Steering intention recognition method, electronic equipment, vehicle and storage medium

Abstract

The embodiment of the invention provides a steering intention recognition method, electronic equipment, a vehicle and a storage medium, relates to the technical field of vehicles, and aims to solve the problem that the steering intention of a driver is difficult to recognize under the condition that a vehicle steering system fails. The steering intention recognition method comprises the steps of determining the state of a steering wheel based on rotation information of the steering wheel; a steering intention of the driver is identified based on the state of the steering wheel and the rotation information of the steering wheel.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a turning intention recognition method, electronic equipment, vehicle and storage medium. Background Art

[0002] At present, when the vehicle steering system fails, the steering system no longer provides auxiliary torque for the driver's steering operation, causing the steering wheel to turn abnormally heavy, making it difficult for the driver to operate the steering wheel. At this time, the steering wheel torque sensor cannot accurately capture and feedback the actual torque value applied by the driver on the steering wheel, resulting in the vehicle being unable to recognize the driver's steering intention. Summary of the invention

[0003] The purpose of the present invention is to provide a steering intention recognition method, electronic equipment, vehicle and storage medium, aiming to solve the problem that the driver's steering intention cannot be recognized when EPS fails.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] In a first aspect, the present invention provides a method for identifying a steering intention, the method comprising: determining a state of a steering wheel based on steering wheel rotation information; and identifying a driver's steering intention based on the state of the steering wheel and the steering wheel rotation information.

[0006] The steering intention recognition method provided by the embodiment of the present application can accurately determine the state of the steering wheel based on the steering wheel rotation information, and further can timely and accurately recognize the driver's steering intention based on the steering wheel state and the steering wheel rotation information.

[0007] In some embodiments, determining the state of the steering wheel based on the steering wheel rotation information includes: determining the state of the steering wheel based on the steering wheel rotation information when the vehicle's steering system fails.

[0008] In some embodiments, determining the state of the steering wheel based on the rotation information of the steering wheel includes: determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment.

[0009] In some embodiments, the steering wheel rotation information includes at least one of the following: torque, steering angle, and steering angle change of the steering wheel.

[0010] In some embodiments, the state of the steering wheel includes any of the following: an unturned state, a left turn state, a first left turn return state, a second left turn return state, a right turn state, a first right turn return state, and a second right turn return state; wherein the first left turn return state is used to characterize that the steering wheel returns to the left turn state based on an automatic return function; the second left turn return state is used to characterize that the steering wheel returns to the right turn state based on a right torque applied by the driver; the first right turn return state is used to characterize that the steering wheel returns to the right turn state based on the automatic return function; the second right turn return state is used to characterize that the steering wheel returns to the right turn state based on a left torque.

[0011] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at the previous moment and the rotation information of the steering wheel at the current moment, including: when the steering angle of the steering wheel at the current moment is less than a preset lower limit of the steering angle, determining that the steering wheel is in an unsteering state.

[0012] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at the previous moment and the rotation information of the steering wheel at the current moment, including: when the steering wheel angle at the current moment is greater than a preset angle lower limit, the steering wheel angle and torque at the current moment are greater than a first preset value, and the steering wheel angle change is positive, determining that the steering wheel is in a left turn state.

[0013] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at the previous moment and the rotation information of the steering wheel at the current moment, including: when the steering wheel angle at the current moment is greater than a preset angle lower limit, the steering wheel angle and torque at the current moment are greater than a first preset value, and the change in the steering wheel angle is negative, determining that the steering wheel is in a first left turn return to normal state.

[0014] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment, including: when the steering angle of the steering wheel at a current moment is greater than a preset angle lower limit value and a first preset value, and the torque of the steering wheel at a current moment is less than the first preset value, determining that the steering wheel is in a second left turn return state.

[0015] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at the previous moment and the rotation information of the steering wheel at the current moment, including: when the steering wheel angle at the current moment is greater than a preset angle lower limit value, the steering wheel angle and torque at the current moment are less than a first preset value, and the steering wheel angle change is positive, determining that the steering wheel is in a right turn state.

[0016] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at the previous moment and the rotation information of the steering wheel at the current moment, including: when the steering wheel angle at the current moment is greater than a preset angle lower limit, the steering wheel angle and torque at the current moment are less than a first preset value, and the steering wheel angle change is negative, determining that the steering wheel is in a first right turn return to normal state.

[0017] In some embodiments, the state of the steering wheel is determined based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment, including: when the steering wheel angle at a current moment is greater than a preset lower limit of the angle, the steering wheel angle at a current moment is less than a first preset value, and the torque of the steering wheel at a current moment is greater than a first preset value, determining that the steering wheel is in a second right turn return state.

[0018] In some embodiments, the turning intention includes any of the following: no turning, maintaining the current turning state, turning left, returning to the right, turning right, returning to the left.

[0019] In some embodiments, based on the steering wheel state and the current rotation information of the steering wheel, the driver's steering intention is identified, including: when the steering wheel state is a non-steering state, determining that the driver's steering intention is not to turn.

[0020] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a left turn state and the steering wheel angle change is greater than a first threshold or the absolute value of the torque of the steering wheel at the current moment is greater than a second threshold, determining that the driver's steering intention is to turn left.

[0021] In some embodiments, when the steering wheel is in a left turn state and the steering wheel angle change is less than a first threshold or the absolute value of the steering wheel torque at the current moment is less than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0022] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a first left turn return state or a second left turn return state, and the steering wheel angle change is greater than a third threshold, determining that the driver's steering intention is to return to the right.

[0023] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a first left turn return state or a second left turn return state, and the steering wheel angle change is less than a third threshold, determining that the driver's steering intention is to maintain the current steering state.

[0024] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a right turn state and the steering wheel angle change is less than a first threshold or the absolute value of the torque of the steering wheel at the current moment is less than a second threshold, determining that the driver's steering intention is to maintain the current steering state.

[0025] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a right turn state and the steering wheel angle change is greater than a first threshold or the absolute value of the torque of the steering wheel at the current moment is greater than a second threshold, determining that the driver's steering intention is to turn right.

[0026] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a first right turn return state or a second right turn return state, and the steering wheel angle change is greater than a third threshold, determining that the driver's steering intention is to return to the left.

[0027] In some embodiments, the driver's steering intention is identified based on the steering wheel state and the current rotation information of the steering wheel, including: when the steering wheel state is a first right turn return state or a second right turn return state, and the steering wheel angle change is less than a third threshold, determining that the driver's steering intention is to maintain the current steering state.

[0028] In some embodiments, the method further includes: controlling the steering of the vehicle based on the driver's steering intention.

