waveform shown is consistent with the Fig.13 Multiply the obtained amplitude by Fig.14 The vibration waveform shown in FIG. 1 , wherein the horizontal axis represents time T, the vertical axis represents amplitude F, and the solid line represents a vibration waveform.

[0178] The following is a specific example to illustrate the steering wheel control method in the embodiment of the present application.

[0179] In some possible implementations, the steering wheel control method may include:

[0180] In the first step, the terminal receives a first control instruction, obtains a first vibration waveform from a plurality of preset vibration waveforms, and performs cumulative calculation of the vibration time to obtain a time count value.

[0181] In the second step, the terminal determines the specific stage of the second cycle (small cycle operation) currently running according to the time count value (the second cycle includes the second vibration duration and the third pause duration, the second vibration duration is equivalent to the small cycle vibration stage, and the third pause duration is equivalent to the small cycle pause stage).

[0182] In the third step, the terminal determines the specific stage of the current operation in the first cycle (large cycle operation) according to the time count value (the first cycle includes multiple second cycles and second pause durations, multiple second cycles are equivalent to the large cycle vibration stage, and the second pause duration is equivalent to the large cycle pause stage).

[0183] Step 4: When it is determined that the current operation is in the second vibration duration, i.e., the small cycle vibration stage, the state of the first reset signal is set to a low level. When it is determined that the current operation is in the third pause duration, i.e., the small cycle pause stage, the state of the first Reset signal is set to a high level. When it is determined that the current operation is in the second pause duration, i.e., the large cycle pause stage, the state of the second Reset signal is set to a high level.

[0184] In some embodiments, the time count value is the maximum time point of the large cycle, that is, when a large cycle ends, the time needs to be counted again to enter the next large cycle.

[0185] Step 5: When the first Reset signal and the second Reset signal are at high level, the terminal generates a fourth partial signal with an amplitude of zero. When the first Reset signal and the second Reset signal are at low level, the terminal generates a third partial signal based on the initial signal.

[0186] In some embodiments, after receiving the first control instruction, the terminal may obtain a hold signal. The hold signal may generate a high-level control signal, and the terminal may generate a third part of the signal when the high-level control signal is formed. When the first Reset signal and the second Reset signal are high-level, the hold signal may generate a low-level control signal, and the terminal may generate a fourth part of the signal when the low-level control signal is formed.

[0187] In the sixth step, the terminal receives the second control instruction, and obtains the first amplitude of the steering wheel vibration according to the second control instruction.

[0188] In the seventh step, the terminal adjusts the initial signal having the first vibration waveform based on the first amplitude to obtain a lane departure warning signal.

[0189] It can be understood that the terminal can obtain the increasing partial signal, the maintained partial signal and the decreasing partial signal within the first time length, the second time length, and the third time length according to the first time length, the second time length, the third time length and the first amplitude, and then obtain the lane departure warning signal according to the increasing partial signal, the maintained partial signal and the decreasing partial signal within the first time length, the second time length and the third time length.

[0190] In the eighth step, the terminal controls the motor of the electric power steering system to work according to the lane departure warning signal, causing the steering wheel to vibrate to remind the driver that the vehicle has deviated from the lane.

[0191] In the embodiments of the present application, the vibration waveform can be selected from a variety of types such as square wave, sine wave, triangle wave, etc.; the vibration can include a large cycle and several small cycles, and the vibration time, rest time, and vibration frequency within the large cycle and the small cycle can all be calibrated; the amplitude of the vibration can select different amplitude values ​​according to the vibration level instruction, thereby providing customers with personalized and diversified choices and enriching the steering wheel vibration configuration of the vehicle.

[0192] In some possible implementations, the steering wheel vibration control system may implement the steering wheel control method described in the first aspect. Fig.15 This is an optional structural diagram of a steering wheel vibration control system provided in an embodiment of the present application, see Fig.15As shown, the steering wheel vibration control system includes at least: a time counting module 1501, a small cycle operation phase calculation module 1502, a large cycle operation phase calculation module 1503, a vibration holding and pause control module 1504, a basic vibration waveform setting module 1505, a vibration level setting module 1506, and an amplitude calculation module 1507.

[0193] In one embodiment, in the time counting module 1501, it can be determined whether the first control instruction is received. After receiving the first control instruction, the vibration time can be accumulated and counted within a large cycle operation range to obtain a time count value. When the time counting module 1501 receives a count reset signal, the vibration time is re-counted; when the time counting module 1501 receives a count hold signal, the vibration time is continuously counted.