[0029] In some embodiments, the steering of the vehicle is controlled based on the driver's steering intention, including: when the driver's steering intention is not to turn, controlling the vehicle not to turn; when the driver's steering intention is to maintain the current steering state, controlling the vehicle to maintain the current steering state; when the driver's steering intention is to return to the left, controlling the vehicle to return to the left; when the driver's steering intention is to turn right, controlling the vehicle to turn right; when the driver's steering intention is to return to the right, controlling the vehicle to return to the right; when the driver's steering intention is to turn left, controlling the vehicle to turn left.

[0030] In a second aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, wherein the processor is connected to the memory, and the memory stores computer instructions. When the computer instructions are executed on the electronic device, the electronic device executes the method provided by the first aspect and its possible implementation methods.

[0031] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0032] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising: a controller, the controller being used to execute the method provided by the first aspect and its possible implementation; or, the electronic device provided by the second aspect; or, the computer-readable storage medium provided by the third aspect.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the method provided by the first aspect and its possible implementation methods.

[0034] The technical effects brought about by any implementation method in the above-mentioned second to fifth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of the structure of a backup steering system after a vehicle steering system fails provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of a vehicle steering system failure steering intention recognition unit provided in an embodiment of the present application;

[0038] Figure 3 A flowchart of a method for identifying a turning intention provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of an overall process for determining a steering wheel rotation state provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of an overall process of identifying a driver's steering intention provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of another method for identifying turning intention provided in an embodiment of the present application;

[0042] Figure 7A schematic diagram of an overall process for determining a vehicle steering control purpose provided by an embodiment of the present application;

[0043] Figure 8 A schematic structural diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0046] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0047] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "multiple" means two or more.

[0048] At present, when the vehicle steering system fails, the steering system no longer provides auxiliary torque for the driver's steering operation, causing the steering wheel to turn abnormally heavy, making it difficult for the driver to operate the steering wheel. At this time, the steering wheel torque sensor cannot accurately capture and feedback the actual torque value applied by the driver to the steering wheel, resulting in the vehicle being unable to recognize the driver's steering intention. For example, when the driver expects to turn the steering wheel to 60° for steering, due to insufficient force, the steering wheel can only be turned to 10°. At this time, the vehicle cannot accurately recognize the driver's expected steering angle.

[0049] In addition, the existing steering wheel torque sensor of the vehicle steering system has a limited range, usually with a maximum range of about 13Nm. When the vehicle steering system is in normal working condition, due to the power assistance of the steering system, the torque required for the driver to turn the steering wheel is small, so the range of 13Nm is sufficient to meet the measurement requirements. However, after the vehicle steering system fails, the steering wheel loses the power assistance of the steering system, the turning resistance increases significantly, and the maximum torque required for the driver to turn the steering wheel can exceed 50Nm. At this time, the steering wheel torque sensor cannot accurately measure the torque actually turned by the driver to turn the steering wheel, resulting in the vehicle being unable to recognize the driver's steering intention.

[0050] As an example, a method for identifying steering intentions of autonomous driving at intersections is proposed in the related art. This method obtains the scene data of the current intersection and the trajectory data of the vehicle in the current intersection, and preliminarily obtains the vehicle's steering intention set based on the lane function information and the lane in which the vehicle is located. The trajectory data is processed through a pre-trained neural network model to obtain a probability set of each vehicle's steering intentions, and the vehicle's steering intention is identified based on the steering intention set and the probability set. It can be seen that this method is for the identification of steering intentions of autonomous driving vehicles when the vehicle steering system is normal, and is not suitable for the identification of vehicle steering intentions when the vehicle steering system fails.

[0051] It can be seen that the research on steering intention recognition in the related art mainly focuses on the field of autonomous driving when the vehicle steering system is normal. In addition, there is no research on identifying the driver's steering intention after the vehicle steering system fails in the related art.

[0052] In view of the above problems, the present application provides a steering intention recognition method, which can accurately judge the state of the steering wheel based on the rotation information of the steering wheel. Further, based on the state of the steering wheel and the current rotation information of the steering wheel, the driver's steering intention can be timely and accurately recognized.

[0053] A steering intention recognition method provided in an embodiment of the present application is applicable to steering intention recognition when the vehicle steering system is operating normally, and is also applicable to steering intention recognition when the vehicle steering system fails. For ease of understanding, the system architecture applied in the embodiment of the present application is introduced below, taking the failure of the vehicle steering system as an example. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solution of the present application, and do not constitute a limitation on the technical solution provided in this application. It is known to those of ordinary skill in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided in this application is also applicable to similar technical problems. For example, the technical solution provided in this application can be applied to vehicles whose vehicle steering systems are electric power steering systems (EPS), vehicles whose vehicle steering systems are electronic hydraulic power steering systems, vehicles whose vehicle steering systems are wire-controlled steering systems, etc.

[0054] The turning intention recognition method provided by the present application is described in detail below with reference to the accompanying drawings.

[0055] Figure 1 A schematic diagram of a backup steering system structure after a vehicle steering system fails is provided in an embodiment of the present application. Figure 1 As shown, the backup steering system after the vehicle steering system fails includes: a vehicle steering system 101, a steering wheel angle sensor 102, a steering wheel torque sensor 103, a steering control device 104, and a backup steering actuator 105.

[0056] The vehicle steering system 101 is used to receive signals from various sensors, such as steering angle, torque, vehicle speed, etc., and calculate the size and direction of the required power assistance based on the received information and a preset control algorithm. When the vehicle steering system fails, the electronic control unit (ECU) of the vehicle steering system determines whether the vehicle steering system has failed based on the received abnormal signal or the error detected inside the system.

[0057] In some embodiments, when the vehicle steering system 101 itself fails, the steering wheel angle signal collected by the steering wheel angle sensor 102 and the steering wheel torque signal collected by the steering wheel torque sensor 103, as well as the fault signal of vehicle steering system failure detected by the electronic control unit are sent to the steering control device 104.

[0058] In other embodiments, when the vehicle steering system 101 itself fails, a fault signal of the vehicle steering system failure detected by the electronic control unit is sent to the steering control device 104, so that the steering control device 104 obtains the steering wheel angle signal collected by the steering wheel angle sensor 102 and the steering wheel torque signal collected by the steering wheel torque sensor 103.

[0059] In some embodiments, Figure 1 As shown, the steering control device 104 may include: a vehicle steering system failure steering intention recognition unit 1041 and a backup steering electronic control unit (Electronic Control Unit, ECU) 1042.

[0060] Among them, the vehicle steering system failure steering intention recognition unit 1041 can accurately determine the driver's steering intention, provide accurate driver steering intention input to the vehicle with steering failure control, and guide the backup steering system after the vehicle steering system fails to control the vehicle to complete the driver's expected steering action, ensuring that the vehicle can still perform safe and accurate steering after the vehicle steering system fails.

[0061] In some embodiments, after the vehicle steering system failure steering intention recognition unit 1041 recognizes the driver's steering intention, it determines the vehicle steering control target after the vehicle steering system fails based on the steering intention. The vehicle steering system failure steering intention recognition unit 1041 sends the vehicle steering control target to the backup steering electronic control unit 1042. The backup steering electronic control unit 1042 calculates the steering control amount of the backup steering actuator 105 through a preset algorithm, and sends the steering control amount to the backup steering actuator 105. After receiving the steering control amount, the backup steering actuator 105 performs a steering action based on the steering control amount to assist the vehicle in performing a steering action after the vehicle steering system fails.

[0062] As a feasible implementation method, the backup steering actuator 105 may include a feedback motor system, an electronic mechanical braking system, etc., which is not limited in the embodiment of the present application.

[0063] Figure 2 A schematic diagram of a structure of a vehicle steering system failure steering intention recognition unit provided in an embodiment of the present application. Figure 1 ,like Figure 2 As shown, the vehicle steering system failure steering intention identification unit 1041 is responsible for receiving the steering wheel angle signal and the torque signal, and identifying the driver's steering intention based on the received steering wheel angle signal and the torque signal, and then determining the control target of the vehicle steering, and outputting the control target to the backup steering electronic control unit 1042.

[0064] In some embodiments, the vehicle steering system failure steering intention recognition unit 1041 includes: a steering wheel state recognition module 201, a steering intention recognition module 202, and a vehicle steering control target recognition module 203. Among them, the steering wheel state recognition module 201 is used to determine the current motion state of the steering wheel; the steering intention recognition module 202 is used to determine the current driver's expected steering trend (i.e., steering intention); the vehicle steering control target recognition module is used to determine the vehicle steering control target according to the driver's expected steering trend.

[0065] In some embodiments, the vehicle steering system failure steering intention recognition unit 1041 regards the driver's overall steering intention as a continuous process and divides it into intention recognition tasks in countless small time periods, so as to accurately capture and analyze the driver's steering intention at each moment.

[0066] As a feasible implementation method, in each micro time period, the vehicle steering system failure steering intention recognition unit 1041 monitors the steering wheel angle change and torque change. Among them, the angle change reflects the direction and degree that the driver wants the steering wheel to turn, and the torque change reflects the amount of force applied by the driver to the steering wheel. Therefore, the vehicle steering system failure steering intention recognition unit 1041 can identify the driver's steering diagram in the next micro time period based on the steering wheel angle change and torque change. In addition, since the driver's overall steering intention is divided and identified, the vehicle steering system failure steering intention recognition unit 1041 recognizes the driver's steering intention in real time, and can dynamically adjust the recognition result as the driver's operation changes, thereby solving the problem that the driver's steering intention is difficult to identify after the vehicle steering system fails.

[0067] In some embodiments, the steering wheel state recognition module 201, the steering intention recognition module 202 and the vehicle steering control target recognition module 203 in the vehicle steering system failure steering intention recognition unit 1041 perform calculations based on the steering wheel rotation information per unit time, and finally determine the vehicle's steering control target for the next unit time after the vehicle steering system fails, and output the vehicle steering control target to the backup steering electronic control unit to control the backup steering actuator to execute the vehicle's steering request target for the next unit time after the vehicle steering system fails. In this way, after the vehicle steering system fails, the system can not only accurately identify the driver's steering intention per unit time, but also control the vehicle steering based on the driver's expected steering intention. Thereby ensuring the driving safety of the vehicle after the vehicle steering system fails, and avoiding safety accidents caused by the vehicle's inability to turn out normally.

[0068] The following is an execution subject of the turning intention recognition method provided in the embodiment of the present application: Figure 1 The steering control device in the backup steering system after the vehicle steering system fails is shown as an example. For ease of understanding, the embodiment of the present application uses the steering wheel angle and torque as the basis for judgment, wherein the steering wheel angle or torque greater than 0 indicates that the steering wheel is facing the left, and less than 0 indicates that the steering wheel is facing the right. Taking this principle as an example, the embodiment of the present application is described in detail.

[0069] Figure 3 A schematic diagram of a method flow of a turning intention recognition method provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the method comprises the following steps:

[0070] S301. Determine a state of a steering wheel based on steering wheel rotation information.

[0071] In some embodiments, when the vehicle steering system fails, the steering system stops providing steering assistance to the steering wheel, which increases the resistance to steering the steering wheel and makes it difficult for the driver to turn the steering wheel. At this time, although the vehicle steering system fails, the steering wheel can still generate a smaller rotation amplitude than when the vehicle steering system is operating normally through the torque applied by the driver. Therefore, when the vehicle steering system fails, the state of the steering wheel can still be determined based on the rotation information of the steering wheel.

[0072] In some embodiments, the steering wheel rotation information includes at least one of the following: steering wheel torque, steering angle, and steering angle change. The steering wheel torque can represent the force applied by the driver to the steering wheel; the steering wheel angle can represent the direction the driver expects the vehicle to travel; and the steering wheel angle change can represent the driver's intention to adjust the vehicle steering operation. Therefore, in the event of a vehicle steering system failure, the state of the steering wheel can be determined by collecting and analyzing the steering wheel rotation information.

[0073] In some embodiments, the state of the steering wheel includes any of the following: unsteering state, left turn state, first left turn return state, second left turn return state, right turn state, first right turn return state, and second right turn return state. The first left turn return state is used to indicate that the steering wheel returns to the center from the left turn state based on the automatic return function; the second left turn return state is used to indicate that the steering wheel returns to the center from the left turn state based on the right torque; the first right turn return state is used to indicate that the steering wheel returns to the center from the right turn state based on the automatic return function; and the second right turn return state is used to indicate that the steering wheel returns to the center from the right turn state based on the left torque.

[0074] It should be noted that the above-mentioned steering wheel rotation information may also include: steering wheel rotation response time (i.e. the time difference from the driver starting to turn the steering wheel to the system detecting the rotation and responding), steering wheel rotation mode (such as continuous rotation, intermittent rotation or sudden rotation, etc.) and other information.

[0075] S302: Identify the driver's steering intention based on the state of the steering wheel and the steering wheel rotation information.

[0076] Since the state of the steering wheel represents the current physical state of the steering wheel, the rotation information of the steering wheel at the current moment can represent the driver's intention to adjust the steering wheel at the current moment. Therefore, based on the state of the steering wheel and the rotation information of the steering wheel at the current moment, the driver's steering intention can be identified. It can be understood that the steering wheel, as the core interaction hub between the driver and the vehicle steering system, enables the driver to directly control the direction of the vehicle by operating the steering wheel. Therefore, through the state of the steering wheel and the rotation information of the steering wheel at the current moment, the driver's steering intention can be identified, that is, the steering direction of the vehicle indicated by the driver by adjusting the steering wheel.