[0194] In one embodiment, in the small cycle operation phase calculation module 1502, the small cycle operation phase calculation module 1502 can obtain two calibrable parameters: the small cycle vibration time T1 (equivalent to the second vibration duration) and the small cycle vibration pause time T2 (equivalent to the third pause duration). In the small cycle operation phase, the small cycle time count value is obtained according to the time count value. When the small cycle time count value exceeds the T1 time, the first Reset signal is set to a high level within the T2 time.

[0195] In one embodiment, in the large cycle operation phase calculation module 1503, the large cycle operation phase calculation module 1503 can obtain two calibrable parameters of the large cycle vibration pause time T3 (equivalent to the second pause duration) and the small cycle cycle number N (equivalent to multiple second cycles). In the large cycle operation phase, the large cycle time count value obtained according to the time count value. When the large cycle time count value exceeds the small cycle operation time (T1+T2) multiplied by the small cycle operation number N, the second Reset signal is set to a high level within T3 time. After the large cycle operation is completed, the large cycle operation phase calculation module 1503 outputs a count reset signal to recount the vibration time. In the large cycle operation phase, the large cycle operation phase calculation module 1503 outputs a count hold signal to continuously count the vibration time.

[0196] In one embodiment, when the first Reset signal or the second Reset signal is set to a high level, the vibration operation and rest module 1504 outputs a low-level control signal to the basic vibration waveform setting module 1505 .

[0197] In one embodiment, in the basic vibration waveform setting module 1505, a waveform selection switch is provided, and a variety of basic waveforms such as square wave, sine wave and triangle wave can be selected. A calibration switch for vibration frequency setting is also provided, and different vibration frequencies can be set by external signals or calibration matching. A calibration switch for amplitude setting is also provided, and different amplitudes can be set by external signals or calibration matching. The basic vibration waveform setting module 1505 can control the vibration of the steering wheel according to the level of the control signal output by the vibration operation and pause module 1504. In one embodiment, a high-level control signal controls the steering wheel to vibrate with a first vibration waveform, and a low-level control signal controls the steering wheel to stop vibrating.

[0198] In one embodiment, in the vibration level setting module 1506, a second control instruction is received, and amplitudes of different levels (first amplitudes) are selected according to the vibration level instruction indicated by the second control instruction.

[0199] In one embodiment, in the amplitude calculation module 1507, the small cycle time count value obtained by the small cycle operation phase calculation module 1502 can be used. The amplitude calculation module 1507 includes two parameters that can be calibrated and adjusted, namely, the slow rise parameter T4 and the slow fall parameter T5. T4 represents the slow rise time (equivalent to the first duration), and T5 represents the slow fall time (equivalent to the second duration). According to the small cycle time count value, the small cycle vibration time T1, the slow rise parameter T4, the slow fall parameter T5 and the first amplitude, the processed first amplitude can be obtained.

[0200] In one embodiment, if the slow-rise parameter T4 = 0 and the slow-fall parameter T5 = 0, there is no slow-rise and slow-fall effect of the amplitude.

[0201] In one embodiment, the initial signal with the first vibration waveform output by the basic vibration waveform setting module 1305 is multiplied by the processed first amplitude obtained by the amplitude calculation module 1307 to obtain a lane departure warning signal, which is applied to the drive motor and steering wheel vibration.

[0202] In the embodiment of the present application, the vibration waveform can be selected from a variety of types such as square wave, sine wave, triangle wave, etc. The vibration includes a large cycle and several small cycles. The vibration time and rest time and vibration frequency in the large cycle and the small cycle can be calibrated. The amplitude of the vibration can select different amplitudes according to the second control instruction. The second control instruction indicating the same amplitude can also set the amplitude slow-rise parameter and slow-fall parameter. This embodiment provides a diversified vibration setting for the steering wheel vibration reminder, which can be expanded to set different vibration reminder waveforms according to the host computer in different lane deviation situations, and can also provide customers with personalized and diversified choices through customer selection to enrich vehicle configuration.

[0203] In a second aspect, an embodiment of the present application provides a steering wheel control device, Fig.16 This is an optional structural diagram of the steering wheel control device provided in the embodiment of the present application, see Fig.16 As shown, the steering wheel control device 1600 may include:

[0204] A determination module 1601 is used to determine a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms when it is detected that the vehicle is in a first lane departure state, wherein the plurality of preset vibration waveforms are different from each other;

[0205] A generating module 1602, configured to generate a lane departure warning signal based on the first vibration waveform;

[0206] The control module 1603 is used to control the steering wheel of the vehicle to vibrate according to the lane departure warning signal to warn the driver of lane departure, wherein the first vibration waveform is related to the change in the force of the steering wheel during the vibration process.