[0077] In some embodiments, the driver's steering intention includes any of the following: no steering, maintaining the current steering state, turning left, returning to the right, turning right, and returning to the left. Among them, the steering intention of not turning means that the driver has no intention to change the current driving direction of the vehicle, and the vehicle maintains the current driving path (for example, keeps driving in a straight line); the steering intention of maintaining the current steering state means that the driver expects the vehicle to maintain the current steering angle, that is, the vehicle continues to drive in the current steering direction; the steering intention of turning left means that the driver expects the vehicle to deviate from the current driving direction to the left; the steering intention of returning to the right means that the driver expects the vehicle to return to the original driving direction (that is, return to the right) after completing the left turn by controlling the vehicle through the steering wheel; the steering intention of turning right means that the driver expects the vehicle to deviate from the current driving direction to the right; the steering intention of returning to the left means that the driver expects the vehicle to return to the original driving direction (that is, return to the left) after completing the right turn by controlling the vehicle through the steering wheel.

[0078] It can be seen from the above S301-S302 that the steering intention recognition method provided in the embodiment of the present application can accurately determine the state of the steering wheel based on the rotation information of the steering wheel. Furthermore, based on the state of the steering wheel and the rotation information of the steering wheel at the current moment, the driver's steering intention can be timely and accurately identified. In particular, in the case of failure of the vehicle's steering system, the driver's steering intention can be accurately identified based on the steering wheel's rotation information, ensuring that the vehicle can still steer according to the driver's expectations after the steering system fails, thereby avoiding safety accidents caused by failure of the vehicle's steering system and improving the safety of vehicle driving.

[0079] In some embodiments, since the steering wheel angle refers to the angle that the steering wheel has rotated relative to its initial position, and the change in the angle can directly reflect the rotation state of the steering wheel, the state of the steering wheel can be determined based on the steering wheel angle.

[0080] Specifically, as a feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering angle of the steering wheel is less than a preset steering angle lower limit value, determining that the steering wheel is in a non-steering state.

[0081] Since the lower limit of the preset turning angle is a minimum threshold of the steering wheel turning angle set when the vehicle control system is designed according to factors such as the vehicle's steering characteristics, road conditions, and safety performance, when the steering wheel's current turning angle is less than the lower limit of the preset turning angle, it indicates that the steering wheel's turning angle is close to 0. Therefore, when the steering wheel's current turning angle is less than the lower limit of the preset turning angle, it indicates that the steering wheel has no obvious steering operation at this time, and thus the steering state of the steering wheel is determined to be a non-steering state.

[0082] In some embodiments, when the current steering wheel angle is greater than the lower limit of the preset steering angle, it indicates that the steering wheel has an obvious steering operation. Therefore, it is necessary to compare the current steering wheel angle information with the previous steering wheel angle information to determine the state of the steering wheel.

[0083] Specifically, as a feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are greater than the first preset value, and the steering wheel angle change is positive, determine that the steering wheel is in a left turn state.

[0084] It can be understood that if the current steering wheel angle and torque are greater than the first preset value, it indicates that the system detects that the driver is currently turning the steering wheel to the left; if the current steering wheel angle is greater than the steering wheel angle at the previous moment, it indicates that the current steering wheel angle is gradually increasing compared to the previous angle. Therefore, when the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are greater than the first preset value, and the steering wheel angle change is positive, it indicates that the driver has significantly turned the steering wheel to the left, thereby determining that the steering wheel is in a left turn state.

[0085] As another feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are greater than the first preset value and the steering wheel angle change is negative, determine that the steering wheel is in the first left turn return state.

[0086] It can be understood that when the current steering wheel angle is greater than the preset lower limit of the steering angle, and the current steering wheel angle and the current torque are greater than the first preset value, it indicates that the driver is applying a torque to the steering wheel to turn left. However, the current steering wheel angle is less than the steering wheel angle at the previous moment, which means that although the driver is applying a torque to the steering wheel, the steering wheel angle is decreasing, that is, while the driver is turning the steering wheel to the left, the steering wheel gradually returns to the center from the left turn state by relying on the automatic return function of the steering wheel. Therefore, the state of the steering wheel is determined to be the first left turn return state.

[0087] As another feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit value and the first preset value, and the current torque of the steering wheel is less than the first preset value, determine that the steering wheel is in the second left turn return state.

[0088] It is understandable that when the current turning angle of the steering wheel is greater than the preset turning angle lower limit and the first preset value, it indicates that the steering wheel is still in the left turn state. However, at this time, the current torque of the steering wheel is less than the first preset value, that is, the driver is applying a torque (torque to the right) to the steering wheel in the opposite direction of the current turning angle, which indicates that the driver expects the steering wheel to return to the center position from the left turn state, and the return process is assisted by the driver by applying a reverse torque. Therefore, it is determined that the state of the steering wheel is in the second left turn return state.

[0089] As another feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are less than the first preset value, and the steering wheel angle change is positive, determine that the steering wheel is in the right turn state.

[0090] It can be understood that if the current steering wheel angle and the current torque are less than the first preset value, and the current steering wheel angle is greater than the steering wheel angle at the previous moment, it means that the driver is turning the steering wheel to the right, and the turning angle is gradually increasing. Therefore, it can be determined that the state of the steering wheel is a right turn state.

[0091] As another feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are less than the first preset value, and the steering wheel angle change is negative, determine that the steering wheel is in the first right turn return state.

[0092] It is understandable that when the current steering wheel angle is greater than the preset lower limit of the steering angle, and the current steering wheel angle and the current torque are less than the first preset value, it indicates that the driver is applying a torque to the steering wheel to turn right. However, the current steering wheel angle is less than the steering wheel angle at the previous moment, which means that although the driver is applying a torque to the steering wheel, the steering wheel angle is decreasing, which means that while the driver is turning the steering wheel to the right, the steering wheel is gradually returning to the right from the right turn state by relying on the automatic return function of the steering wheel. Therefore, the state of the steering wheel is determined to be the first left turn return state.

[0093] As another feasible implementation method, the above S301 can be specifically implemented as follows: when the current steering wheel angle is greater than the preset angle lower limit value, the current steering wheel angle is less than the first preset value, and the current torque of the steering wheel is greater than the first preset value, determine that the steering wheel is in the second right turn return state.

[0094] It can be understood that when the current steering wheel angle is greater than the preset lower limit of the steering angle and the current steering wheel angle is less than the first preset value (for example, the first preset value = 0), it indicates that the steering wheel angle in the right turn direction is still greater than the preset lower limit of the steering angle and less than the first preset value, that is, the steering wheel is still in the right turn state. However, at this time, the torque of the steering wheel at the current moment is greater than the first preset value, that is, the driver is applying a torque (left torque) to the steering wheel in the opposite direction of the current steering angle, which indicates that the driver expects the steering wheel to return to the center position from the right turn state, and the return process is assisted by the driver by applying a reverse torque. Therefore, the state of the steering wheel is determined to be the second right turn return state.

[0095] In some embodiments, Figure 4 As shown, it is a schematic diagram of the overall process of determining the steering wheel rotation state provided in an embodiment of the present application. For ease of understanding, "SteerSts" can be used to represent different states of the steering wheel. As shown in Table 1, different states of the steering wheel are represented by assigning different values ​​to "SteerSts". For ease of description, in an embodiment of the present application, moment t represents the current moment, and moment t1 represents the previous moment. The rotation information of the steering wheel at the current moment t may include: torque T1, angle θ1; the rotation information of the steering wheel at the previous moment t1 may include: torque T2, angle θ2.

[0096] Table 1

[0097]

[0098] For example, see Figure 4 In actual application, the state of the steering wheel can be determined in the following ways:

[0099] S401. Determine whether the current steering wheel angle is greater than a preset steering angle lower limit.

[0100] S402: When the current turning angle of the steering wheel is less than a preset turning angle lower limit, determine that the steering wheel is in a non-steering state.

[0101] Exemplarily, as shown in Table 1, SteerSts=0 indicates that the direction state is a non-steering state.

[0102] S403: When the current turning angle of the steering wheel is greater than a preset lower limit value of the turning angle, determine whether the current turning angle of the steering wheel is greater than a first preset value.

[0103] S404: When the current steering wheel angle is greater than a preset lower limit value of the steering angle and the current steering wheel angle is greater than a first preset value, determine whether the current torque of the steering wheel is greater than the first preset value.

[0104] S405: When the current steering wheel angle is greater than a preset lower limit value of the steering wheel angle and the current steering wheel angle and torque are greater than a first preset value, determine whether the steering wheel angle change is negative.

[0105] Exemplarily, a negative change in the steering wheel angle indicates that the steering wheel angle θ2 at time t gradually decreases relative to the steering wheel angle θ1 at time t1.

[0106] S406: When the current steering wheel angle is greater than a preset lower limit of the steering wheel angle, the current steering wheel angle and torque are greater than a first preset value, and the steering wheel angle change is positive, determine that the steering wheel is in a left turn state.

[0107] Exemplarily, as shown in Table 1, SteerSts=1 indicates that the state of the steering wheel is a left turn state.

[0108] S407: When the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are greater than the first preset value, and the steering wheel angle change is negative, determine that the steering wheel is in the first left turn return state.

[0109] Exemplarily, as shown in Table 1, SteerSts=2 indicates that the state of the steering wheel is the first left turn return state.

[0110] S408: When the current steering wheel angle is greater than the preset steering angle lower limit value and the first preset value, and the current steering wheel torque is less than the first preset value, determine that the steering wheel is in the second left turn return state.

[0111] Exemplarily, as shown in Table 1, SteerSts=3 indicates that the state of the steering wheel is the second left turn return state.

[0112] S409: When the current steering wheel angle is greater than the preset lower limit value of the steering angle and the current steering wheel angle is less than the first preset value, determine whether the current torque of the steering wheel is greater than the first preset value.

[0113] S4010: When the current steering wheel angle is greater than a preset lower limit of the steering angle and the current steering wheel angle and torque are less than a first preset value, determine whether the steering wheel angle change is negative.

[0114] S4011. Determine that the steering wheel is in a right turn state when the current steering wheel angle is greater than a preset angle lower limit, the current steering wheel angle and torque are less than a first preset value, and the steering wheel angle change is positive.

[0115] Exemplarily, as shown in Table 1, SteerSts=4 indicates that the state of the steering wheel is a right turn state.

[0116] S4012. When the current steering wheel angle is greater than the preset lower limit of the steering wheel angle, the current steering wheel angle and torque are less than the first preset value, and the steering wheel angle change is negative, determine that the steering wheel is in the first right turn return state.

[0117] Exemplarily, as shown in Table 1, SteerSts=5 indicates that the state of the steering wheel is the first right turn return state.

[0118] S4013. When the steering wheel angle at the current moment is greater than the preset angle lower limit, the steering wheel angle at the current moment is less than the first preset value, and the torque of the steering wheel at the current moment is greater than the first preset value, determine that the steering wheel is in the second right turn return state.

[0119] Exemplarily, as shown in Table 1, SteerSts=6 indicates that the state of the steering wheel is the second right turn return state.

[0120] In some embodiments, since the state of the steering wheel can reflect the driver's direct operation of the steering wheel, the driver's steering intention can be determined through the state of the steering wheel.

[0121] Specifically, as a feasible implementation method, the above S401 can be specifically implemented as follows: when the steering wheel state is a non-steering state, determining that the driver's steering intention is not to turn.

[0122] It can be understood that when the state of the steering wheel is the non-steering state, it indicates that the driver has not operated the steering wheel, so it can be determined that the driver's steering intention is not to turn.

[0123] In some embodiments, the driver's current intention to adjust the steering wheel can be determined through the state of the steering wheel and the current rotation information of the steering wheel, thereby identifying the driver's steering intention.

[0124] As a feasible implementation method, when the steering wheel state is a left turn state and the steering wheel angle change is greater than a first threshold or the absolute value of the steering wheel torque at the current moment is greater than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0125] It can be understood that the steering wheel state can indicate that the driver is steering the vehicle, and the steering wheel angle change at the current moment and the absolute value of the steering wheel torque at the current moment can indicate the driver's intention to adjust the steering wheel at the current moment when the steering wheel is in the current steering wheel state. Further, based on the steering wheel state at the current moment and the driver's intention to adjust the steering wheel at the current moment, the driver's steering intention can be determined.

[0126] Specifically, when the state of the steering wheel is "left turn state" and the change in the steering wheel angle at the current moment is greater than the first threshold, it indicates that the driver is turning the steering wheel to maintain or strengthen the steering wheel turning to the left. At the same time, the absolute value of the torque of the steering wheel at the current moment is greater than the second threshold, indicating that the driver is currently applying a large torque to the steering wheel to turn the steering wheel to achieve the intention of maintaining the current left turn state of the vehicle. Therefore, it can be determined that the driver's steering intention is to maintain the current steering state.

[0127] As another feasible implementation, when the steering wheel state is the first left turn return state or the second left turn return state and the steering wheel angle change is greater than a third threshold, it is determined that the driver's steering intention is to return to the right.

[0128] It can be understood that when the state of the steering wheel is "the first left turn return state" or "the second left turn return state", and the steering wheel angle change at the current moment is greater than the third threshold value, it indicates that the driver is currently turning left, and by returning the steering wheel to the right, the vehicle gradually deviates from the left turn trajectory and tends to drive straight or adjust to the right. The steering wheel is being adjusted back to the center position from the left turn state, that is, the return operation is being performed. At this time, it is determined that the driver's steering intention is to return to the right.