[0207] In some embodiments, the generation module 1602 is further used to determine a first cycle corresponding to the first lane departure state from a plurality of preset cycles; and according to the first cycle, modulate the initial signal having the first vibration waveform to generate the lane departure warning signal.

[0208] In some embodiments, the first cycle includes a first vibration duration and a first pause duration; the generation module 1602 is also used to determine a first partial signal based on the initial signal within the first vibration duration; and to determine a second partial signal with an amplitude of zero within the first pause duration; wherein the lane departure warning signal includes the first partial signal and the second partial signal.

[0209] In some embodiments, the first cycle includes multiple second cycles and at least one second pause duration; the generation module 1602 is also used to determine a third partial signal based on the initial signal within the second vibration duration; and determine a fourth partial signal with an amplitude of zero within the at least one second pause duration and the third pause duration; wherein the lane departure warning signal includes the third partial signal and the fourth partial signal.

[0210] In some embodiments, the generation module 1602 is further used to determine a first amplitude corresponding to the first lane departure state from a plurality of preset amplitudes; based on the first amplitude, modulate the initial signal having the first vibration waveform to generate the lane departure warning signal.

[0211] In some embodiments, the generating module 1602 is further used to gradually increase the amplitude of the first vibration waveform from an initial amplitude until it reaches the first amplitude within a first time period, so as to determine an increasing partial signal; to maintain the amplitude of the first vibration waveform at the first amplitude within a second time period, so as to determine a maintaining partial signal; and to gradually reduce the amplitude of the first vibration waveform from the first amplitude within a third time period, so as to reach the initial amplitude, so as to determine a decreasing partial signal; wherein the lane departure warning signal includes the increasing partial signal, the maintaining partial signal and the decreasing partial signal; and the second time period is located after the first time period, and the third time period is located after the second time period.

[0212] In some embodiments, the generation module 1602 is also used to obtain a first amplitude adjustment curve, which is an increasing curve; according to the first amplitude adjustment curve, the amplitude of the first vibration waveform within the first time length is determined so that the amplitude of the first vibration waveform gradually increases from the initial amplitude to the first amplitude.

[0213] In some embodiments, the generation module 1602 is also used to obtain a second amplitude adjustment curve; the second amplitude adjustment curve is a decreasing curve; according to the second amplitude adjustment curve, the amplitude of the first vibration waveform within the third time length is determined so that the amplitude of the first vibration waveform gradually decreases from the first amplitude to the initial amplitude.

[0214] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be described in detail here. The determination module 1601, the generation module 1602 and the control module 1603 can be the time counting module 1501, the small cycle operation phase calculation module 1502, the large cycle operation phase calculation module 1503, the vibration maintenance and pause control module 1504, the basic vibration waveform setting module 1505, the vibration level setting module 1506 and the amplitude calculation module 1507 in the above embodiment.

[0215] In a third aspect, an embodiment of the present application provides a vehicle-mounted device. The vehicle-mounted device includes at least a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the steps of the steering wheel control method provided in the above embodiment are implemented.

[0216] Fig.17 An optional structural diagram of the vehicle-mounted device provided in the embodiment of the present application is shown below in combination with Fig.17 The in-vehicle device 1700 shown will be used to explain the structure of the in-vehicle device.

[0217] In one example, if Fig.17As shown, the vehicle-mounted device 1700 includes: a processor 1701, at least one communication bus 1702, at least one external communication interface 1703 and a memory 1704. The communication bus 1702 is configured to realize connection and communication between these components. The external communication interface 1703 may include a standard wired interface and a wireless interface.

[0218] The memory 1704 is configured to store instructions and applications executable by the processor 1701, and can also cache data to be processed or processed by the processor 1701 and various modules in the electronic device (for example, image data, audio data, voice communication data, and video communication data), which can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0219] In another example, the vehicle-mounted device may be a vehicle device or a controller. The vehicle device or the controller is used to execute the steps in the steering wheel control method provided in the above embodiment.

[0220] In a fourth aspect, the present application further provides a computer-readable storage medium having executable instructions stored thereon, wherein when the executable instructions are executed by a processor, the steps in the steering wheel control method provided in an embodiment of the present application are implemented.

[0221] In a fifth aspect, the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in the above-mentioned steering wheel control method.

[0222] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0223] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in some embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0224] It should be noted that, in this article, the terms "include", "comprises" or any other variations 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, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0225] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0226] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0227] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0228] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0229] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steering wheel control method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0230] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A steering wheel control method, characterized in that: The method comprises: In the case where it is detected that the vehicle is in a first lane departure state, determining a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms, wherein the plurality of preset vibration waveforms are different from each other; generating a lane departure warning signal based on the first vibration waveform; The steering wheel of the vehicle is controlled to vibrate according to the lane departure warning signal to warn the driver of the lane departure, wherein the first vibration waveform is related to the change in the force of the steering wheel during the vibration process.

2. The method according to claim 1, characterized in that The generating a lane departure warning signal based on the first vibration waveform includes: determining a first cycle corresponding to the first lane departure state from a plurality of preset cycles; According to the first period, the initial signal having the first vibration waveform is modulated to generate the lane departure warning signal.

3. The method according to claim 2, characterized in that The first cycle includes a first vibration duration and a first rest duration; The step of modulating the initial signal having the first vibration waveform according to the first period includes: Determining a first partial signal based on the initial signal within the first vibration duration; During the first pause time, determining a second portion of the signal with an amplitude of zero; The lane departure warning signal includes the first part signal and the second part signal.

4. The method according to claim 2, characterized in that: The first cycle includes a plurality of second cycles and at least one second pause duration, and the second cycle includes a second vibration duration and a third pause duration; The step of modulating the initial signal having the first vibration waveform according to the first period includes: Determining a third partial signal based on the initial signal within the second vibration duration; Determine a fourth signal portion with a zero amplitude within the at least one second pause duration and the third pause duration; Wherein, the lane departure warning signal includes the third part signal and the fourth part signal.

5. The method according to claim 1, characterized in that The generating a lane departure warning signal based on the first vibration waveform includes: determining a first amplitude corresponding to the first lane departure state from a plurality of preset amplitudes; Based on the first amplitude, the initial signal having the first vibration waveform is modulated to generate the lane departure warning signal.

6. The method according to claim 5, characterized in that The step of modulating the initial signal having the first vibration waveform based on the first amplitude includes: During a first time period, the amplitude of the first vibration waveform is gradually increased from an initial amplitude until it reaches the first amplitude, so as to determine an incremental partial signal; During a second time period, maintaining the amplitude of the first vibration waveform at the first amplitude to determine maintaining a partial signal; During a third time period, the amplitude of the first vibration waveform is gradually reduced from the first amplitude until it reaches the initial amplitude, so as to determine a decreasing partial signal; Wherein, the lane departure warning signal includes the increasing part signal, the maintaining part signal and the decreasing part signal; the second time length is located after the first time length, and the third time length is located after the second time length.

7. The method according to claim 6, characterized in that The step of gradually increasing the amplitude of the first vibration waveform from an initial value to reach the first amplitude within the first time period includes: Obtaining a first amplitude adjustment curve, wherein the first amplitude adjustment curve is an increasing curve; The amplitude of the first vibration waveform within the first duration is determined according to the first amplitude adjustment curve, so that the amplitude of the first vibration waveform gradually increases from the initial amplitude to the first amplitude.

8. The method according to claim 6, characterized in that The step of gradually reducing the amplitude of the first vibration waveform from the first amplitude to the initial amplitude within the third time period includes: Obtaining a second amplitude adjustment curve, wherein the second amplitude adjustment curve is a decreasing curve; The amplitude of the first vibration waveform within the third time period is determined according to the second amplitude adjustment curve, so that the amplitude of the first vibration waveform gradually decreases from the first amplitude to the initial amplitude.

9. A steering wheel control device, characterized in that: include: a determination module, configured to determine, when detecting that the vehicle is in a first lane departure state, a first vibration waveform corresponding to the first lane departure state from a plurality of preset vibration waveforms, wherein the plurality of preset vibration waveforms are different from each other; A generating module, configured to generate a lane departure warning signal based on the first vibration waveform; A control module is used to control the steering wheel of the vehicle to vibrate according to the lane departure warning signal to warn the driver of lane departure, wherein the first vibration waveform is related to the change in the force of the steering wheel during the vibration process.

10. A vehicle-mounted device, characterized in that: The vehicle-mounted device includes a memory and one or more processors, the memory stores a computer program, and when the computer program is executed by the vehicle-mounted device, the steering wheel control method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium, characterized in that: The readable storage medium stores executable instructions, wherein when the executable instructions are executed by a processor, the steering wheel control method according to any one of claims 1 to 8 is implemented.

12. A computer program product, comprising a computer program or instructions, characterized in that: When the computer program or instruction is executed by a processor, the steering wheel control method according to any one of claims 1 to 8 is implemented.

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