[0129] As another feasible implementation, when the steering wheel state is the first left turn return state or the second left turn return state and the steering wheel angle change is less than a third threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0130] It can be understood that when the state of the steering wheel is the "first left turn return state" or the "second left turn return state", the steering wheel angle change at the current moment is less than the third threshold value. This means that the steering wheel angle at the current moment has not changed significantly relative to the steering wheel angle at the previous moment, which indicates that the driver does not actively adjust the steering wheel, but tends to maintain the current state of the steering wheel, that is, the driver's steering intention is to maintain the current steering state.

[0131] It should be noted that, when the steering wheel state is "first left turn return state" or "second left turn return state", the driver's steering intention is to maintain the current steering state, which means that the driver is currently gradually adjusting the steering wheel back to the center position, but when the steering angle change is less than the third threshold, it is recognized that the driver does not have an obvious steering intention at the current stage, but tends to maintain the existing steering wheel state.

[0132] As another feasible implementation method, when the steering wheel state is a right turn state and the steering wheel angle change is less than a first threshold or the absolute value of the steering wheel torque at the current moment is less than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0133] It can be understood that when the state of the steering wheel is "right turn state", the change in the steering wheel angle at the current moment is less than the first threshold value, which means that the steering wheel angle at the current moment has not changed significantly relative to the steering wheel angle at the previous moment, which indicates that the driver does not actively adjust the angle of the steering wheel, but tends to maintain the current right turn state. Similarly, the absolute value of the torque of the steering wheel at the current moment is less than the second threshold value, indicating that the driver currently applies a small torque to the steering wheel and has no strong intention to turn. That is, the driver intends to maintain the current right turn state.

[0134] It should be noted that if either of the conditions "the steering wheel angle change at the current moment is less than the first threshold" or "the absolute value of the steering wheel torque at the current moment is less than the second threshold" is met, the driver's steering intention is recognized as maintaining the current right turn state.

[0135] As another feasible implementation method, when the steering wheel state is a right turn state and the steering wheel angle change is greater than a first threshold or the absolute value of the steering wheel torque at the current moment is greater than a second threshold, it is determined that the driver's steering intention is to turn right.

[0136] It can be understood that when the state of the steering wheel is "right turn state", the change in the steering wheel angle at the current moment is greater than the first threshold, indicating that the steering wheel angle at the current moment has changed significantly relative to the steering wheel angle at the previous moment, and this change exceeds the first threshold, which indicates that the driver is actively turning the steering wheel to maintain or strengthen the steering wheel turning to the right. Similarly, the absolute value of the torque of the steering wheel at the current moment is greater than the second threshold, indicating that the driver is currently applying a large torque to the steering wheel to turn the steering wheel in the hope of maintaining the current right turn state.

[0137] As another feasible implementation, when the steering wheel state is the first right turn return state or the second right turn return state and the steering wheel angle change is greater than a third threshold, it is determined that the driver's steering intention is to return to the left.

[0138] It can be understood that when the state of the steering wheel is the "first right turn return state" or the "second right turn return state", the change in the steering wheel angle at the current moment is greater than the third threshold value. This indicates that the steering wheel angle at the current moment has changed significantly relative to the steering wheel angle at the previous moment. This indicates that during the right turn, the driver gradually deviates from the right turn trajectory by returning the steering wheel to the left, and tends to drive in a straight line or adjust to the left, that is, performs a return operation.

[0139] As another feasible implementation, when the steering wheel state is the first right turn return state or the second right turn return state and the steering wheel angle change is less than a third threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0140] It can be understood that when the state of the steering wheel is the "first right turn return state" or the "second right turn return state", the change in the steering wheel angle at the current moment is less than the third threshold value, which indicates that the steering wheel angle at the current moment remains relatively stable relative to the previous moment, that is, the driver has not made any obvious steering operation on the steering wheel. Therefore, it can be identified that the driver has no clear intention to turn, that is, the driver still hopes to maintain the current steering state.

[0141] Supplementary explanation: when the vehicle steering system fails, the steering control device can identify the driver's steering intention based on the steering wheel state and the current steering wheel rotation information, and can also make judgments based on the data of other vehicle sensors (such as vehicle speed, turn signal state, surrounding environment information, road condition information, etc.) to form a more comprehensive and accurate judgment of the driver's steering intention. In addition, the settings of the above-mentioned "first threshold", "second threshold" and "third threshold" can be accurately adjusted according to the actual application scenario and vehicle performance to ensure the accuracy and reliability of recognition.

[0142] In some embodiments, Figure 5 As shown, it is a schematic diagram of the overall process of identifying the driver's steering intention provided by the embodiment of the present application. For ease of understanding, "SteerTend" can be used to represent the driver's steering intention. As shown in Table 2, different values ​​are assigned to "SteerTend" to represent different steering intentions of the driver.

[0143] Table 2

[0144]

[0145]

[0146] Exemplary, combined Figure 4 ,like Figure 5 As shown, in actual application, the driver's steering intention can be determined in the following ways:

[0147] S501: Determine whether the state of the steering wheel is a non-steering state.

[0148] S502: When the steering wheel state is in the non-steering state, determine that the driver's steering intention is not to turn.

[0149] Exemplarily, when the steering wheel state is "SteerSts=0", the driver's steering intention is determined to be "SteerTend=0". Wherein, SteerSts=0 indicates that the steering wheel state is not turned, and "SteerTend=0" indicates that the driver's steering intention is not to turn.

[0150] S503: Determine whether the state of the steering wheel is a left turn state.

[0151] S504: When the state of the steering wheel is the left turn state, determine whether the steering wheel angle change is greater than a first threshold or whether the absolute value of the torque of the steering wheel at the current moment is greater than a second threshold.

[0152] Exemplarily, when SteerSts=1, that is, the steering wheel is in a left turn state, it is determined whether the change Δθ of the steering wheel angle between time t and time t1 is greater than a first threshold or whether the absolute value of the torque T2 at time t is greater than a second threshold.

[0153] S505: When the steering wheel is in a left turn state, it is determined that the steering wheel angle change is less than a first threshold or the absolute value of the steering wheel torque at the current moment is less than a second threshold, and the driver's steering intention is to maintain the current steering state.

[0154] Exemplarily, as shown in Table 2, when SteerSts=1, and the change Δθ of the steering wheel angle between time t and time t1 is less than the first threshold or the absolute value of the torque T2 at time t is less than the second threshold, the driver's steering intention is determined to be "SteerTend=5", that is, the driver's steering intention is to maintain the state.

[0155] S506: When the steering wheel is in the left turn state, it is determined that the steering wheel angle change is greater than a first threshold or the absolute value of the torque of the steering wheel at the current moment is greater than a second threshold, and the driver's steering intention is to turn left.

[0156] Exemplarily, as shown in Table 2, when SteerSts=1, and the change Δθ of the steering wheel angle between time t and time t1 is greater than the first threshold or the absolute value of the torque T2 at time t is greater than the second threshold, the driver's steering intention is determined to be "SteerTend=1".

[0157] S507: Determine whether the state of the steering wheel is the first left-turn-return-to-center state or the second left-turn-return-to-center state.

[0158] S508: When the state of the steering wheel is the first left-turn-return-to-center state or the second left-turn-return-to-center state, determine whether the steering wheel angle change is greater than a third threshold.

[0159] Exemplarily, when SteerSts=2 or SteerSts=3, it is determined whether the change Δθ of the steering wheel angle at time t and time t1 is greater than a third threshold.

[0160] S509: When the state of the steering wheel is the first left turn return state or the second left turn return state, and the steering wheel angle change is greater than a third threshold, determine that the driver's steering intention is to return to the right.

[0161] Exemplarily, as shown in Table 2, when SteerSts=2, or SteerSts=3, and the change Δθ of the steering wheel angle between time t and time t1 is greater than the third threshold, the driver's steering intention is determined to be "SteerTend=2".

[0162] S5010: When the steering wheel state is the first left turn return state or the second left turn return state and the steering wheel angle change is less than a third threshold, determine that the driver's steering intention is to maintain the current steering state.

[0163] Exemplarily, as shown in Table 2, when SteerSts=2, or SteerSts=3, and the change Δθ of the steering wheel angle between time t and time t1 is less than the third threshold, the driver's steering intention is determined to be "SteerTend=5".

[0164] S5011. Determine whether the state of the steering wheel is a right turn state.

[0165] S5012: When the steering wheel is in the right-turn state, determine whether the steering wheel angle change is less than a first threshold or whether the absolute value of the torque of the steering wheel at the current moment is less than a second threshold.

[0166] Exemplarily, as shown in Table 2, SteerSts=4 indicates that the steering wheel state is right turn state. In the case of SteerSts=4, it is determined whether the change Δθ of the steering wheel angle between time t and time t1 is greater than the first threshold or whether the absolute value of the torque T2 at time t is greater than the second threshold.

[0167] S5013: When the steering wheel is in the right turn state and the steering wheel angle change is less than a first threshold or the absolute value of the torque of the steering wheel at the current moment is less than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

[0168] Exemplarily, as shown in Table 2, when SteerSts=4, and the change Δθ of the steering wheel angle between time t and time t1 is less than the first threshold or the absolute value of the torque T2 at time t is less than the second threshold, the driver's steering intention is determined to be "SteerTend=5".

[0169] S5014: When the state of the steering wheel is the right turn state and the steering wheel angle change is greater than a first threshold or the absolute value of the torque of the steering wheel at the current moment is greater than a second threshold, it is determined that the driver's steering intention is to turn right.

[0170] Exemplarily, as shown in Table 2, when SteerSts=4, and the change Δθ of the steering wheel angle between time t and time t1 is greater than the first threshold or the absolute value of the torque T2 at time t is greater than the second threshold, the driver's steering intention is determined to be "SteerTend=3".

[0171] S5015: When the state of the steering wheel is the first right-turn return state or the second right-turn return state, determine whether the steering wheel angle change is greater than a third threshold value.

[0172] Exemplarily, as shown in Table 2, when SteerSts=5 or SteerSts=6, it is determined whether the change Δθ of the steering wheel angle at time t and time t1 is greater than the third threshold.

[0173] S5016: When the state of the steering wheel is the first right turn return state or the second right turn return state, and the steering wheel angle change is greater than a third threshold, determine that the driver's steering intention is to return to the left.

[0174] Exemplarily, when SteerSts=5 or SteerSts=6, and the change Δθ of the steering wheel angle between time t and time t1 is greater than the third threshold, it is determined that the driver's steering intention is “SteerTend=4”.

[0175] S5017: When the state of the steering wheel is the first right-turn return state or the second right-turn return state, and the steering wheel angle change is less than a third threshold, determine that the driver's steering intention is to maintain the current steering state.

[0176] Exemplarily, when SteerSts=5 or SteerSts=6, and the change Δθ of the steering wheel angle between time t and time t1 is smaller than the third threshold, it is determined that the driver's steering intention is “SteerTend=5”.

[0177] In some embodiments, in combination Figure 3 ,like Figure 6 As shown, a turning intention recognition method provided by an embodiment of the present application may also include S601.

[0178] S601. Control the steering of the vehicle based on the driver's steering intention.

[0179] In some embodiments, Figure 7 As shown, it is a schematic diagram of the overall process of determining the steering control purpose of a vehicle provided by an embodiment of the present application. The embodiment provided by the above step S601 can also be implemented in the following manner. For ease of understanding, "StrCtrlTar" can be used to represent the steering target of the vehicle, and different steering targets of the vehicle can be represented by assigning different values ​​to "StrCtrlTar".

[0180] Table 3

[0181]

[0182] Combination Figure 4 , 5 ,like Figure 7 As shown, in actual application, the steering of the vehicle can be controlled in the following ways:

[0183] S701. When the driver's steering intention is not to steer, control the vehicle not to steer.

[0184] Exemplarily, as shown in Table 3, in the case of the vehicle driver's steering intention "SteerTend=0", the vehicle steering control target "StrCtrlTar=0" is determined.

[0185] S702: When the driver's steering intention is to turn left, control the vehicle to turn left.

[0186] Exemplarily, as shown in Table 3, in the case where the vehicle driver's steering intention "SteerTend=1", the vehicle steering control target "StrCtrlTar=1" is determined.

[0187] S703, when the driver's steering intention is to return to the right, control the vehicle to return to the right.

[0188] Exemplarily, as shown in Table 3, in the case of the vehicle driver's steering intention "SteerTend=2", the vehicle steering control target "StrCtrlTar=2" is determined.

[0189] S704: When the driver's steering intention is to turn right, control the vehicle to turn right.

[0190] Exemplarily, as shown in Table 3, in the case of the vehicle driver's steering intention "SteerTend=3", the vehicle steering control target "StrCtrlTar=3" is determined.

[0191] S705: When the driver's steering intention is to return to the left, control the vehicle to return to the left.

[0192] Exemplarily, as shown in Table 3, in the case where the vehicle driver's steering intention "SteerTend=4", the vehicle steering control target "StrCtrlTar=4" is determined.

[0193] S706: When the driver's steering intention is to maintain the current steering state, control the vehicle to maintain the current steering state.

[0194] Exemplarily, as shown in Table 3, in the case of the vehicle driver's steering intention "SteerTend=5", the vehicle steering control target "StrCtrlTar=5" is determined. Figure 8 The following is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device 80 includes but is not limited to: a processor 801 and a memory 802 .

[0195] The memory 802 is used to store executable instructions of the processor 801. It can be understood that the processor 801 is configured to execute instructions to implement the noise reduction method for the interior of a vehicle in the above embodiment.

[0196] The processor 801 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 802, and calling data stored in the memory 802, it performs various functions of the electronic device and processes data, thereby controlling the electronic device as a whole. The processor 801 may include one or more processing modules. Optionally, the processor 801 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 801.

[0197] The memory 802 can be used to store software programs and various data. The memory 802 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one functional module (such as an acquisition unit, a determination module, a processing unit, etc.), etc. In addition, the memory 802 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0198] In some embodiments, the present application further provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed on a computer, the computer uses the time synchronization method provided by any of the above embodiments.

[0199] The present application also provides a vehicle, comprising the above-mentioned electronic device, controller or computer-readable storage medium.

[0200] In some embodiments, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a device, the device executes any of the methods described above.

[0201] In this way, the computer program in the computer program product can be customized according to the specific needs and operating conditions of the device, realizing a personalized control method and improving the adaptability and flexibility of the device control.

[0202] In addition, computer program products can be executed on different devices or systems to achieve cross-platform applicability, provide a unified control method for different types of devices, and improve system integration and interoperability.

[0203] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0204] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for identifying a turning intention, characterized in that: The method comprises: Determining a state of the steering wheel based on the rotation information of the steering wheel; Based on the state of the steering wheel and the rotation information of the steering wheel, the driver's steering intention is recognized.

2. The method according to claim 1, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel includes: In case a steering system of a vehicle fails, a state of the steering wheel is determined based on the rotation information of the steering wheel.

3. The method according to claim 1 or 2, characterized in that: The determining the state of the steering wheel based on the rotation information of the steering wheel includes: The state of the steering wheel is determined based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment.

4. The method according to claim 3, characterized in that The steering wheel rotation information includes at least one of the following: torque, steering angle, and steering angle change of the steering wheel.

5. The method according to claim 4, characterized in that The state of the steering wheel includes any one of the following: unsteering state, left turn state, first left turn return state, second left turn return state, right turn state, first right turn return state, second right turn return state; The first left-turn return state is used to indicate that the steering wheel returns to the left-turn state based on the automatic return function; The second left-turn return state is used to indicate that the steering wheel is returned from the left-turn state based on the rightward torque applied by the driver; The first right-turn return state is used to indicate that the steering wheel is returned to the right-turn state based on the automatic return function; The second right-turn return state is used to represent that the steering wheel is returned from the right-turn state based on a left torque.

6. The method according to claim 1, characterized in that The steering wheel rotation information includes: a steering angle of the steering wheel, and determining the state of the steering wheel based on the steering wheel rotation information includes: When the current turning angle of the steering wheel is less than a preset turning angle lower limit value, it is determined that the steering wheel is in a non-steering state.

7. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the current steering wheel angle is greater than a preset lower limit value, the current steering wheel angle and torque are greater than a first preset value, and the steering wheel angle change is positive, it is determined that the steering wheel is in the left turn state.

8. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are greater than the first preset value, and the steering wheel angle change is negative, it is determined that the steering wheel is in the first left turn return state.

9. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the current steering angle of the steering wheel is greater than the preset steering angle lower limit value and the first preset value, and the current torque of the steering wheel is less than the first preset value, it is determined that the steering wheel is in the second left turn return state.

10. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the current steering wheel angle is greater than the preset angle lower limit, the current steering wheel angle and torque are less than the first preset value, and the steering wheel angle change is positive, it is determined that the steering wheel is in the right turn state.

11. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the current steering wheel angle is greater than a preset lower limit of the steering angle, the current steering wheel angle and torque are less than the first preset value, and the steering wheel angle change is negative, it is determined that the steering wheel is in the first right turn return state.

12. The method according to claim 5, characterized in that The determining the state of the steering wheel based on the rotation information of the steering wheel at a previous moment and the rotation information of the steering wheel at a current moment includes: When the steering wheel angle at the current moment is greater than the preset lower limit value of the steering angle, the steering wheel angle at the current moment is less than the first preset value, and the torque of the steering wheel at the current moment is greater than the first preset value, it is determined that the steering wheel is in the second right turn return state.

13. The method according to any one of claims 5 to 12, characterized in that: The turning intention includes any of the following: no turning, maintaining the current turning state, turning left, returning to the right, turning right, returning to the left.

14. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the non-steering state, it is determined that the driver's steering intention is the non-steering state.

15. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the left turn state and the steering wheel angle change is greater than a first threshold or the current torque absolute value of the steering wheel is greater than a second threshold, it is determined that the driver's steering intention is the left turn.

16. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the left turn state and the steering wheel angle change is less than a first threshold or the absolute value of the steering wheel torque at the current moment is less than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

17. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the first left turn return state or the second left turn return state, and the steering wheel angle change is greater than a third threshold, it is determined that the driver's steering intention is the right turn return.

18. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the first left-turn return state or the second left-turn return state, and the steering wheel angle change is less than a third threshold, it is determined that the driver's steering intention is to maintain the current steering state.

19. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the right turn state and the steering wheel angle change is less than a first threshold or the absolute value of the steering wheel torque at the current moment is less than a second threshold, it is determined that the driver's steering intention is to maintain the current steering state.

20. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the right turn state and the steering wheel angle change is greater than a first threshold or the current torque absolute value of the steering wheel is greater than a second threshold, it is determined that the driver's steering intention is the right turn.

21. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the first right turn return state or the second right turn return state, and the steering wheel angle change is greater than a third threshold, it is determined that the driver's steering intention is to return to the left.

22. The method according to claim 13, characterized in that The identifying the driver's steering intention based on the steering wheel state and the current rotation information of the steering wheel includes: When the steering wheel state is the first right-turn return state or the second right-turn return state, and the steering wheel angle change is less than a third threshold, it is determined that the driver's steering intention is to maintain the current steering state.

23. The method according to any one of claims 1 to 22, characterized in that The method further comprises: Based on the driver's steering intention, steering of the vehicle is controlled.

24. The method according to claim 23, characterized in that The controlling the steering of the vehicle based on the steering intention of the driver comprises: When the driver's steering intention is not to steer, controlling the vehicle not to steer; When the driver's steering intention is to maintain the current steering state, controlling the vehicle to maintain the current steering state; When the driver's steering intention is to return to the left, controlling the vehicle to return to the left; When the driver's steering intention is to turn right, controlling the vehicle to turn right; When the driver's steering intention is to return to the right, controlling the vehicle to return to the right; When the driver's steering intention is to turn left, the vehicle is controlled to turn left.

25. An electronic device, characterized in that: include: A processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method according to any one of claims 1 to 24.

26. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 24.

27. A vehicle, characterized in that: include: A controller, the controller being used to execute the method according to any one of claims 1 to 24; or, the electronic device according to claim 25; Or, the computer-readable storage medium of claim 26.

28. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are run on a computer, the computer is caused to perform the method according to any one of claims 1 to 24.

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